CN113635289B

CN113635289B - Bionic framework structure and application thereof

Info

Publication number: CN113635289B
Application number: CN202111004219.5A
Authority: CN
Inventors: 何衢
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-08-30
Filing date: 2021-08-30
Publication date: 2023-09-19
Anticipated expiration: 2041-08-30
Also published as: CN113635289A

Abstract

The invention provides a bionic skeleton structure and application thereof, wherein the bionic skeleton structure comprises an inner frame, an actuator is arranged in the inner frame, a plurality of inner frames are sequentially and movably connected to form a strip shape, uniformly distributed and sequentially and movably connected outer frames are wrapped outside the inner frame, flexible materials are wrapped outside the outer frames, the outer frames at sequentially connected positions of all the inner frames are connected with the inner frame, magnets are uniformly distributed on two sides of the outer frames, and magnetic poles of the magnets on adjacent outer frames are opposite. The invention has the following beneficial effects: magnets uniformly distributed on two sides of the outer frame are matched through the connection relationship between the inner frame and the outer frame and the connection relationship between the outer frame, so that the technical problems of poor durability, excessive hardness and easy unbalanced deformation of the rigid motion joint wrapped by the flexible material in the traditional bionic mechanical mechanism are solved.

Description

Bionic framework structure and application thereof

Technical Field

The invention relates to the technical field of bionic machines, in particular to a bionic framework structure and application thereof.

Background

Along with the rapid development of the robot industry, miniaturization and bionic formation of a robot structure become an important direction of mechanical design, and biochemical-imitating robots such as mechanical fish, mechanical dog, mechanical bird and the like appear.

In the current bionic mechanical structure, flexible materials such as silica gel are used for wrapping the rigid motion joint, so that the bionic effect is achieved, but the flexible materials have poor durability, transition is harder during deformation, and the flexible materials are easy to unbalance and deform under large deformation, so that the deformation quantity of the geometric structure is uncontrollable.

Disclosure of Invention

Aiming at the defects existing in the prior art, the invention provides a bionic skeleton structure and application thereof, which solve the technical problems of poor durability, excessive hardness and easy unbalanced deformation existing in the existing bionic mechanical mechanism in which a flexible material wraps a rigid motion joint.

According to the bionic skeleton structure disclosed by the embodiment of the invention, the bionic skeleton structure comprises an inner frame, wherein an actuator is arranged in the inner frame, a plurality of inner frames are sequentially hinged to be long-strip-shaped, uniformly distributed sequentially hinged outer frames are wrapped outside the inner frames, flexible materials are wrapped outside the outer frames, all the outer frames at sequentially hinged positions of the inner frames are hinged to the inner frames, magnets are uniformly distributed on two sides of each outer frame, and magnetic poles of the magnets on adjacent outer frames are opposite.

Further, the outer frame comprises a compensating frame and a driven frame, and the compensating frame is connected with the inner frame.

Further, the compensating frame top is equipped with coupling assembling with the bottom inboard and is used for connecting the internal frame, be equipped with linear bearing on the compensating frame, be equipped with linear round pin axle on the coupling assembling, linear round pin axle and linear bearing swing joint, the compensating frame is hugged closely coupling assembling, the axis direction of linear bearing is parallel with the length direction of internal frame.

Further, the connecting assembly comprises a fixing part for fixing the linear pin shaft and a vertical connecting part for connecting the inner frame, and a fixing bearing is arranged on the vertical connecting part and connected with the inner frame.

Further, the inner frame comprises a cavity shell and an extending hinge part arranged at one end of the cavity shell, the actuator is arranged in the cavity shell, the output end of the actuator is in transmission connection with the top of the extending hinge part of the adjacent inner frame, and the bottom of the extending hinge part is hinged with the bottom of the other end of the cavity shell of the adjacent inner frame.

Further, the top of the extending hinge part is provided with a connecting arm, one end of the connecting arm is connected with the extending hinge part, the other end of the connecting arm is in transmission connection with the output end of the actuator, the center of the fixed bearing is penetrated with a connecting screw, and the connecting screw penetrates into the connecting arm or the extending hinge part to be connected with the internal frame.

Further, the inner sides of the top and the bottom of the compensation frame are provided with linear installation parts for installing linear bearings, and the middle positions of the top and the bottom of the driven frame and the compensation frame are provided with extension connection parts which are hinged with adjacent compensation frames or driven frames.

Furthermore, an optical axis is arranged on the extending connecting part, connecting bearings are arranged at the middle positions of the tops and the bottoms of the driven frame and the compensation frame, and the optical axis penetrates through the connecting bearings.

Furthermore, mounting holes which incline inwards by 5-15 degrees are formed in the two sides of the outer frame, the magnets are mounted in the mounting holes, and one end face of the mounting holes of the outer frame is an inclined face perpendicular to the mounting holes.

Furthermore, the bionic skeleton structure is applied to a vertebra and a flexible mechanical arm in the field of bionic robots.

The technical principle of the invention is as follows: the outer frame is used for supporting the flexible material, so that the flexible material is separated from the inner frame, the outer frames are connected in a hinged mode, and magnets are uniformly distributed on two sides of the outer frame, so that the outer frame can be naturally straightened when not stressed under the action of repulsive force of the magnets.

Meanwhile, the outer frames are hinged with the inner frames, so that when the inner frames are bent, the outer frames can bend along with the inner frames, but because the outer frames are hinged with each other and matched with the action of magnetic repulsion force, the bending radian between the outer frames is smoother.

Compared with the prior art, the invention has the following beneficial effects: magnets uniformly distributed on two sides of the outer frame are matched through the connection relationship between the inner frame and the outer frame and the connection relationship between the outer frame, so that the technical problems of poor durability, excessive hardness and easy unbalanced deformation of the rigid motion joint wrapped by the flexible material in the traditional bionic mechanical mechanism are solved.

Drawings

Fig. 1 is a schematic structural diagram of a bionic skeleton structure according to an embodiment of the present invention.

Fig. 2 is a cross-sectional view of a bionic skeletal structure according to an embodiment of the present invention.

Fig. 3 is a schematic diagram of a connection structure between a compensation frame and a connection assembly according to an embodiment of the invention.

Fig. 4 is a schematic diagram of a connection structure of an internal frame according to an embodiment of the present invention.

Fig. 5 is a partial enlarged view of a portion a of fig. 2.

Fig. 6 is a cross-sectional view of B-B of fig. 3.

In the above figures: 100. an inner frame; 110. a cavity housing; 120. a protruding hinge; 121. a connecting arm; 200. an actuator; 210. an output end; 300. an outer frame; 301. a compensation frame; 302. a driven frame; 310. a magnet; 311. a mounting hole; 312. an inclined surface; 320. a connection assembly; 321. a linear pin; 322. a vertical connection portion; 323. a fixing part; 330. a linear bearing; 331. a linear mounting section; 340. fixing a bearing; 341. a connecting screw; 350. a protruding connection portion; 351. an optical axis; 352. and connecting the bearings.

Detailed Description

The technical scheme of the invention is further described below with reference to the accompanying drawings and examples.

The bionic skeleton structure shown in fig. 1-2 comprises an inner frame 100, wherein an actuator 200 is installed in the inner frame 100 and used for driving the inner frame 100, a plurality of inner frames 100 are hinged in sequence to form a structure similar to a spine, an evenly distributed hinged outer frame 300 is wrapped outside the inner frame 100, flexible materials are wrapped outside the outer frame 300 and play a role in supporting the flexible materials, the outer frames 300 at all the inner frames 100 at the hinged positions are hinged with the inner frame 100, magnets 310 are evenly distributed on two sides of the outer frame 300, magnetic poles of the magnets 310 on the adjacent outer frames 300 are opposite, the outer frames 300 can be naturally straightened when not stressed, and bending radian is smoother due to repulsive force when stressed and cannot be influenced by bending of the inner frames 100, because the bending radian is smoother, unbalanced deformation of the flexible materials cannot occur, and durability of the flexible materials is improved.

Wherein the actuator 200 comprises a steering engine, a stepping motor or a pneumatic actuator 200 and other moving parts.

As shown in fig. 2, the outer frame 300 includes a compensating frame 301 and a driven frame 302, wherein the compensating frame 301 is connected to the inner frame 100.

As shown in fig. 3, the inner sides of the top and the bottom of the compensating frame 301 are provided with a connecting component 320 for connecting the inner frame 100, the compensating frame 301 is provided with a linear bearing 330, the connecting component 320 is fixed with a linear pin 321, the linear pin 321 is movably connected with the linear bearing 330, that is, the linear bearing 330 can move along the axial direction of the linear pin 321, the compensating frame 301 is tightly attached to the connecting component 320, the maximum outward moving distance of the compensating frame 301 is limited, the compensating frame 301 is prevented from being directly separated from the connecting component 320, the axial direction of the linear bearing 330 is parallel to the length direction of the inner frame 100, and in the process of being driven to deform by the inner frame 100, the specific compensating frame 301 has a length difference between the inner frame 100 and the outer frame 300 due to different structures, so that the compensation is performed through the movable connection between the linear bearing 330 and the linear pin 321.

As shown in fig. 2, in the actual use process, the bionic skeleton structure as a part of the bionic robot may be connected with other mechanical structures, where the outermost compensating frame 301 may be hinged with the other mechanical structures to control the maximum movement range of all compensating frames 301.

As shown in fig. 3 to 4, the connection assembly 320 includes a fixing portion 323 fixing the linear pin 321 and a vertical connection portion 322 connecting the inner frame 100, the fixing portion 323 and the vertical connection portion 322 are integrally formed, and a fixing bearing 340 is interference-fitted on the vertical connection portion 322 to be connected with the inner frame 100.

As shown in fig. 4, the inner frame 100 includes a cavity case 110 and an extension hinge 120 integrally formed at one end of the cavity case 110, an actuator 200 is screw-mounted in the cavity case 110, and an output end 210 of the actuator 200 is key-coupled with a top of the extension hinge 120 of an adjacent inner frame 100 such that the actuator 200 can drive the adjacent inner frame 100 to move, and a bottom of the extension hinge 120 is screw-coupled with a bottom of the other end of the cavity case 110 of the adjacent inner frame 100.

As shown in fig. 4, a connecting arm 121 is fixed to the top of the extending hinge portion 120 by a screw, one end of the connecting arm 121 is connected to the extending hinge portion 120 by a screw, the other end of the connecting arm 121 is connected to the output end 210 of the actuator 200 by a key, the actuator 200 with different positions of the output end 210 can be adapted by replacing different connecting arms 121, a connecting screw 341 is inserted into the center of the fixing bearing 340, and the connecting screw 341 penetrates into the connecting arm 121 or the extending hinge portion 120 to be connected to the inner frame 100, thereby achieving the function of mounting the connecting assembly 320 to the inner frame 100.

As shown in fig. 3 and 5, the inner sides of the top and bottom of the compensating frame 301 are integrally formed with a linear mounting portion 331 for mounting the linear bearing 330, and the intermediate positions of the top and bottom of the driven frame 302 and the compensating frame 301 are integrally formed with an extension connecting portion 350, and the extension connecting portion 350 is hinged with the adjacent compensating frame 301 or driven frame 302.

As shown in fig. 5, the optical axis 351 is interference-fitted to the protruding connection portion 350, and connection bearings 352 are installed at intermediate positions of the top and bottom of the driven frame 302 and the compensation frame 301, the optical axis 351 passing through the connection bearings 352.

As shown in fig. 6, mounting holes 311 inclined inward by 5 to 15 ° are provided at both sides of the outer frame 300, and most preferably, 10 °, the magnets 310 are interference-fitted into the mounting holes 311, one end surface of the outer frame 300 at the mounting holes 311 is provided with an inclined surface 312 perpendicular to the mounting holes 311, and the inclined mounting holes 311 are engaged with the inclined surface 312 to facilitate the mounting of the magnets 310.

The bionic skeleton structure is applied to spines and flexible mechanical arms in the field of bionic robots, such as spines of bionic mechanical fish, spines of mechanical dogs, spines of mechanical birds, octopus contact arms and the like.

In use, the actuator 200 drives the adjacent inner frames 100 to bend, and the adjacent compensating frames 301 or 302 bend due to the hinge connection of the compensating frames 301 and the inner frames, but the adjacent compensating frames 302 or 301 keep equal spacing due to the repulsive force of the magnets 310, and the length difference due to deformation compensates between the linear bearings 330 and the linear pins 321.

Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered by the scope of the claims of the present invention.

Claims

1. A bionic skeleton structure, characterized in that: including the internal frame, install the executor in the internal frame, a plurality of the internal frame articulates in proper order and is rectangular form, the external frame parcel has the equipartition articulated external frame in proper order outward, the external frame parcel has flexible material outward, all the external frame of internal frame articulated position in proper order all articulates with the internal frame, external frame both sides equipartition has magnet, and is adjacent magnet's magnetic pole is opposite on the external frame.

2. A biomimetic skeletal structure as in claim 1, wherein: the outer frame comprises a compensation frame and a driven frame, and the compensation frame is connected with the inner frame.

3. A biomimetic skeletal structure as in claim 2, wherein: the compensating frame is characterized in that connecting components are arranged on the inner sides of the top and the bottom of the compensating frame and used for connecting the inner frame, a linear bearing is arranged on the compensating frame, a linear pin is arranged on the connecting component and movably connected with the linear bearing, the compensating frame is tightly attached to the connecting component, and the axial direction of the linear bearing is parallel to the length direction of the inner frame.

4. A biomimetic skeletal structure as in claim 3, wherein: the connecting assembly comprises a fixing part for fixing the linear pin shaft and a vertical connecting part for connecting the inner frame, and a fixing bearing is arranged on the vertical connecting part and connected with the inner frame.

5. A biomimetic skeletal structure as in claim 4, wherein: the internal frame comprises a cavity shell and an extending hinge part arranged at one end of the cavity shell, the actuator is arranged in the cavity shell, the output end of the actuator is in transmission connection with the top of the extending hinge part of the adjacent internal frame, and the bottom of the extending hinge part is hinged with the bottom of the other end of the cavity shell of the adjacent internal frame.

6. A biomimetic skeletal structure as in claim 5, wherein: the top of the extending hinge part is provided with a connecting arm, one end of the connecting arm is connected with the extending hinge part, the other end of the connecting arm is in transmission connection with the output end of the actuator, the center of the fixed bearing is penetrated with a connecting screw, and the connecting screw penetrates into the connecting arm or the extending hinge part to be connected with the internal frame.

7. A biomimetic skeletal structure as in claim 3, wherein: the inner sides of the top and the bottom of the compensation frame are provided with linear installation parts for installing linear bearings, the middle positions of the top and the bottom of the driven frame and the compensation frame are provided with extension connection parts, and the extension connection parts are hinged with adjacent compensation frames or driven frames.

8. A biomimetic skeletal structure as in claim 7, wherein: the optical axis is arranged on the extending connecting part, connecting bearings are arranged at the middle positions of the top and the bottom of the driven frame and the compensating frame, and the optical axis penetrates through the connecting bearings.

9. A biomimetic skeletal structure as in claim 1, wherein: the two sides of the outer frame are provided with mounting holes which incline inwards by 5-15 degrees, the magnets are mounted in the mounting holes, and one end face of the mounting holes of the outer frame is an inclined face which is perpendicular to the mounting holes.

10. A biomimetic robot, characterized in that: a biomimetic skeletal structure comprising the structure of any one of claims 1-9.