CN207522597U - Bionic flexible structure and with its robot - Google Patents
Bionic flexible structure and with its robot Download PDFInfo
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- CN207522597U CN207522597U CN201721660473.XU CN201721660473U CN207522597U CN 207522597 U CN207522597 U CN 207522597U CN 201721660473 U CN201721660473 U CN 201721660473U CN 207522597 U CN207522597 U CN 207522597U
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Abstract
The utility model provides a kind of Bionic flexible structure and has its robot, and Bionic flexible structure includes：Wobble component, wobble component include flexible piece；Driving transmission device, driving transmission device include swivel mount and drawing article, and swivel mount and drawing article are drivingly connected with flexible piece；Wherein, drawing article can be set to folding and unfolding along the extending direction of flexible piece, so that flexible piece flexural deformation；Swivel mount is rotatably arranged with to drive flexible piece to rotate.The Bionic flexible structure of the utility model solves the problems, such as that Bionic flexible structure of the prior art is complex.
Description
Technical field
The utility model is related to bionic field, in particular to a kind of Bionic flexible structure and with its robot.
Background technology
In large-scale recreation ground, the animals and plants for being capable of smart motion are gradually increased, but there are branch bendings and rotation to transport
Dynamic the problem of being unable to joint debugging.If realize that branch bending and rotary motion are carried out at the same time, to number of motors increase in demand.To increase
The motion simulation effect of strong artificial tree needs artificial tree limb to have flexible movement and simple control.
Plant that can be interactive, the action that generally can all have branch to swing has the plant of oscillating function at present, general to use
The modes such as link mechanism are realized, but link mechanism generally existing frictional force is big, and driving force is excessive, drive the problems such as slow, no
The function that perfect can be realized plants shoots and freely swing.
Utility model content
It is existing to solve the main purpose of the utility model is that providing a kind of Bionic flexible structure and with its robot
There is the problem of Bionic flexible structure in technology is complex.
To achieve these goals, one side according to the present utility model provides a kind of Bionic flexible structure, packet
It includes：Wobble component, wobble component include flexible piece；Driving transmission device, driving transmission device include swivel mount and drawing article, rotation
Pivoted frame and drawing article are drivingly connected with flexible piece；Wherein, drawing article can be set to folding and unfolding along the extending direction of flexible piece, so that
Flexible piece flexural deformation；Swivel mount is rotatably arranged with to drive flexible piece to rotate.
Further, drawing article is bracing wire.
Further, swivel mount and bracing wire are synchronized with the movement, and are carried out so that the flexural deformation of flexible piece is synchronous with rotational motion.
Further, wobble component further includes：First connecting plate, the first connecting plate are set on flexible piece, bracing wire and the
One connecting plate is connected, to be drivingly connected by the first connecting plate and flexible piece.
Further, wobble component further includes：Second connecting plate, the second connecting plate are movably set on flexible piece,
The second connecting plate is drawstring through with the first connecting plate to be connected；Multiple elastic components, elastic component are telescopically set on flexible piece,
The both sides of second connecting plate are arranged with elastic component, to support the second connecting plate.
Further, the second connecting plate is multiple, and multiple second connecting plates are arranged at intervals.
Further, elastic component is spring.
Further, the cross section of flexible piece is rectangle.
Further, bracing wire is arranged in pairs, and two pairs of bracing wires are arranged side by side and are positioned apart from, and two pairs of bracing wires are same
Step movement, the direction of motion of two bracing wires is on the contrary, when first bracing wire lengthens, and second bracing wire receipts is short, so that flexible piece court
It is bent to short stayguy direction is received.
Further, driving transmission device further includes：Shaft, shaft rotatably arranged with, be provided in shaft first around
Line wheel and the second reel, one end of first bracing wire in two pairs of bracing wires are wrapped in the first reel along the first direction
On, one end of second bracing wire is wrapped in a second direction on the second reel, wherein, first direction and second direction are opposite
Both direction.
Further, driving transmission device further includes：Driven wheel, driven wheel are set in shaft；Driving wheel, driving wheel with
Driven wheel is meshed, and driving wheel by driven wheel drive shaft rotatably arranged with to be rotated.
Further, driven wheel and driving wheel are bevel gear.
Further, driving transmission device further includes：Shaft coupling, the first end of shaft coupling are connected with driving wheel；Center
Wheel, centre wheel are connected with the second end of shaft coupling；Planetary gear, planetary gear are meshed with centre wheel, and planetary gear is rotationally set
It puts, to be rotated by center wheel drive driving wheel.
Further, internal gear is set on swivel mount, and centre wheel and planetary gear are arranged in internal gear, internal gear and row
Star-wheel is meshed, to be rotated by planet wheel drive centre wheel.
Further, planetary gear is multiple, and multiple planetary gears are provided at circumferentially spaced along centre wheel.
Further, driving transmission device further includes：Driving motor, output shaft and the swivel mount driving of driving motor connect
It connects, the output shaft of driving motor can rotate clockwise or counterclockwise.
Further, internal gear is provided on swivel mount, driving transmission device further includes：Planetary gear, planetary gear and internal tooth
Wheel is meshed；Centre wheel, centre wheel is rotatably arranged with centre wheel is meshed with planetary gear, to be rotated by planet wheel drive
Frame rotates；Driving motor, the output shaft of driving motor sequentially pass through centre wheel and driving wheel, to drive centre wheel and driving wheel same
Step rotation.
Further, Bionic flexible structure further includes：Supporting rack, the first end of supporting rack are connected with flexible piece, support
The second end of frame is connected with swivel mount, and flexible piece is connected by supporting rack with swivel mount.
Further, flexible piece is excellent power stick.
Another aspect according to the present utility model provides a kind of robot, including Bionic flexible structure, Bionic flexible knot
Structure is above-mentioned Bionic flexible structure.
The Bionic flexible structure of the utility model is drivingly connected by driving transmission device and wobble component, can make swing
At least part of component does bending motion and rotary motion.Wherein, wobble component includes flexible piece, and driving transmission device includes
Swivel mount and drawing article, swivel mount and drawing article drive with flexible piece, and connection drawing article can be received along the extending direction of flexible piece
It sets with putting.In specifically driving flexible piece movement, become by pulling drawing article drawing article that flexible piece is driven to generate bending
Shape or by rotating swivel mount, so that swivel mount driving flexible piece rotation.The Bionic flexible structure of the utility model is led to
It overdrives the swivel mount on transmission device and drawing article can cause flexible piece to generate bending and rotary motion, overall structure
It is relatively simple, so as to solve the problems, such as that Bionic flexible structure of the prior art is complex.
Description of the drawings
The accompanying drawings which form a part of this application are used to provide a further understanding of the present invention, this practicality
Novel illustrative embodiments and their description do not form the improper restriction to the utility model for explaining the utility model.
In the accompanying drawings：
Fig. 1 shows the structure diagram of the embodiment of Bionic flexible structure according to the present utility model；
Fig. 2 shows the decomposition texture schematic diagrams of the driving transmission device of Bionic flexible structure according to the present utility model；
Fig. 3 shows the assembly structure diagram of the driving transmission device of Bionic flexible structure according to the present utility model；
Fig. 4 shows the partial structural diagram of the driving transmission device of Bionic flexible structure according to the present utility model.
Wherein, above-mentioned attached drawing is marked including the following drawings：
10th, wobble component；11st, flexible piece；12nd, the first connecting plate；13rd, the second connecting plate；14th, elastic component；20th, driving passes
Dynamic device；22nd, shaft；221st, the first reel；222nd, the second reel；23rd, driven wheel；24th, driving wheel；25th, shaft coupling；
26th, centre wheel；27th, planetary gear；28th, swivel mount；281st, internal gear；29th, driving motor；30th, supporting rack；40th, hold-down mechanism.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the application can phase
Mutually combination.The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
The utility model provides a kind of Bionic flexible structure, please refers to Fig.1 to Fig. 4, Bionic flexible structure includes：It swings
Component 10, wobble component 10 include flexible piece 11；Driving transmission device 20, driving transmission device 20 include swivel mount 28 and pull
Part, swivel mount 28 and drawing article are drivingly connected with flexible piece 11；Wherein, drawing article can folding and unfolding along the extending direction of flexible piece 11
Ground is set, so that 11 flexural deformation of flexible piece；Swivel mount 28 is rotatably arranged with to drive flexible piece 11 to rotate.
The Bionic flexible structure of the utility model is drivingly connected by driving transmission device 20 and wobble component 10, can be made
At least part of wobble component 10 does bending motion and rotary motion.Wherein, wobble component 10 includes flexible piece 11, and driving passes
Dynamic device 20 includes swivel mount 28 and drawing article, and swivel mount 28 and drawing article drive with flexible piece 11, and connection drawing article is along soft
The extending direction of property part 11 can be set to folding and unfolding.When specifically driving flexible piece 11 moves, by the way that drawing article is pulled to pull
Part driving flexible piece 11 generates flexural deformation or by rotating swivel mount 28, so that swivel mount 28 drives flexible piece 11
Rotation.The Bionic flexible structure of the utility model can by the swivel mount 28 in driving transmission device 20 and drawing article
Flexible piece 11 generates bending and rotary motion, and overall structure is relatively simple, so as to solve Bionic flexible of the prior art
The problem of structure is complex.
Preferably, drawing article is bracing wire.
In order to the motion state of preferably simulating plant, swivel mount 28 and bracing wire are synchronized with the movement, so that flexible piece 11
Flexural deformation it is synchronous with rotational motion carry out.
In the present embodiment, by the way that swivel mount 28 and bracing wire to be set as being synchronized with the movement, so as to so that flexible piece 11
The flexural deformation motion state for carrying out, being also more in line with plant synchronous with rotational motion.
In order to flexible piece 11 be driven to occur bending and deformation by bracing wire, as shown in Figure 1, wobble component 10 further includes：
First connecting plate 12, the first connecting plate 12 are set on flexible piece 11, and bracing wire is connected with the first connecting plate 12, to pass through first
Connecting plate 12 is drivingly connected with flexible piece 11.
In the present embodiment, by being provided with the first connecting plate 12 on wobble component 10, wherein, the first 12 sets of connecting plate
It is located at one end of flexible piece 11.In order to drive flexible piece 11 more conveniently by bracing wire, by bracing wire and the first connecting plate 12
It is connected, so as to pull the first connecting plate 12 that flexible piece 11 is driven to generate flexural deformation by bracing wire.
Stability in view of structure and meet outer packing demand, as shown in Figure 1, wobble component 10 further includes：Second
Connecting plate 13, the second connecting plate 13 are movably set on flexible piece 11, are drawstring through the second connecting plate 13 and are connect with first
Plate 12 is connected；Multiple elastic components 14, elastic component 14 are telescopically set on flexible piece 11, and the both sides of the second connecting plate 13 are equal
Elastic component 14 is arranged with, to support the second connecting plate 13.
In the present embodiment, wobble component 10 further includes the second connecting plate 13, in order to not influence the normal curved of flexible piece 11
Qu Yundong, the second connecting plate 13 are movably set on flexible piece 11, are drawstring through the second connecting plate 13 and the first connecting plate
12 are connected.
In order to ensure the relative position of the second connecting plate 13 and flexible piece 11, wobble component 10 further includes multiple elastic components
14, wherein, elastic component 14 is telescopically set on flexible piece 11, and the both sides of the second connecting plate 13 are arranged with elastic component 14,
So as to support second connecting plate 13 using at least two elastic components.
Preferably, the second connecting plate 13 is multiple, and multiple second connecting plates 13 are arranged at intervals.
In the present embodiment, it is provided with the perforating for Gong being drawstring through on the second connecting plate 13.
Preferably, elastic component 14 is spring.
In order to limit the bending direction of flexible piece 11, the cross section of flexible piece 11 is rectangle.
In the present embodiment, flexible piece 11 selects square cylinder, defines the bending direction of flexible piece 11 to a certain extent.
In order to realize the flexural deformation of flexible piece 11, bracing wire is arranged in pairs, and two pairs of bracing wires are arranged side by side and are spaced
Ground is set, and two pairs of bracing wires are synchronized with the movement, and the direction of motion of two bracing wires lengthens constantly on the contrary, working as first bracing wire, the
Two bracing wires receipts are short, so that flexible piece 11 is bent towards short bracing wire is received.
In the present embodiment, bracing wire is arranged in pairs, and two pairs of bracing wires are arranged side by side and are positioned apart from, i.e. first bracing wire
Positioned at the first side of flexible piece 11, second bracing wire is located at the second side of flexible piece 11, and the first side and the second side are away from each other.In order to
It can ensure 11 flexural deformation of flexible piece, two pairs of bracing wires are synchronized with the movement, and the direction of motion of two bracing wires is on the contrary, when first
When a bracing wire lengthens, second bracing wire receipts is short, so as to which flexible piece 11 is made to be bent towards short stayguy direction is received.
In order to which two pairs of bracing wires is caused to be synchronized with the movement, as shown in Figure 1, driving transmission device 20 includes：Shaft
22, shaft 22 is rotatably arranged with being provided with the first reel 221 and the second reel 222, pairs of two drawings in shaft 22
One end of first bracing wire in line is wrapped in along the first direction on the first reel 221, and one end of second bracing wire is along second
Direction is wrapped on the second reel 222, wherein, first direction and second direction are opposite both direction.
In the present embodiment, by being provided with shaft 22 in driving transmission device 20, be provided in shaft 22 first around
221 and second reel 222 of line wheel.One end of first bracing wire in two pairs of bracing wires is wrapped in first along the first direction
On reel 221, one end of second bracing wire is wrapped in a second direction on the second reel 222, wherein, first direction and
Two directions are opposite both direction.When driving 11 flexural deformation of flexible piece, rotating shaft 22 a, so that bracing wire is put
Long, at the same time, another bracing wire receipts are short, so as to which flexible piece 11 is made to be bent towards short stayguy direction is received.
For the type of drive of shaft 22, as shown in Fig. 2, driving transmission device 20 further includes：Driven wheel 23, driven wheel 23
It is set in shaft 22；Driving wheel 24, driving wheel 24 are meshed with driven wheel 23, and driving wheel 24 is rotatably arranged with to pass through
23 drive shaft 22 of driven wheel rotates.
In the present embodiment, driving transmission device 20 further includes driven wheel 23 and driving wheel 24, wherein, driven wheel 23 is arranged
In shaft 22, driving wheel 24 is meshed with driven wheel 23.Pass through rotary driving wheel 24 so that driving wheel 24 drives driven wheel 23
Rotation, with this so that 23 drive shaft 22 of driven wheel rotates.
In view of the compactedness of structure, driven wheel 23 and driving wheel 24 are bevel gear.
In order to make driving wheel 24 rotatably arranged with driving transmission device 20 further includes：Shaft coupling 25, shaft coupling 25
First end be connected with driving wheel 24；Centre wheel 26, centre wheel 26 are connected with the second end of shaft coupling 25；Planetary gear 27,
Planetary gear 27 is meshed with centre wheel 26, and planetary gear 27 by centre wheel 26 rotatably arranged with to drive driving wheel 24 to rotate.
In the present embodiment, driving transmission device 20 further includes shaft coupling 25, centre wheel 26 and planetary gear 27, wherein,
The first end of shaft coupling 25 is connected with driving wheel 24, and centre wheel 26 is connected with the second end of shaft coupling 25.Pass through planetary gear
27 are meshed with centre wheel 26, and rotation planetary gear 27 can drive centre wheel 26 to rotate, to drive driving wheel by centre wheel 26
24 rotations.
In order to realize being synchronized with the movement for swivel mount 28 and bracing wire, as shown in Figure 3 and Figure 4, on swivel mount 28 in setting
Gear 281, centre wheel 26 and planetary gear 27 are arranged in internal gear 281, and internal gear 281 is meshed with planetary gear 27, with logical
Crossing planetary gear 27 drives centre wheel 26 to rotate.
In the present embodiment, by setting internal gear 281 on swivel mount 28, centre wheel 26 and planetary gear 27 are arranged at
In internal gear 281, internal gear 281 is meshed with planetary gear 27.Planetary gear 27 is driven to rotate by rotating swivel mount 28, planetary gear
27 driving centre wheels 26 rotate.
Optionally, swivel mount 28 is internal gear, and centre wheel 26 and planetary gear 27 are arranged at swivel mount 28, swivel mount 28 with
Planetary gear 27 is meshed.
In the present embodiment, swivel mount 28 rotates, and flexible piece 11 is driven to rotate with this, and at the same time, swivel mount 28 passes through
Gear set the first reel 221 and the second reel 222 is driven to rotate with drive two bracing wires lengthen and receive it is short, so as to
Realize the synchronization bending motion of flexible piece 11.
In order to ensure enough power, planetary gear 27 is multiple, and multiple planetary gears 27 are set along the circumferentially-spaced of centre wheel 26
It puts.
In the present embodiment, planetary gear 27 is 3.
Optionally, the rotating speed of swivel mount 28 is less than the rotating speed of driving wheel 24.
Preferably, driving transmission device 20 further includes：Driving motor 29, output shaft and the swivel mount 28 of driving motor 29 drive
Dynamic connection, the output shaft of driving motor 29 can rotate clockwise or counterclockwise.
In specific movement, by rotating clockwise or counterclockwise for the output shaft of driving motor 29, flexibility can be driven
The rotation of 11 both direction of part and the flexural deformation of both direction.
Preferably, Bionic flexible structure further includes：Supporting rack 30, the first end of supporting rack 30 are connected with flexible piece 11,
The second end of supporting rack 30 is connected with swivel mount 28, and flexible piece 11 is connected by supporting rack 30 with swivel mount 28.
In the present embodiment, supporting rack 30 is made of multiple support plates and a circular seat, and the first of multiple support plates
End is connected with the cover on swivel mount 28, and the second end of multiple support plates is connected with circular seat, and flexible piece 11 is mounted on circle
On shape seat.
Preferably, flexible piece 11 is multiple, and multiple flexible pieces 11 are arranged at intervals.
Preferably, Bionic flexible structure further includes：Hold-down mechanism 40, hold-down mechanism 40 are pressed on planetary gear 27, to prevent
Only planetary gear 27 moves up and down, wherein, 40 planet wheels 27 of hold-down mechanism rotate together.
In order to which flexible piece 11 is made to generate various forms of flexural deformations, the first connecting plate 12 be it is multiple, multiple first
Connecting plate 12 is arranged at intervals, and bracing wire is multiple, and each bracing wire is connected with corresponding first connecting plate 12.
In the present embodiment, by the way that the first connecting plate 12 is set as multiple, wherein, multiple intervals of first connecting plate 12 are set
It puts, correspondingly, bracing wire is multiple, and each bracing wire is connected with corresponding first connecting plate 12.It, can be in specific drive motion
The bracing wire campaign on first connecting plate 12 is operated alone, the bracing wire on multiple first connecting plates 12 can also be driven to transport simultaneously
It is dynamic, with this so that flexible piece 11 generates different curve forms, more it is bonded the motion state of plant.
Intensity in view of assembling and flexible piece 11 is facilitated to generate flexural deformation, the cross section of multiple first connecting plates 12
Area along flexible piece 11 extending direction it is incremented by successively or successively decrease successively.
In the present embodiment, flexible piece 11 is vertically placed, at this point, the face of the cross section of multiple first connecting plates 12
Product is successively decreased successively from down to up along the extending direction of flexible piece 11.
In order to realize the flexural deformation of 11 different directions of flexible piece, bracing wire is multipair, and multipair bracing wire is arranged at intervals, with
The bending direction of flexible piece 11 is controlled by two pairs of bracing wires.
Preferably, driving transmission device 20 is multiple, and multiple driving transmission devices 20 are arranged at intervals, each driving transmission dress
Put 20 controls a pair of of bracing wire accordingly.
For second of type of drive of the driving transmission device 20 of the utility model：
Preferably, internal gear 281 is provided on swivel mount 28, driving transmission device 20 further includes：Planetary gear 27, planetary gear
27 are meshed with internal gear 281；Centre wheel 26, centre wheel 26 rotatably arranged with, centre wheel 26 is meshed with planetary gear 27, with
Swivel mount 28 is driven to rotate by planetary gear 27；Driving motor 29, the output shaft of driving motor 29 sequentially pass through 26 He of centre wheel
Driving wheel 24, centre wheel 26 and driving wheel 24 to be driven to rotate synchronously.
In the present embodiment, driving motor 29 drives centre wheel 26 and driving wheel 24 to rotate synchronously, driving wheel 24 drive from
The rotation of driving wheel 23 is further driven to the first reel 221 and the second reel 222.Wherein, first in two pairs of bracing wires
One end of a bracing wire is wrapped in along the first direction on the first reel 221, and one end of second bracing wire is wrapped in a second direction
On second reel 222, wherein, first direction and second direction are opposite both direction.Become in the driving bending of flexible piece 11
During shape, rotating shaft 22, so that a bracing wire lengthens, at the same time, another bracing wire receipts are short, so as to make flexible piece
11 are bent towards short bracing wire is received.
At the same time, centre wheel 26 is driven planetary gear 27 to rotate further driving swivel mount 28 and rotates and driven with this
Flexible piece 11 generates rotation.It is achieved thereby that 11 flexural deformation of flexible piece is with being rotationally synchronized with the movement.
Preferably, flexible piece 11 is excellent power stick.
The utility model additionally provides a kind of robot, and including Bionic flexible structure, Bionic flexible structure is imitated for above-mentioned
Raw flexible structure.
It can be seen from the above description that the above embodiments of the present invention achieve the following technical effects：
The Bionic flexible structure of the utility model is drivingly connected by driving transmission device 20 and wobble component 10, can be made
At least part of wobble component 10 does bending motion and rotary motion.Wherein, wobble component 10 includes flexible piece 11, and driving passes
Dynamic device 20 includes swivel mount 28 and drawing article, and swivel mount 28 and drawing article drive with flexible piece 11, and connection drawing article is along soft
The extending direction of property part 11 can be set to folding and unfolding.When specifically driving flexible piece 11 moves, by the way that drawing article is pulled to pull
Part driving flexible piece 11 generates flexural deformation or by rotating swivel mount 28, so that swivel mount 28 drives flexible piece 11
Rotation.The Bionic flexible structure of the utility model can by the swivel mount 28 in driving transmission device 20 and drawing article
Flexible piece 11 generates bending and rotary motion, and overall structure is relatively simple, so as to solve Bionic flexible of the prior art
The problem of structure is complex.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (20)
1. a kind of Bionic flexible structure, which is characterized in that including：
Wobble component (10), the wobble component (10) include flexible piece (11)；
Driving transmission device (20), the driving transmission device (20) include swivel mount (28) and drawing article, the swivel mount
(28) it is drivingly connected with the drawing article with the flexible piece (11)；
Wherein, the drawing article can be set to folding and unfolding along the extending direction of the flexible piece (11), so that the flexible piece (11)
Flexural deformation；The swivel mount (28) is rotatably arranged with to drive the flexible piece (11) to rotate.
2. Bionic flexible structure according to claim 1, which is characterized in that the drawing article is bracing wire.
3. Bionic flexible structure according to claim 2, which is characterized in that the swivel mount (28) is synchronous with the bracing wire
Movement carries out so that the flexural deformation of the flexible piece (11) is synchronous with rotational motion.
4. Bionic flexible structure according to claim 2, which is characterized in that the wobble component (10) further includes：
First connecting plate (12), first connecting plate (12) are set on the flexible piece (11), the bracing wire and described the
One connecting plate (12) is connected, to be drivingly connected by first connecting plate (12) and the flexible piece (11).
5. Bionic flexible structure according to claim 4, which is characterized in that the wobble component (10) further includes：
Second connecting plate (13), second connecting plate (13) are movably set on the flexible piece (11), the bracing wire
It is connected across second connecting plate (13) with first connecting plate (12)；
Multiple elastic components (14), the elastic component (14) are telescopically set on the flexible piece (11), second connection
The both sides of plate (13) are arranged with the elastic component (14), to support second connecting plate (13).
6. Bionic flexible structure according to claim 5, which is characterized in that second connecting plate (13) is more to be multiple
A second connecting plate (13) is arranged at intervals.
7. Bionic flexible structure according to claim 5, which is characterized in that the elastic component (14) is spring.
8. Bionic flexible structure according to claim 1, which is characterized in that the cross section of the flexible piece (11) is square
Shape.
9. Bionic flexible structure according to claim 2, which is characterized in that the bracing wire is arranged in pairs, pairs of two
The bracing wire is arranged side by side and is positioned apart from, and two pairs of bracing wires are synchronized with the movement, the direction of motion phase of two bracing wires
Instead, when first bracing wire lengthens, second bracing wire receive it is short so that the flexible piece (11) is short described towards receiving
Stayguy direction is bent.
10. Bionic flexible structure according to claim 9, which is characterized in that the driving transmission device (20) further includes：
Shaft (22), the shaft (22) is rotatably arranged with being provided with the first reel (221) and on the shaft (22)
Two reels (222), one end of first bracing wire in two pairs of bracing wires are wrapped in described along the first direction
On first reel (221), one end of second bracing wire is wrapped in a second direction on second reel (222),
Wherein, the first direction and the second direction are opposite both direction.
11. Bionic flexible structure according to claim 10, which is characterized in that the driving transmission device (20) is also wrapped
It includes：
Driven wheel (23), the driven wheel (23) are set in the shaft (22)；
Driving wheel (24), the driving wheel (24) are meshed with the driven wheel (23), and the driving wheel (24) rotationally sets
It puts, the shaft (22) to be driven to rotate by the driven wheel (23).
12. Bionic flexible structure according to claim 11, which is characterized in that the driven wheel (23) and the driving wheel
(24) it is bevel gear.
13. Bionic flexible structure according to claim 11, which is characterized in that the driving transmission device (20) is also wrapped
It includes：
Shaft coupling (25), the first end of the shaft coupling (25) are connected with the driving wheel (24)；
Centre wheel (26), the centre wheel (26) are connected with the second end of the shaft coupling (25)；
Planetary gear (27), the planetary gear (27) are meshed with the centre wheel (26), and the planetary gear (27) rotationally sets
It puts, the driving wheel (24) to be driven to rotate by the centre wheel (26).
14. Bionic flexible structure according to claim 13, which is characterized in that internal gear is set on the swivel mount (28)
(281), the centre wheel (26) and the planetary gear (27) are arranged in the internal gear (281), the internal gear (281)
It is meshed with the planetary gear (27), the centre wheel (26) to be driven to rotate by the planetary gear (27).
15. Bionic flexible structure according to claim 13, which is characterized in that the planetary gear (27) is multiple to be multiple
Planetary gear (27) being provided at circumferentially spaced along the centre wheel (26).
16. Bionic flexible structure according to claim 13, which is characterized in that the driving transmission device (20) is also wrapped
It includes：
Driving motor (29), output shaft and the swivel mount (28) of the driving motor (29) are drivingly connected, the driving electricity
The output shaft of machine (29) can rotate clockwise or counterclockwise.
17. Bionic flexible structure according to claim 11, which is characterized in that be provided with internal tooth on the swivel mount (28)
It takes turns (281), the driving transmission device (20) further includes：
Planetary gear (27), the planetary gear (27) are meshed with the internal gear (281)；
Centre wheel (26), the centre wheel (26) is rotatably arranged with the centre wheel (26) is mutually nibbled with the planetary gear (27)
It closes, the swivel mount (28) to be driven to rotate by the planetary gear (27)；
Driving motor (29), the output shaft of the driving motor (29) sequentially pass through the centre wheel (26) and the driving wheel
(24), the centre wheel (26) and the driving wheel (24) to be driven to rotate synchronously.
18. Bionic flexible structure according to claim 1, which is characterized in that the Bionic flexible structure further includes：
Supporting rack (30), the first end of support frame as described above (30) are connected with the flexible piece (11), support frame as described above (30)
Second end is connected with the swivel mount (28), and the flexible piece (11) passes through support frame as described above (30) and the swivel mount (28)
It is connected.
19. Bionic flexible structure according to claim 1, which is characterized in that the flexible piece (11) is excellent power stick.
20. a kind of robot, including Bionic flexible structure, which is characterized in that the Bionic flexible structure is claim 1 to 19
Any one of described in Bionic flexible structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721660473.XU CN207522597U (en) | 2017-12-01 | 2017-12-01 | Bionic flexible structure and with its robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721660473.XU CN207522597U (en) | 2017-12-01 | 2017-12-01 | Bionic flexible structure and with its robot |
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| Publication Number | Publication Date |
|---|---|
| CN207522597U true CN207522597U (en) | 2018-06-22 |
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ID=62577277
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721660473.XU Expired - Fee Related CN207522597U (en) | 2017-12-01 | 2017-12-01 | Bionic flexible structure and with its robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108946138A (en) * | 2018-06-27 | 2018-12-07 | 东莞市傲途智能装备有限公司 | A kind of anti-shedding mechanism of battery |
| WO2019104906A1 (en) * | 2017-12-01 | 2019-06-06 | 深圳光启合众科技有限公司 | Bionic flexible structure and robot having same |
| WO2020057144A1 (en) * | 2018-09-18 | 2020-03-26 | 哈尔滨工业大学（深圳） | Self-adaptive flexible gripper based on torsion springs, and robot |
| CN113071640A (en) * | 2021-04-30 | 2021-07-06 | 白城师范学院 | Underwater detection bionic robot fish and system control method thereof |
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2017
- 2017-12-01 CN CN201721660473.XU patent/CN207522597U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019104906A1 (en) * | 2017-12-01 | 2019-06-06 | 深圳光启合众科技有限公司 | Bionic flexible structure and robot having same |
| CN109866214A (en) * | 2017-12-01 | 2019-06-11 | 深圳光启合众科技有限公司 | Bionic flexible structure and robot with it |
| CN109866214B (en) * | 2017-12-01 | 2024-05-24 | 佛山顺德光启尖端装备有限公司 | Bionic flexible structure and robot with same |
| CN108946138A (en) * | 2018-06-27 | 2018-12-07 | 东莞市傲途智能装备有限公司 | A kind of anti-shedding mechanism of battery |
| CN108946138B (en) * | 2018-06-27 | 2023-10-31 | 江苏伟正电气科技有限公司 | Anti-drop mechanism of battery |
| WO2020057144A1 (en) * | 2018-09-18 | 2020-03-26 | 哈尔滨工业大学（深圳） | Self-adaptive flexible gripper based on torsion springs, and robot |
| CN113071640A (en) * | 2021-04-30 | 2021-07-06 | 白城师范学院 | Underwater detection bionic robot fish and system control method thereof |
| CN113071640B (en) * | 2021-04-30 | 2022-04-15 | 白城师范学院 | Underwater detection bionic robot fish and system control method thereof |
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