A soft actuator, its working method and robot are provided. The soft actuator includes a power input shaft, and multiple electromagnetic clutches are coaxially installed in series on the power input shaft. A bending elastic part is arranged between the thrust plate of each electromagnetic clutch and the gear frame of the electromagnetic clutch. The bending elastic part is installed on the sleeve of the gear frame and in contact with the baffle of the gear frame. The bending elastic part is connected with the clutch output gear of the electromagnetic clutch through the gear frame. The gear frame is fixedly connected with the clutch output gear and rotates coaxially.

A bistable electromagnetic clutch is provided that includes a first part, a second part and an spring part. The first part includes a yoke with a plurality of iron cores, and an electromagnetic coil on each of the iron cores. The second part includes a moving carrier disc and a magnetic conductive disc that is fixed on a side of the moving carrier disc that is away from the yoke. Several magnets are fixed on the moving carrier disc, and the iron cores and the magnets are provided in a correspondence relation. The spring part is configured to keep the moving carrier disc and the yoke in normally separated positions. Two adjacent electromagnetic coils form a group, two electromagnetic coils in a same group are wound to form a group of windings with identical magnetic polarities, and corresponding two magnets form a group of magnetomotive forces with identical magnetic polarities.

A bistable electromagnetic clutch is provided that includes a first part, a second part and an spring part. The first part includes a yoke with a plurality of iron cores, and an electromagnetic coil on each of the iron cores. The second part includes a moving carrier disc and a magnetic conductive disc that is fixed on a side of the moving carrier disc that is away from the yoke. Several magnets are fixed on the moving carrier disc, and the iron cores and the magnets are provided in a correspondence relation. The spring part is configured to keep the moving carrier disc and the yoke in normally separated positions. Two adjacent electromagnetic coils form a group, two electromagnetic coils in a same group are wound to form a group of windings with identical magnetic polarities, and corresponding two magnets form a group of magnetomotive forces with identical magnetic polarities.

An electromagnetic dog clutch is disclosed to solve the technical problem in conventional electromagnetic dog clutches that the friction is easy to occur between a bearing seat and an end cap of a movable gear sleeve. The electromagnetic dog clutch comprises a movable gear sleeve (5) and a fixed gear sleeve (12) that mesh with each other for transmission. A first end cap (6) is provided on an outer side of the movable gear sleeve (5), a bearing (1) is provided on an outer circumference of the movable gear sleeve (5), the bearing (1) is embedded in a bearing seat (7), a rear end of the bearing seat (7) is provided with a positioning surface, and a front end of the first end cap (6) is a vertical plane that matches the positioning surface of the bearing seat (7). The front end of the first end cap (6) is provided with a positioning pin (15), the rear end of the bearing seat (7) is provided with a positioning hole to cooperate with the positioning pin (15), and the positioning pin (15) is inserted into the positioning hole to limit the bearing seat (7) and the first end cap (6) so that they can move in an axial direction relative to each other but cannot rotate relative to each other, thereby preventing the occurrence of friction between them.

An electromagnetic dog clutch is disclosed to solve the technical problem in conventional electromagnetic dog clutches that the friction is easy to occur between a bearing seat and an end cap of a movable gear sleeve. The electromagnetic dog clutch comprises a movable gear sleeve (5) and a fixed gear sleeve (12) that mesh with each other for transmission. A first end cap (6) is provided on an outer side of the movable gear sleeve (5), a bearing (1) is provided on an outer circumference of the movable gear sleeve (5), the bearing (1) is embedded in a bearing seat (7), a rear end of the bearing seat (7) is provided with a positioning surface, and a front end of the first end cap (6) is a vertical plane that matches the positioning surface of the bearing seat (7). The front end of the first end cap (6) is provided with a positioning pin (15), the rear end of the bearing seat (7) is provided with a positioning hole to cooperate with the positioning pin (15), and the positioning pin (15) is inserted into the positioning hole to limit the bearing seat (7) and the first end cap (6) so that they can move in an axial direction relative to each other but cannot rotate relative to each other, thereby preventing the occurrence of friction between them.

A silent hub structure includes a hub housing, an interlocking ring, a detent ring and a cassette base. The interlocking ring is installed inside the hub housing and has a central through-hole slot therein through which a detent ring is rotatably disposed therethrough. The through-hole slot is internally and circumferentially provided with a plurality of receiving grooves recessed at an equal distance therebetween on the internal wall. Each of these receiving grooves is disposed with a metal roller pin along the axial direction. The forward-rotating direction side of every receiving groove forms a clamping portion; a magnetic member is disposed in the interlocking ring near the clamping portion of each of the receiving groove separately, whereas the backward-rotating direction side of every receiving groove forms a releasing portion.

A silent hub structure includes a hub housing, an interlocking ring, a detent ring and a cassette base. The interlocking ring is installed inside the hub housing and has a central through-hole slot therein through which a detent ring is rotatably disposed therethrough. The through-hole slot is internally and circumferentially provided with a plurality of receiving grooves recessed at an equal distance therebetween on the internal wall. Each of these receiving grooves is disposed with a metal roller pin along the axial direction. The forward-rotating direction side of every receiving groove forms a clamping portion; a magnetic member is disposed in the interlocking ring near the clamping portion of each of the receiving groove separately, whereas the backward-rotating direction side of every receiving groove forms a releasing portion.

A magnetically hinged, overrunning clutch is disclosed. Sprags containing rare-earth permanent magnets, and arranged in pairs of opposite magnetic orientation, are located within the gap between the inner surface of a hollow, circularly cylindrical shaft and the external surface of a smaller diameter, second circularly cylindrical shaft. Pairs of rare-earth permanent magnets encircling the second cylindrical shaft are located at, or just beneath, the surface of the shaft and are arranged in pairs having alternating magnetic orientation. The sprags are cylinders having a pseudo-spiral cross-section and are sized, and the ferromagnetic region located, such that when the sprags are attracted to the shaft-magnets, the first shaft may be rotated with respect to the second shaft in a first, overrunning direction of rotation, but the first shaft does not rotate with respect to the second shaft in an opposite, or lock-up direction.

A magnetically hinged, overrunning clutch is disclosed. Sprags containing rare-earth permanent magnets, and arranged in pairs of opposite magnetic orientation, are located within the gap between the inner surface of a hollow, circularly cylindrical shaft and the external surface of a smaller diameter, second circularly cylindrical shaft. Pairs of rare-earth permanent magnets encircling the second cylindrical shaft are located at, or just beneath, the surface of the shaft and are arranged in pairs having alternating magnetic orientation. The sprags are cylinders having a pseudo-spiral cross-section and are sized, and the ferromagnetic region located, such that when the sprags are attracted to the shaft-magnets, the first shaft may be rotated with respect to the second shaft in a first, overrunning direction of rotation, but the first shaft does not rotate with respect to the second shaft in an opposite, or lock-up direction.

A wedge clutch assembly for transferring torque from an engine to an output shaft, comprising a clutch carrier comprising an axial friction surface and a radially inwardly facing surface, a hub comprising a first radially outwardly facing surface having grooves positioned circumferentially thereon and detents positioned within the grooves, a wedge plate comprising an axial friction surface, a second radially outwardly facing surface, and a second radially inwardly facing surface having recesses, a pressure plate concentrically arranged within the first radially inwardly facing surface and displaceable such that in an engaged mode, an axial force is applied to the pressure plate, in a first axial direction, to engage the wedge plate with the clutch carrier such that torque is transferred from the engine to the output shaft, and in a disengaged mode, the wedge plate is independently rotatable from the clutch carrier.