WO2019104906A1

WO2019104906A1 - Bionic flexible structure and robot having same

Info

Publication number: WO2019104906A1
Application number: PCT/CN2018/079837
Authority: WO
Inventors: 刘若鹏; 尹东富; 张喆仁; 赵金玉; 郑杨; 胡如杰
Original assignee: 深圳光启合众科技有限公司
Priority date: 2017-12-01
Filing date: 2018-03-21
Publication date: 2019-06-06
Also published as: CN109866214A; CN109866214B

Abstract

A bionic flexible structure and a robot having the same, the bionic flexible structure comprising a swinging assembly (10) and a drive transmission device (20); the swinging assembly (10) comprises a flexible member (11), and the drive transmission assembly (20) comprises a rotating frame (28) and a pulling member; both the rotating frame (28) and the pulling member are drivingly connected to the flexible member (11). The pulling member is retractably arranged along the extension direction of the flexible member (11) such that the flexible member bends and deforms, and the rotating frame (28) is rotatably provided so as to drive the flexible member to rotate. The bionic flexible structure solves the problem in the existing technology wherein bionic flexible structures are complicated.

Description

Bionic flexible structure and robot with the same

Technical field

The present invention relates to the field of bionics, and in particular to a bionic flexible structure and a robot having the same.

Background technique

In large playgrounds, the number of animals and plants capable of intelligent movement is increasing, but there is a problem that the bending and rotating motion of the branches cannot be adjusted. If the bending and rotating motion of the branches is to be carried out simultaneously, the number of motors is increased. In order to enhance the motion simulation effect of the bionic tree, bionic branches are required to have flexible motion and simple control.

technical problem

Plants that can interact with each other generally have branches and swings. Currently, plants with swinging functions are generally realized by means of connecting rod structures, but the connecting rod structure generally has problems such as large friction force, excessive driving force, and slow driving. The function of freely swinging plant branches is not perfect.

Technical solution

The main object of the present invention is to provide a bionic flexible structure and a robot therewith to solve the problem that the bionic flexible structure in the prior art is complicated.

In order to achieve the above object, according to an aspect of the present invention, a bionic flexible structure is provided, comprising: a swinging assembly including a flexible member; a drive transmission comprising a rotating frame and a pulling member, a rotating frame and a pulling member Both are drivingly coupled to the flexible member; wherein the pulling member is retractably disposed along the extending direction of the flexible member to flexibly deform the flexible member; the rotating frame is rotatably disposed to drive the flexible member to rotate.

Further, the pulling member is a pull wire.

Further, the rotating frame and the pulling wire are synchronously moved to synchronize the bending deformation and the rotational movement of the flexible member.

Further, the swinging assembly further includes: a first connecting plate, the first connecting plate is sleeved on the flexible member, and the pulling wire is connected to the first connecting plate to be drivingly connected to the flexible member through the first connecting plate.

Further, the swinging assembly further includes: a second connecting plate, the second connecting plate is movably sleeved on the flexible member, and the pulling wire is connected to the first connecting plate through the second connecting plate; the plurality of elastic members, the elastic member can be The elastic member is telescopically sleeved on both sides of the second connecting plate to support the second connecting plate.

Further, the second connecting plates are plural, and the plurality of second connecting plates are spaced apart.

Further, the elastic member is a spring.

Further, the flexible member has a rectangular cross section.

Further, the pull wires are arranged in pairs, the two pairs of pull wires are arranged side by side and spaced apart, and the two pairs of pull wires move synchronously, and the two pull wires move in opposite directions. When the first pull wire is long, the second pull wire is Shorten to bend the flexible member toward the shortened pull wire.

Further, the driving transmission device further includes: a rotating shaft, the rotating shaft is rotatably disposed, the rotating shaft is provided with a first reel and a second reel, and one end of the first one of the pair of two pulling wires is along the first The direction is wound on the first reel, and one end of the second wire is wound on the second reel in the second direction, wherein the first direction and the second direction are opposite directions.

Further, the driving transmission device further includes: a driven wheel, the driven wheel is sleeved on the rotating shaft; the driving wheel is engaged with the driven wheel, and the driving wheel is rotatably disposed to drive the rotating shaft through the driven wheel.

Further, both the driven wheel and the driving wheel are bevel gears.

Further, the driving transmission further includes: a coupling, the first end of the coupling is connected with the driving wheel; the central wheel is connected with the second end of the coupling; the planetary wheel, the planetary wheel and the center wheel Engaging, the planet wheels are rotatably disposed to drive the drive wheel rotation through the center wheel.

Further, an internal gear is disposed on the rotating frame, and the center wheel and the planetary gear are both disposed in the internal gear, and the internal gear meshes with the planetary gear to drive the central wheel to rotate through the planetary gear.

Further, there are a plurality of planetary wheels, and a plurality of planetary gears are disposed along the circumferential direction of the center wheel.

Further, the driving transmission device further includes: a driving motor, wherein an output shaft of the driving motor is drivingly connected to the rotating frame, and an output shaft of the driving motor is rotatable clockwise or counterclockwise.

Further, the rotating frame is provided with an internal gear, and the driving transmission device further comprises: a planetary gear, the planetary gear meshes with the internal gear; the central wheel, the central wheel is rotatably disposed, and the central wheel meshes with the planetary gear to pass the planetary gear The rotating frame is driven to rotate; the driving motor drives the output shaft of the motor through the center wheel and the driving wheel in sequence to drive the center wheel and the driving wheel to rotate synchronously.

Further, the bionic flexible structure further includes: a support frame, the first end of the support frame is connected to the flexible member, the second end of the support frame is connected to the rotating frame, and the flexible member is connected to the rotating frame through the support frame.

Further, the flexible member is an excellent rod.

According to another aspect of the present invention, there is provided a robot comprising a bionic flexible structure, the bionic flexible structure being the above-described bionic flexible structure.

Beneficial effect

The bionic flexible structure of the present invention is drivingly coupled to the oscillating assembly by a drive transmission, and at least a portion of the oscillating assembly can be bent and rotated. Wherein, the swinging assembly comprises a flexible member, the driving transmission comprises a rotating frame and a pulling member, and the rotating frame and the pulling member are both driven by the flexible member, and the connecting pulling member is removably disposed along the extending direction of the flexible member. When the specific driving flexible member is moved, the pulling member drives the flexible member to generate a bending deformation by pulling the pulling member, or the rotating frame drives the flexible member to rotate by rotating the rotating frame. The bionic flexible structure of the present invention can make the flexible member bend and rotate by driving the rotating frame and the pulling member on the transmission device, and the overall structure is relatively simple, thereby solving the problem that the bionic flexible structure in the prior art is complicated.

DRAWINGS

The accompanying drawings, which are incorporated in the claims of the claims In the drawing:

Figure 1 shows a schematic structural view of an embodiment of a biomimetic flexible structure in accordance with the present invention;

2 is a schematic exploded view showing a driving transmission of a bionic flexible structure according to the present invention;

3 is a schematic view showing the assembled structure of a driving transmission device of a bionic flexible structure according to the present invention;

4 is a partial structural schematic view of a drive transmission of a bionic flexible structure in accordance with the present invention.

Wherein, the above figures include the following reference numerals:

10, swinging component; 11, flexible member; 12, first connecting plate; 13, second connecting plate; 14, elastic member; 20, drive transmission; 22, rotating shaft; 221, first reel; 2 reel; 23, driven wheel; 24, drive wheel; 25, coupling; 26, center wheel; 27, planetary wheel; 28, rotating frame; 281, internal gear; 29, drive motor; 30, support frame 40, pressing mechanism.

Embodiments of the invention

It should be noted that the embodiments in the present application and the features in the embodiments may be combined with each other without conflict. The invention will be described in detail below with reference to the drawings in conjunction with the embodiments.

The present invention provides a bionic flexible structure. Referring to Figures 1 to 4, the bionic flexible structure comprises: a swing assembly 10 comprising a flexible member 11; a drive transmission 20 comprising a swivel 28 and pulling The rotating frame 28 and the pulling member are all drivingly connected with the flexible member 11; wherein the pulling member is retractably disposed along the extending direction of the flexible member 11 to bend and deform the flexible member 11; the rotating frame 28 is rotatably disposed to The drive flexure 11 is rotated.

The bionic flexible structure of the present invention is drivingly coupled to the swing assembly 10 by the drive transmission 20, enabling at least a portion of the swing assembly 10 to perform a bending motion and a rotational motion. The swinging assembly 10 includes a flexible member 11 including a rotating frame 28 and a pulling member. The rotating frame 28 and the pulling member are both driven by the flexible member 11. The connecting pulling member is removably disposed along the extending direction of the flexible member 11. . When the specific driving flexible member 11 is moved, the pulling member drives the flexible member 11 to generate a bending deformation by pulling the pulling member, or by rotating the rotating frame 28, so that the rotating frame 28 drives the flexible member 11 to rotate. The bionic flexible structure of the present invention can make the flexible member 11 bend and rotate by driving the rotating frame 28 and the pulling member on the transmission device 20, and the overall structure is relatively simple, thereby solving the problem that the bionic flexible structure in the prior art is complicated. .

Preferably, the pull member is a pull wire.

In order to better simulate the motion state of the plant, the revolving frame 28 and the pull wire are synchronously moved to synchronize the bending deformation and the rotational movement of the flexible member 11.

In the present embodiment, by setting the revolving frame 28 and the pulling wire to be synchronized, the bending deformation and the rotational movement of the flexible member 11 can be synchronized, and the movement state of the plant is more conformed.

In order to enable the bending deformation of the flexible member 11 by the pull wire, as shown in FIG. 1 , the swing assembly 10 further includes: a first connecting plate 12 , the first connecting plate 12 is sleeved on the flexible member 11 , and the pulling wire and the first connecting plate 12 are They are connected to drive the connection with the flexible member 11 through the first connecting plate 12.

In the present embodiment, the first connecting plate 12 is disposed on the swinging assembly 10, wherein the first connecting plate 12 is sleeved at one end of the flexible member 11. In order to drive the flexible member 11 more easily by the pull wire, the pull wire is connected to the first connecting plate 12, so that the first connecting plate 12 can be pulled by the pulling wire to drive the flexible member 11 to generate bending deformation.

As shown in FIG. 1 , the swing assembly 10 further includes a second connecting plate 13 movably sleeved on the flexible member 11 and the cable passes through the first The two connecting plates 13 are connected to the first connecting plate 12; the plurality of elastic members 14 are elastically sleeved on the flexible member 11 , and the elastic members 14 are disposed on both sides of the second connecting plate 13 to The second connecting plate 13 is supported.

In the present embodiment, the swing assembly 10 further includes a second connecting plate 13 movably sleeved on the flexible member 11 so as not to affect the normal bending motion of the flexible member 11, and the cable passes through the second connection. The plate 13 is connected to the first connecting plate 12.

In order to ensure the relative position of the second connecting plate 13 and the flexible member 11, the swinging assembly 10 further includes a plurality of elastic members 14, wherein the elastic members 14 are telescopically sleeved on the flexible member 11, and both sides of the second connecting plate 13 The elastic members 14 are sleeved so that at least two elastic members can support one second connecting plate 13.

Preferably, the second connecting plates 13 are plural, and the plurality of second connecting plates 13 are spaced apart.

In this embodiment, the second connecting plate 13 is provided with a through hole through which the cable passes.

Preferably, the resilient member 14 is a spring.

In order to be able to limit the bending direction of the flexible member 11, the cross section of the flexible member 11 is rectangular.

In the present embodiment, the flexible member 11 is a square cylinder, which defines the bending direction of the flexible member 11 to some extent.

In order to enable the bending deformation of the flexible member 11, the pull wires are arranged in pairs, the two pairs of pull wires are arranged side by side and spaced apart, and the two pairs of pull wires move synchronously, and the two pull wires move in opposite directions when the first pull wire is placed. For a long time, the second pull wire is shortened to bend the flexible member 11 toward the shortened pull wire.

In this embodiment, the pull wires are arranged in pairs, and the two pairs of pull wires are arranged side by side and spaced apart, that is, the first pull wire is located on the first side of the flexible member 11 , and the second pull wire is located on the second side of the flexible member 11 . The first side and the second side are separated from each other. In order to ensure that the flexible member 11 is bent and deformed, the two pairs of pull wires move synchronously, and the two pull wires move in opposite directions. When the first pull wire is elongated, the second pull wire is shortened, so that the flexible member 11 can be oriented toward the front. The short wire is bent in the direction.

In order to enable the two pairs of pull wires to move synchronously, as shown in FIG. 1, the drive transmission 20 includes a rotating shaft 22, and the rotating shaft 22 is rotatably disposed. The rotating shaft 22 is provided with a first reel 221 and a second winding. The wheel 222, one end of the first one of the pair of pull wires is wound on the first reel 221 in the first direction, and one end of the second pull wire is wound on the second reel 222 in the second direction. Wherein the first direction and the second direction are opposite directions.

In the present embodiment, the first reel 221 and the second reel 222 are disposed on the rotating shaft 22 by providing the rotating shaft 22 on the driving transmission 20. One end of the first one of the pair of pull wires is wound on the first reel 221 in a first direction, and one end of the second pull wire is wound on the second reel 222 in a second direction, wherein The first direction and the second direction are opposite directions. When the driving flexible member 11 is bent and deformed, the rotating shaft 22 is rotated, so that one of the pulling wires is elongated, and at the same time, the other pulling wire is shortened, so that the flexible member 11 can be bent toward the shortened pulling direction.

For the driving mode of the rotating shaft 22, as shown in FIG. 2, the driving transmission device 20 further includes: a driven wheel 23, the driven wheel 23 is sleeved on the rotating shaft 22; the driving wheel 24, the driving wheel 24 meshes with the driven wheel 23, and the driving wheel 24 is rotatably provided to drive the rotating shaft 22 to rotate by the driven wheel 23.

In the present embodiment, the drive transmission 20 further includes a driven wheel 23 and a driving wheel 24, wherein the driven wheel 23 is sleeved on the rotating shaft 22, and the driving wheel 24 is engaged with the driven wheel 23. By rotating the driving wheel 24, the driving wheel 24 drives the driven wheel 23 to rotate, whereby the driven wheel 23 drives the rotating shaft 22 to rotate.

The driven wheel 23 and the driving wheel 24 are both bevel gears in consideration of the compactness of the structure.

In order to enable the drive wheel 24 to be rotatably disposed, the drive transmission 20 further includes a coupling 25 to which the first end of the coupling 25 is coupled to the drive wheel 24; the center wheel 26, the center wheel 26 and the coupling 25 The second end is coupled; the planet gear 27, the planet gear 27 meshes with the center wheel 26, and the planet gear 27 is rotatably disposed to drive the drive wheel 24 to rotate through the center wheel 26.

In the present embodiment, the drive transmission 20 further includes a coupling 25, a center wheel 26, and a planet gear 27, wherein the first end of the coupling 25 is coupled to the drive wheel 24, and the center wheel 26 and the coupling 25 The second ends are connected. By meshing with the center wheel 26 by the planet gears 27, the rotating planet gears 27 can drive the center wheel 26 to rotate to drive the drive wheel 24 to rotate through the center wheel 26.

In order to realize the synchronous movement of the rotating frame 28 and the pulling wire, as shown in FIG. 3 and FIG. 4, the rotating frame 28 is provided with an internal gear 281, and the center wheel 26 and the planetary gear 27 are both disposed in the internal gear 281, the internal gear 281 and the planet The wheels 27 are engaged to drive the center wheel 26 to rotate by the planet gears 27.

In the present embodiment, by providing the internal gear 281 on the revolving frame 28, the center wheel 26 and the planetary gear 27 are both disposed in the internal gear 281, and the internal gear 281 is meshed with the planetary gear 27. The planetary gear 27 is driven to rotate by rotating the rotating frame 28, and the planetary gear 27 drives the center wheel 26 to rotate.

Optionally, the revolving frame 28 is an internal gear, and the center wheel 26 and the planet gears 27 are both disposed on a rotating frame 28 that meshes with the planet gears 27.

In the present embodiment, the rotating frame 28 rotates to drive the flexible member 11 to rotate, and at the same time, the rotating frame 28 drives the first reel 221 and the second reel 222 to rotate through the gear set to drive the two pull wires. It is long and short, so that the synchronous bending motion of the flexible member 11 can be achieved.

In order to secure sufficient power, a plurality of planetary gears 27 are provided, and a plurality of planetary gears 27 are disposed along the circumferential direction of the center wheel 26.

In the present embodiment, there are three planetary wheels 27.

Optionally, the rotational speed of the rotating frame 28 is less than the rotational speed of the driving wheel 24.

Preferably, the drive transmission 20 further includes a drive motor 29, the output shaft of which is drivingly coupled to the rotating frame 28, and the output shaft of the drive motor 29 is rotatable clockwise or counterclockwise.

During specific movement, by the clockwise or counterclockwise rotation of the output shaft of the drive motor 29, the rotation of the flexible member 11 in both directions and the bending deformation in both directions can be driven.

Preferably, the bionic flexible structure further comprises: a support frame 30, the first end of the support frame 30 is connected with the flexible member 11, the second end of the support frame 30 is connected with the rotating frame 28, and the flexible member 11 is rotated by the support frame 30 The shelves 28 are connected.

In this embodiment, the support frame 30 is composed of a plurality of support plates and a circular seat. The first ends of the plurality of support plates are connected with the cover body on the rotating frame 28, and the second ends of the plurality of support plates are rounded. The seats are connected and the flexible member 11 is mounted on the circular seat.

Preferably, the flexible member 11 is plural, and the plurality of flexible members 11 are spaced apart.

Preferably, the bionic flexible structure further includes a pressing mechanism 40 that is pressed against the planet gears 27 to prevent the planetary gears 27 from moving up and down, wherein the pressing mechanism 40 rotates with the planet gears 27.

In order to enable the flexible member 11 to produce different forms of bending deformation, the first connecting plate 12 is plural, and the plurality of first connecting plates 12 are spaced apart, and the plurality of pulling wires are connected, and the respective connecting wires are connected to the corresponding first connecting plates 12.

In this embodiment, the first connecting plate 12 is disposed in plurality, wherein the plurality of first connecting plates 12 are spaced apart, and correspondingly, the plurality of pulling wires are multiple, and the respective connecting wires are connected to the corresponding first connecting plate 12 . During the specific driving motion, the pulling motion of the first connecting plate 12 can be separately driven, or the pulling motion of the plurality of first connecting plates 12 can be simultaneously driven, so that the flexible member 11 produces different bending forms and is more closely attached. The state of motion of the plant.

In view of the strength of the assembly and the convenience of the bending deformation of the flexible member 11, the area of the cross section of the plurality of first connecting plates 12 is sequentially increased or decreased sequentially along the extending direction of the flexible member 11.

In the present embodiment, the flexible member 11 is placed in the vertical direction, and at this time, the area of the cross section of the plurality of first connecting plates 12 is sequentially decreased from bottom to top in the extending direction of the flexible member 11.

In order to enable bending deformation of the flexible member 11 in different directions, the plurality of pairs of wires are spaced apart, and the plurality of pairs of wires are spaced apart to control the bending direction of the flexible member 11 by the two pairs of wires.

Preferably, there are a plurality of drive transmissions 20, and a plurality of drive transmissions 20 are spaced apart, and each of the drive transmissions 20 controls a corresponding pair of pull wires.

A second driving method for the drive transmission 20 of the present invention:

Preferably, the rotating frame 28 is provided with an internal gear 281. The driving transmission device 20 further includes: a planetary gear 27, the planetary gear 27 meshes with the internal gear 281; a central wheel 26, the central wheel 26 is rotatably disposed, and the central wheel 26 is The planet gears 27 mesh to drive the rotating frame 28 to rotate by the planet wheels 27; the drive motor 29, the output shaft of the drive motor 29 passes through the center wheel 26 and the drive wheel 24 in sequence to drive the center wheel 26 and the drive wheel 24 to rotate synchronously.

In the present embodiment, the driving motor 29 drives the center wheel 26 and the driving wheel 24 to rotate synchronously, and the driving wheel 24 drives the driven wheel 23 to rotate to further drive the first reel 221 and the second reel 222. One end of the first one of the pair of two pull wires is wound on the first reel 221 in a first direction, and one end of the second pull wire is wound on the second reel 222 in a second direction. Wherein, the first direction and the second direction are opposite directions. When the driving flexible member 11 is bent and deformed, the rotating shaft 22 is rotated, so that one pulling wire is elongated, and at the same time, the other pulling wire is shortened, so that the flexible member 11 can be bent toward the shortened pulling wire.

At the same time, the center wheel 26 drives the rotation of the planet gears 27 to further drive the rotation of the rotating frame 28 to drive the flexible member 11 to rotate. Thereby, the bending deformation and the rotationally synchronous movement of the flexible member 11 are achieved.

Preferably, the flexible member 11 is a superior rod.

The present invention also provides a robot comprising a bionic flexible structure, the bionic flexible structure being the above-described bionic flexible structure.

From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:

The above description is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made to the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and scope of the present invention are intended to be included within the scope of the present invention.

Claims

A bionic flexible structure, comprising:

a swinging assembly (10), the swinging assembly (10) comprising a flexible member (11);

a drive transmission (20), the drive transmission (20) comprising a rotating frame (28) and a pulling member, the rotating frame (28) and the pulling member are drivingly connected with the flexible member (11);

Wherein the pulling member is retractably disposed along the extending direction of the flexible member (11) to bend and deform the flexible member (11); the rotating frame (28) is rotatably disposed to drive the The flexible member (11) is rotated.
The bionic flexible structure according to claim 1, wherein the pulling member is a pull wire.
The bionic flexible structure according to claim 2, wherein the rotating frame (28) and the pulling wire are synchronously moved to synchronize the bending deformation and the rotational movement of the flexible member (11).
The bionic flexible structure according to claim 2, wherein the swinging assembly (10) further comprises:

a first connecting plate (12), the first connecting plate (12) is sleeved on the flexible member (11), and the pulling wire is connected with the first connecting plate (12) to pass the first A connecting plate (12) is drivingly coupled to the flexible member (11).
The bionic flexible structure according to claim 4, wherein the swinging assembly (10) further comprises:

a second connecting plate (13), the second connecting plate (13) is movably sleeved on the flexible member (11), and the pulling wire passes through the second connecting plate (13) and the first a connecting plate (12) is connected;

a plurality of elastic members (14), the elastic members (14) are telescopically sleeved on the flexible member (11), and the elastic members are sleeved on both sides of the second connecting plate (13) (14) to support the second connecting plate (13).
The bionic flexible structure according to claim 5, wherein the second connecting plates (13) are plural, and the plurality of the second connecting plates (13) are spaced apart.
The bionic flexible structure according to claim 5, characterized in that the elastic member (14) is a spring.
The bionic flexible structure according to claim 1, characterized in that the cross section of the flexible member (11) is rectangular and the bionic flexible structure according to claim 1, characterized in that the flexible member (11) The cross section is rectangular.
The bionic flexible structure according to claim 2, wherein the pull wires are arranged in pairs, and the two pairs of the pull wires are arranged side by side and spaced apart, and the two pairs of the pull wires are synchronously moved, and the two The direction of movement of the wire is reversed. When the first wire is elongated, the second wire is shortened to bend the flexible member (11) toward the shortened wire.
The bionic flexible structure according to claim 9, wherein the drive transmission (20) further comprises:

a rotating shaft (22), the rotating shaft (22) is rotatably disposed, and the rotating shaft (22) is provided with a first reel (221) and a second reel (222), and the two pairs are One end of the first one of the pull wires is wound on the first reel (221) in a first direction, and one end of the second pull wire is wound on the second reel in a second direction (222), wherein the first direction and the second direction are opposite directions.
The bionic flexible structure of claim 10, wherein the drive transmission (20) further comprises:

a driven wheel (23), the driven wheel (23) is sleeved on the rotating shaft (22);

a driving wheel (24), the driving wheel (24) is engaged with the driven wheel (23), and the driving wheel (24) is rotatably disposed to drive the rotating shaft through the driven wheel (23) 22) Turn.
The bionic flexible structure according to claim 11, wherein the driven wheel (23) and the driving wheel (24) are both bevel gears.
The bionic flexible structure according to claim 11, wherein the drive transmission (20) further comprises:

a coupling (25), the first end of the coupling (25) is connected to the driving wheel (24);

a center wheel (26), the center wheel (26) being coupled to the second end of the coupling (25);

a planet gear (27) that meshes with the center wheel (26), the planet wheel (27) being rotatably disposed to drive the drive wheel through the center wheel (26) (24) Rotate.
The bionic flexible structure according to claim 13, wherein an inner gear (281) is disposed on the rotating frame (28), and the center wheel (26) and the planetary gear (27) are both disposed in the In the internal gear (281), the internal gear (281) meshes with the planetary gear (27) to drive the center wheel (26) to rotate by the planetary gear (27).
A bionic flexible structure according to claim 13, wherein said plurality of planet wheels (27) are plural, and a plurality of said planet wheels (27) are spaced apart in a circumferential direction of said center wheel (26).
The bionic flexible structure according to claim 13, wherein the drive transmission (20) further comprises:

A drive motor (29), an output shaft of the drive motor (29) is drivingly coupled to the rotating frame (28), and an output shaft of the drive motor (29) is rotatable clockwise or counterclockwise.
The bionic flexible structure according to claim 11, wherein the rotating frame (28) is provided with an internal gear (281), and the driving transmission (20) further comprises:

a planet gear (27), the planet gear (27) meshing with the internal gear (281);

a center wheel (26) rotatably disposed, the center wheel (26) meshing with the planet gear (27) to drive the frame by the planet gear (27) (28) turning;

Driving a motor (29), the output shaft of the drive motor (29) sequentially passing through the center wheel (26) and the driving wheel (24) to drive the center wheel (26) and the driving wheel ( 24) Synchronous rotation.
The bionic flexible structure according to claim 1, wherein the bionic flexible structure further comprises:

a support frame (30), a first end of the support frame (30) is connected to the flexible member (11), and a second end of the support frame (30) is connected to the rotating frame (28). The flexible member (11) is coupled to the rotating frame (28) via the support frame (30).
The bionic flexible structure according to claim 1, characterized in that the flexible member (11) is a superior rod.
A robot comprising a bionic flexible structure, characterized in that the bionic flexible structure is the bionic flexible structure according to any one of claims 1 to 19.