CN108654101A - Swinging structure and bionic plant - Google Patents
Swinging structure and bionic plant Download PDFInfo
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- CN108654101A CN108654101A CN201710206471.1A CN201710206471A CN108654101A CN 108654101 A CN108654101 A CN 108654101A CN 201710206471 A CN201710206471 A CN 201710206471A CN 108654101 A CN108654101 A CN 108654101A
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- connecting rod
- driving
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 15
- 238000010276 construction Methods 0.000 claims abstract description 29
- 230000033001 locomotion Effects 0.000 abstract description 7
- 230000000694 effects Effects 0.000 description 6
- 241001465754 Metazoa Species 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000005381 potential energy Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 208000020442 loss of weight Diseases 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
- A63G31/00—Amusement arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
Abstract
The present invention provides a kind of swinging structure and bionic plants, wherein swinging structure includes：Multiple swing sections for being sequentially connected in series setting, adjacent two swing section and can be rotationally connected；Elastic construction is connected between two adjacent swing sections, and the elastic force of elastic construction makes swing section be swung towards first direction；Tension structure is connected between two adjacent swing sections, and tension structure has relaxed state and tensioning state, and when tension structure is changed to tensioning state by relaxed state, tension structure driving swings to save and be swung towards second direction；Driving structure, driving structure driving tension structure are changed to tensioning state by relaxed state.Technical scheme of the present invention solves the swinging structure driving load of bionic plant in the prior art greatly, stiff in the movements problem.
Description
Technical field
The present invention relates to mechanical transmission structure technical fields, in particular to a kind of swinging structure and bionic plant.
Background technology
In large-scale recreation ground, the animals and plants for capableing of smart motion are gradually increased, the motion simulation effect for tree of dancing for enhancing
Fruit needs dancing branch is dry to have the function of flexibly swinging.Plant that can be interactive in the prior art, generally can all there is branch
The action of swing.And having the plant of oscillating function at present, the swinging structure generally used is link mechanism, but link mechanism is general
Store-through is big in frictional force, and driving power is excessive, drives the problems such as slow, the work(that perfect can not be realized plants shoots and freely swing
Energy.
Invention content
The main purpose of the present invention is to provide a kind of swinging structure and bionic plants, in the prior art bionical to solve
The swinging structure driving of plant loads big, stiff in the movements problem.
To achieve the goals above, according to an aspect of the invention, there is provided a kind of swinging structure, including：It is multiple according to
The secondary swing section being arranged in series, adjacent two swing section and can be rotationally connected；Elastic construction is connected to adjacent two
Between a swing section, the elastic force of elastic construction makes swing section be swung towards first direction；Tension structure is connected to adjacent two
Between a swing section, there is tension structure relaxed state and tensioning state, tension structure to be changed to tensioning state by relaxed state
When, tension structure driving swings section and is swung towards second direction；Driving structure, driving structure drive tension structure by relaxed state
It is changed to tensioning state.
Further, tension structure includes tensioned lines.
Further, multiple sections that swing include that the first swing positioned at both ends saves, second swings section and put positioned at first
Dynamic intermediate swing saved between the second swing section is saved, and the first swing section is swinging end, and centre swing saves and is provided with connecting hole,
The first end setting of tensioned lines is swung first on section, and tensioned lines coordinate after passing through connecting hole with driving structure, and driving structure is drawn
It drags tensioned lines and makes that tensioned lines are in tensioning state or driving structure loosens tensioned lines and tensioned lines is made to be in relaxed state.
Further, tension structure further includes runner, and the second end of tensioned lines is connected on runner, and driving structure driving turns
Wheel rotation.
Further, driving structure is driving motor.
Further, second section is swung as fixing end, driving structure setting is swung second on section.
Further, it swings and is provided with directive wheel on section, directive wheel supports tensioned lines.
Further, elastic construction is spring.
Further, multiple sections that swing include that the first swing positioned at both ends saves, second swings section and put positioned at first
Section is swung among between dynamic section and the second swing section, the first swing section is swinging end, wherein swinging section to first along second
On the direction for swinging section, the spring ratio of multiple springs is gradually reduced.
Further, it can be rotationally connected by connection structure between adjacent two swing sections, connection structure
Including：First connecting rod and second connecting rod, the first end of first connecting rod and the first end of second connecting rod are connected to adjacent two
On a swing section；Connecting shaft, the second end of first connecting rod and the second end of second connecting rod are rotatably connected to by connecting shaft
Together.
Further, swinging structure further includes that the position limiting structure swung between section at adjacent two, position limiting structure is arranged
Limitation swings section and swings to extreme position towards first direction or second direction.
Further, position limiting structure includes being arranged in the first limited block of the second end of first connecting rod and setting second
Second limited block of the second end of connecting rod, when first connecting rod rotates predetermined angle relative to second connecting rod, the first limited block and the
Two limited blocks abut against.
Further, it includes plate body to swing section, and elastic construction and tension structure are connected to the opposite both sides of plate body.
Further, connection structure is arranged at the middle part of plate body.
According to another aspect of the present invention, a kind of bionic plant is provided, including limb and the pendulum that is arranged in limb
Dynamic structure, swinging structure are above-mentioned swinging structure.
It applies the technical scheme of the present invention, when driving structure does not drive tension structure, swings section and driven by elastic construction
It is swung towards first direction.When driving structure drives tension structure, tension structure is in tensioning state and drives swing section court
It is swung to second direction.Above structure makes driving structure that swing section only be driven to swing in one direction, and then reduces driving knot
The load of structure, meanwhile, elastic construction so as to swing that section swings more naturally, and reducing the driving force of driving structure.Therefore originally
The technical solution of invention solves the swinging structure driving load of bionic plant in the prior art greatly, stiff in the movements problem.
Description of the drawings
The accompanying drawings which form a part of this application are used to provide further understanding of the present invention, and of the invention shows
Meaning property embodiment and its explanation are not constituted improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 shows the structural schematic diagram of the embodiment of swinging structure according to the present invention；
Fig. 2 shows enlarged diagrams at A in Fig. 1；And
Fig. 3 shows the structural schematic diagram when tension structure of swinging structure in Fig. 1 is in tensioning state.
Wherein, above-mentioned attached drawing includes the following drawings label：
10, section is swung；11, first section is swung；12, second section is swung；13, intermediate to swing section；20, connection structure；21,
One connecting rod；22, second connecting rod；23, connecting shaft；30, elastic construction；40, tension structure；41, tensioned lines；42, runner；50, it drives
Dynamic structure；60, directive wheel；70, position limiting structure；71, the first limited block；72, the second limited block.
Specific implementation mode
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.Below
Description only actually at least one exemplary embodiment is illustrative, is never used as to the application and its application or makes
Any restrictions.Based on the embodiment in the application, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, shall fall in the protection scope of this application.
It should be noted that term used herein above is merely to describe specific implementation mode, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or combination thereof.
Unless specifically stated otherwise, positioned opposite, the digital table of the component and step that otherwise illustrate in these embodiments
Up to the unlimited scope of the present application processed of formula and numerical value.Simultaneously, it should be appreciated that for ease of description, attached each portion shown in the drawings
The size divided not is to be drawn according to actual proportionate relationship.For technology, side known to person of ordinary skill in the relevant
Method and equipment may be not discussed in detail, but in the appropriate case, and the technology, method and apparatus should be considered as authorizing explanation
A part for book.In shown here and discussion all examples, any occurrence should be construed as merely illustrative, and
Not by way of limitation.Therefore, the other examples of exemplary embodiment can have different values.It should be noted that：Similar label
Similar terms are indicated in following attached drawing with letter, therefore, once it is defined in a certain Xiang Yi attached drawing, then subsequent attached
It need not be further discussed in figure.
In the description of the present application, it is to be understood that the noun of locality such as " front, rear, top, and bottom, left and right ", " laterally, vertical,
Vertically, the orientation or positional relationship indicated by level " and " top, bottom " etc. is normally based on orientation or position shown in the drawings and closes
System is merely for convenience of description the application and simplifies to describe, and in the absence of explanation to the contrary, these nouns of locality do not indicate that
Signified device or element must have a particular orientation or with specific azimuth configuration and operations with hint, therefore cannot manage
Solution is the limitation to the application protection domain；The noun of locality " inside and outside " refers to inside and outside the profile relative to each component itself.
For ease of description, herein can with use space relative terms, as " ... on ", " in ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, if the device in attached drawing is squeezed, it is described as " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also other different modes positioning (be rotated by 90 ° or be in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
Furthermore, it is necessary to which explanation, limits parts, it is only for be convenient for using the words such as " first ", " second "
Corresponding parts are distinguished, do not have Stated otherwise such as, there is no particular meanings for above-mentioned word, therefore should not be understood as to this
Apply for the limitation of protection domain.
As shown in Figure 1, the swinging structure of the present embodiment include multiple swings section 10, elastic construction 30, tension structure 40 with
And driving structure 50.Wherein, multiple swing sections 10 are sequentially connected in series setting, can by connection structure 20 between adjacent swing section 10
It is pivotally connected together.Elastic construction 30 is connected between adjacent swing section 10, and the driving of elastic construction 30 swings 10 courts of section
It is swung to first direction.Tension structure 40 is connected between adjacent swing section 10, and tension structure 40 has relaxed state and opens
Tight state, when tension structure 40 is changed to tensioning state by relaxed state, the driving of tension structure 40 swings section 10 towards second party
To swing.Driving structure 50 coordinates with tension structure 40, and the driving tension structure 40 of driving structure 50 is changed to by relaxed state to be opened
Tight state.
Using the technical solution of the present embodiment, when driving structure 50 does not drive tension structure 40, it is elastic to swing section 10
Structure 30 is driven towards first direction swing.When driving structure 50 drives tension structure 40, tension structure 40 is in tensioning shape
State simultaneously drives swing section 10 to be swung towards second direction.Above structure makes driving structure 50 only drive swing section 10 towards a side
To swing, and then reduce the load of driving structure, meanwhile, elastic construction 30 so that swing that section 10 swings more naturally, and subtracting
The driving force of small driving structure 50.Therefore the technical solution of the present embodiment solves the swing knot of bionic plant in the prior art
Big, the stiff in the movements problem of structure driving load.
It should be noted that from figure 1 it will be seen that when driving structure 50 drives tension structure 40, tension structure 40 is opened
Tightly and multiple swings is made to save 10 upward (namely above-mentioned second directions) swing.Elastic construction 30 is stretched and stores elasticity at this time
Potential energy.When driving structure 50 does not drive tension structure 40, elastic construction 30 discharges elastic potential energy at this time, and drives multiple swings
10 downward (namely above-mentioned first directions) are saved to swing.At the same time, relaxed state until tension structure 40 is become by tensioning state.
As shown in Figure 1, in the technical solution of the present embodiment, tension structure 40 includes tensioned lines 41.Specifically, tensioned lines
41, which are each passed through each, swings section 10.Driving structure 50 pulls tensioned lines 41 or unclamps tensioned lines 41.When driving structure 50
When pulling tensioned lines 41, the drag force of tensioned lines 41 is more than the elastic force of elastic construction 30.Tensioned lines 41 make multiple swings at this time
Section 10 is swung up.It is multiple to swing the work for saving 10 elastic force in elastic construction 30 when driving structure 50 unclamps tensioned lines 41
With lower to lower swing.It should be noted that when swinging structure is swung, tensioned lines 41 can be in tensioning state always,
Namely the magnitude relationship of the driving force applied to tensioned lines by adjusting driving structure 50 and the elastic force of elastic construction 30 is controlled
The swaying direction of swinging structure processed.Above-mentioned control mode can adjust the swing speed of swinging structure, but driving structure 50 begins
It is in driving condition eventually, load is larger.In another preferred type of drive, when swinging structure is to lower swing, driving knot
Structure 50 no longer pulls tensioned lines 41, and tensioned lines 41 are in relaxed state at this time.
As depicted in figs. 1 and 2, in the technical solution of the present embodiment, multiple swing sections 10 include being located at both ends
First swings the 11, second swing of section section 12 and swings the intermediate swing section saved between 12 positioned at the first swing section 11 and second
13.First swing section 11 is swinging end, that is, outer end of the first swing section 11 for swinging structure, second swings section 12 as bottom end.
Centre swings and is provided with connecting hole on section 13, and the first end of tensioned lines 41 is fixed on the first swing section 11, and tensioned lines 41 pass through
Coordinate with driving structure 50 after connecting hole.When driving structure 50 drives tensioned lines 41, tensioned lines 41 swing section 11 to first and apply
Pulling force, the vertical component driving first of above-mentioned pulling force is added to swing section 11 and be swung up.Since each swing section 10 is rotationally
It links together, finally, entire swinging structure is driven to swing.
As shown in Fig. 2, in the technical solution of the present embodiment, tension structure 40 further includes runner 42, the of tensioned lines 41
Two ends are connected on runner 42, and driving structure 50 drives runner 42 to rotate.Specifically, the second end of tensioned lines 41 is fixedly connected on
On runner 42, and tensioned lines 41 are partially around on runner 42.It will be understood by those skilled in the art that driving structure 50 can be with
It drives runner 42 to rotate forward or invert, and then plays the effect for tensing and loosening tensioned lines 41.It is possible to further pass through control
The velocity of rotation of runner 42 processed controls the swing speed of swinging structure, and the turnning circle of control runner 42 swings to control
The amplitude of fluctuation of structure.
As depicted in figs. 1 and 2, in the technical solution of the present embodiment, driving structure 50 is driving motor.Specifically, it drives
It is connected by gear transmission structure between the motor shaft and runner 42 of dynamic motor.Driving motor is i.e. controllable when rotating and reverse
The rotation direction of runner 42.Preferably, retarder or reduction box can be increased between driving motor and runner 42 to control
The velocity of rotation of runner.It is further preferred that driving motor can be selected as stepper motor, so that the rotation to runner 42
Control is more accurate.
As depicted in figs. 1 and 2, in the technical solution of the present embodiment, the second swing section 12 is fixing end, driving structure 50
Setting is swung second on section 12.Specifically, driving motor and runner 42 are arranged at being put away from intermediate for the second swing section 12
On the surface of dynamic section 13.In the present embodiment, the second swing section 12 itself does not do pendulum motion, therefore driving motor and runner 42
It is arranged on the second swing section 12.In some unshowned embodiments, second, which swings section 12, can also be provided in it
On his fixed structure, and the second swing section 12 can be swung relative to fixed structure.
As depicted in figs. 1 and 2, it in the technical solution of the present embodiment, swings and is provided with directive wheel 60, directive wheel on section 10
60 support tensioned lines 41.Wheeled base is set it can be observed from fig. 2 that swinging, directive wheel 60 is arranged on wheel seat on section 10.This implementation
In example, 60 one side of directive wheel can play the role of tensioned lines 41 tensioning, and then ensure the stability of transmission.Another party
Face, directive wheel 60 also can play the role of support to tensioned lines 41, so make when tensioned lines 41 tensioning when, tensioned lines 41 with
There is distance between connecting hole or reduce the frictional force between tensioned lines 41 and the hole wall of connecting hole, to reduce tensioned lines
Damage probability improves the reliability of equipment.
As shown in Fig. 2, in the technical solution of the present embodiment, elastic construction 30 is spring.Specifically, spring is spiral bullet
Spring, helical spring are provided at both ends with connecting hook, swing and are provided with connecting seat on section 10, the connecting hook point at the both ends of helical spring
Other hook is located at adjacent two and swings on the connecting seat of section 10.Above structure is convenient for the installation and removal of spring.It is shown in Fig. 1
The position view of swinging structure when spring is in relaxation state, namely when swinging structure is swung up, spring starts
Store elastic potential energy.
As depicted in figs. 1 and 2, it in the technical solution of the present embodiment, is both provided between each adjacent swing section 10
Spring.It is swung on the direction of section 11 swinging section 12 to the first along second, the spring ratio of multiple springs is gradually reduced.Specifically
Ground, since first swings section 11 as swinging end, first, which swings section 11, is generally in higher position, or far from fixing end
Position.Therefore, during swinging structure is swung, first swings section 11 and is swung close to the first the intermediate of swing section 11
Section 13 can be affected by gravity.Namely it is affected by gravity bigger closer to the swing section 10 of swinging end.In order to ensure
In swinging structure swing process, each swing angle for swinging section 10 can be equal, closer to it of the swing section 10 of swinging end
Between spring coefficient of elasticity it is smaller, namely under the elastic force of spring and the collective effect of gravity, each swing for swinging section 10
Amplitude is generally equalized.Certainly, according to the difference of each weight for swinging and saving 10, and it is each swing section 10 need amplitude of fluctuation not
Together, the adjustment that those skilled in the art can be adapted to the coefficient of elasticity of each spring.
As shown in Fig. 2, in the technical solution of the present embodiment, connection structure 20 includes：First connecting rod 21 and second connecting rod
22, the first end of first connecting rod 21 and the first end of second connecting rod 22 are connected on adjacent swing section 10；Connecting shaft 23,
The second end of first connecting rod 21 and the second end of second connecting rod 22 can be rotationally connected by connecting shaft 23.Specifically,
First connecting rod 21 and second connecting rod 22 are straight-bar, and engraved structure or loss of weight are provided on first connecting rod 21 and second connecting rod 22
Slot structure, and then mitigate the weight of first connecting rod 21 and second connecting rod 22.The second end of first connecting rod 21 and second connecting rod 22
Second end is both provided with connecting hole, and connecting shaft 23 is by connecting hole by the second of the second end of first connecting rod 21 and second connecting rod 22
End links together.First connecting rod 21 and second connecting rod 22 can be rotated around connecting shaft, to realize adjacent swing section 10
Between rotatably arranged with.
As shown in Figure 1, in the technical solution of the present embodiment, swinging structure further include be arranged adjacent swing section 10 it
Between position limiting structure 70, the limitation of position limiting structure 70 swings the extreme positions that section 10 is swung towards first direction or second direction.
As shown in Figures 2 and 3, in the technical solution of the present embodiment, position limiting structure 70 includes being arranged in first connecting rod 21
Second end the first limited block 71 and the second limited block 72 in the second end of second connecting rod 22 is set, 21 phase of first connecting rod
When rotating predetermined angle for second connecting rod 22, the first limited block 71 and the second limited block 72 contact.In the present embodiment,
Position limiting structure 70 is for limiting the extreme position that swinging structure is swung towards second direction.As seen from Figure 3, work as first connecting rod
21 and second connecting rod 22 when being rocked to conllinear, the first limited block 71 and the second limited block 72 mutually abut against, at this time first connecting rod 21
It can not be rotated towards second direction relative to second connecting rod 22, to play the effect of limit.Certainly, people in the art
Member is it is appreciated that by adjusting the i.e. changeable limit angle degree in the position of the first limited block 71 and the second limited block 72.Meanwhile scheming
In in unshowned embodiment, by the way that two groups of dislocation are arranged in the second end of first connecting rod 21 and the second end of second connecting rod 22
Limited block, you can achieve the effect that while the swing to first direction and second direction swing limit simultaneously.
Certainly, the first limited block 71 and the second limited block 72 are also not necessarily limited to be arranged in first connecting rod 21 and second connecting rod 22
On.In embodiment not shown in the figure, the first limited block 71 and the second limited block 72 can also be arranged in adjacent swing
On section 10, the effect of limit can be equally played.In addition, position limiting structure 70 is also not necessarily limited to use standoff features, position limiting structure
70 can also use common electronic limit structure, such as travel switch etc..
As depicted in figs. 1 and 2, in the technical solution of the present embodiment, swing section 10 include plate body, elastic construction 30 and
Locking structure 40 is connected to the opposite both sides of plate body.Specifically, above-mentioned opposite both sides refer to that elastic construction 30 connects
In the side of the first swaying direction of direction of plate body, tension structure 40 is connected to the side of the second swaying direction of direction of plate body.
Also, connection structure 20 is arranged at the middle part of plate body namely connection structure 20 between elastic construction 30 and tension structure 40.
Present invention also provides a kind of bionic plant, the embodiment according to the bionic plant of the application includes limb and sets
The swinging structure in limb is set, swinging structure is above-mentioned swinging structure.
Certainly, above-mentioned swinging structure is not limited to be applied in bionic plant, for example, above-mentioned swinging structure can answer
In bionic animal, such as the tail portion of bionic animal.Alternatively, can also be used in the mechanical structure that some needs are swung
Above-mentioned swinging structure.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (15)
1. a kind of swinging structure, which is characterized in that including：
Multiple swing sections (10) for being sequentially connected in series setting, adjacent two swing sections (10) can be rotationally connected；
Elastic construction (30) is connected between the swing section (10) of adjacent two, the elastic force of the elastic construction (30)
The swing section (10) is set to be swung towards first direction；
Tension structure (40) is connected between two adjacent swing sections (10), and the tension structure (40) has
Relaxed state and tensioning state, when the tension structure (40) is changed to the tensioning state by the relaxed state, described
Locking structure (40) drives the swing section (10) to be swung towards second direction；
Driving structure (50), it is described that the driving structure (50) drives the tension structure (40) to be changed to by the relaxed state
Tensioning state.
2. swinging structure according to claim 1, which is characterized in that the tension structure (40) includes tensioned lines (41).
3. swinging structure according to claim 2, which is characterized in that multiple swing sections (10) include being located at both ends
First swing section (11), second swing section (12) and positioned at it is described first swing section (11) and it is described second swing save (12) it
Between it is intermediate swing section (13), described first to swing section (11) be swinging end,
Intermediate swing is provided with connecting hole on section (13), the first end setting of the tensioned lines (41) is swung described first
It saves on (11), the tensioned lines (41) coordinate after passing through the connecting hole with the driving structure (50), the driving structure
(50) tensioned lines (41) are pulled and the tensioned lines (41) is made to be in the tensioning state or the driving structure (50)
Loosen the tensioned lines (41) and the tensioned lines (41) is made to be in the relaxed state.
4. swinging structure according to claim 3, which is characterized in that the tension structure (40) further includes runner (42),
The second end of the tensioned lines (41) is connected on the runner (42), and the driving structure (50) drives the runner (42) to turn
It is dynamic.
5. swinging structure according to claim 3 or 4, which is characterized in that the driving structure (50) is driving motor.
6. swinging structure according to claim 5, which is characterized in that the second swing section (12) is fixing end, described
Driving structure (50) setting is swung described second on section (12).
7. swinging structure according to claim 2, which is characterized in that be provided with directive wheel on the swing section (10)
(60), the directive wheel (60) supports the tensioned lines (41).
8. swinging structure according to claim 1, which is characterized in that the elastic construction (30) is spring.
9. swinging structure according to claim 8, which is characterized in that multiple swing sections (10) include being located at both ends
First swing section (11), second swing section (12) and positioned at it is described first swing section (11) and it is described second swing save (12) it
Between it is intermediate swing section (13), described first to swing section (11) be swinging end,
Wherein, it is swung on section (12) to the direction of the first swing section (11) along described second, the bullet of multiple springs
Force coefficient is gradually reduced.
10. swinging structure according to claim 1, which is characterized in that lead between two adjacent swing sections (10)
It crosses connection structure (20) can be rotationally connected, the connection structure (20) includes：
First connecting rod (21) and second connecting rod (22), the first end of the first connecting rod (21) and the of the second connecting rod (22)
One end is connected on the swing section (10) of adjacent two；
Connecting shaft (23), the second end of the first connecting rod (21) and the second end of the second connecting rod (22) pass through the connection
Axis (23) can be rotationally connected.
11. swinging structure according to claim 10, which is characterized in that the swinging structure further includes being arranged in the phase
Two adjacent position limiting structures (70) swung between section (10), the position limiting structure (70) limit the swing and save (10) court
Extreme position is swung to the first direction or the second direction.
12. swinging structure according to claim 11, which is characterized in that the position limiting structure (70) includes being arranged described
The first limited block (71) of the second end of first connecting rod (21) and setting the second connecting rod (22) second end second
Limited block (72), when the first connecting rod (21) rotates predetermined angle relative to the second connecting rod (22), first limit
Block (71) and second limited block (72) abut against.
13. swinging structure according to claim 10, which is characterized in that the swing section (10) includes plate body, the bullet
Property structure (30) and the tension structure (40) are connected to the opposite both sides of the plate body.
14. swinging structure according to claim 13, which is characterized in that the connection structure (20) is arranged in the plate body
Middle part.
15. a kind of bionic plant, including limb and the swinging structure that is arranged in the limb, which is characterized in that the pendulum
Dynamic structure is the swinging structure described in any one of claim 1 to 14.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710206471.1A CN108654101A (en) | 2017-03-30 | 2017-03-30 | Swinging structure and bionic plant |
| PCT/CN2018/079847 WO2018177181A1 (en) | 2017-03-30 | 2018-03-21 | Swaying structure and bionic plant |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710206471.1A CN108654101A (en) | 2017-03-30 | 2017-03-30 | Swinging structure and bionic plant |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108654101A true CN108654101A (en) | 2018-10-16 |
Family
ID=63675107
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710206471.1A Pending CN108654101A (en) | 2017-03-30 | 2017-03-30 | Swinging structure and bionic plant |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108654101A (en) |
| WO (1) | WO2018177181A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113894840A (en) * | 2021-11-18 | 2022-01-07 | 南京航空航天大学 | Rope-driven flexible mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111571577B (en) * | 2020-04-03 | 2021-07-16 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Rope-driven robot control method and system |
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| CN113894840B (en) * | 2021-11-18 | 2022-12-23 | 南京航空航天大学 | Rope-driven flexible mechanical arm |
Also Published As
| Publication number | Publication date |
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| WO2018177181A1 (en) | 2018-10-04 |
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