CN207522598U - Flexible bending structure and with its robot - Google Patents
Flexible bending structure and with its robot Download PDFInfo
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- CN207522598U CN207522598U CN201721661040.6U CN201721661040U CN207522598U CN 207522598 U CN207522598 U CN 207522598U CN 201721661040 U CN201721661040 U CN 201721661040U CN 207522598 U CN207522598 U CN 207522598U
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Abstract
The utility model provides a kind of flexible bending structure and has its robot, and flexible bending structure includes：Wobble component, wobble component include flexible piece；Driving device is provided with drawing article in driving device, and drawing article is drivingly connected with flexible piece, and drawing article can be set to folding and unfolding along the extending direction of flexible piece, so that flexible piece flexural deformation.The flexible bending structure of the utility model solves the problems, such as that flexible bending structure of the prior art is complex.
Description
Technical field
The utility model is related to bionic field, in particular to a kind of flexible bending structure and with its robot.
Background technology
In large-scale recreation ground, the animals and plants for being capable of smart motion are gradually increased, but there are branch bending movement it is single,
Effect cannot be swung with the wind as bionic plant.To enhance the motion simulation effect of artificial tree, artificial tree limb is needed to have
Flexible movement and simple control.
Plant that can be interactive, generally can all there is the action that branch is swung.There is the plant of oscillating function at present, a packet uses
Main realization method be the structures such as the more steering engines of connecting, pneumatic, bracing wire, scissor, but generally existing flexible structure is difficult to emulate,
Realize that effect is difficult to estimate influence, it is impossible to which the function that plants shoots freely swing is realized in perfection.
Utility model content
It is existing to solve the main purpose of the utility model is that providing a kind of flexible bending structure and with its robot
There is the problem of flexible bending structure in technology is complex.
To achieve these goals, one side according to the present utility model provides a kind of flexible bending structure, packet
It includes：Wobble component, wobble component include flexible piece；Driving device is provided with drawing article, drawing article and flexible piece in driving device
It is drivingly connected, drawing article can be set to folding and unfolding along the extending direction of flexible piece, so that flexible piece flexural deformation.
Further, drawing article is bracing wire.
Further, wobble component further includes：First connecting plate, the first connecting plate are set on flexible piece, bracing wire and the
One connecting plate is connected, to be drivingly connected by the first connecting plate and flexible piece.
Further, the first connecting plate is multiple, and multiple first connecting plates are arranged at intervals, and bracing wire is multiple, each bracing wire
It is connected with corresponding first connecting plate.
Further, the extending direction of area along the flexible piece of the cross section of multiple first connecting plates is incremented by successively or successively
Successively decrease.
Further, the first connecting plate is two, and two the first connecting plates are spaced apart and arranged on flexible piece, wherein, the
One the first connecting plate is located at the top of second the first connecting plate；Bracing wire is two groups, first group of bracing wire and first first company
Fishplate bar is connected, and second group of bracing wire is connected with second the first connecting plate.
Further, bracing wire is steel wire rope, and the outer surface of second group of bracing wire is arranged with flexible sleeve, and bracing wire is relative to flexibility
Casing is movably disposed.
Further, wobble component further includes：Second connecting plate, the second connecting plate are movably set on flexible piece,
The second connecting plate is drawstring through with the first connecting plate to be connected；Multiple sliding sleeves, sliding sleeve are movably set on flexible piece, and second
The both sides of connecting plate are arranged with sliding sleeve, to support the second connecting plate.
Further, the second connecting plate is multiple, and multiple second connecting plates are arranged at intervals.
Further, wobble component further includes：Mounting base, flexible piece are connected with mounting base, and the second connecting plate is located at peace
It fills between seat and second the first connecting plate, is drawstring through mounting base, the second connecting plate is connected with the first connecting plate.
Further, the outer edge of mounting base, the second connecting plate and the first connecting plate is circle, each circular straight
The extending direction of diameter along flexible piece is incremented by successively or successively decreases successively.
Further, bracing wire is arranged in pairs, and two pairs of bracing wires are arranged side by side and are positioned apart from, and two pairs of bracing wires are same
Step movement, the direction of motion of two bracing wires is on the contrary, when first bracing wire lengthens, and second bracing wire receipts is short, so that flexible piece court
It is bent to short stayguy direction is received.
Further, bracing wire is multipair, and multipair bracing wire is arranged at intervals, and each pair of bracing wire is used to control the corresponding curved of flexible piece
Qu Fangxiang.
Further, driving device further includes：Reel, reel is rotatably arranged with reel has the first coiling
Slot and the second winding slot, one end of first bracing wire in two pairs of bracing wires are wrapped in the first winding slot along the first direction
On, one end of second bracing wire is wrapped in a second direction on the second winding slot, wherein, first direction and second direction are opposite
Both direction.
Further, driving device further includes：Driven wheel, the output shaft of driven wheel are connected with reel；Driving wheel, it is main
Driving wheel is meshed with driven wheel；Driving motor, the output shaft of driving motor are connected with driving wheel, and the output shaft of driving motor can
It rotates clockwise or counterclockwise.
Further, driving device is multiple, and multiple driving devices are arranged at intervals, each driving device control corresponding one
To bracing wire.
Further, flexible bending structure further includes：Support base, support base include bearing, and wobble component is arranged on bearing
First end, driving device is arranged on the second end of bearing.
Further, flexible piece is excellent power stick.
Another aspect according to the present utility model provides a kind of robot, including flexible bending structure, flexible bending knot
Structure is above-mentioned flexible bending structure.
The flexible bending structure driving device of the utility model is drivingly connected with wobble component, can make wobble component extremely
Small part does bending motion.Wherein, wobble component includes flexible piece, and drawing article, drawing article and flexibility are provided in driving device
Part is drivingly connected.When driving flexible piece movement, by pulling drawing article drawing article that flexible piece is driven to generate flexural deformation.
The flexible bending structure of the utility model is drivingly connected by pulling on part with flexible flexible piece, by pulling drawing article can
So that flexible piece occurs bending and deformation, overall structure is relatively simple, so as to solve flexible bending structure of the prior art compared with
The problem of for complexity.
Description of the drawings
The accompanying drawings which form a part of this application are used to provide a further understanding of the present invention, this practicality
Novel illustrative embodiments and their description do not form the improper restriction to the utility model for explaining the utility model.
In the accompanying drawings：
Fig. 1 shows that the wobble component of flexible bending structure according to the present utility model and the connection structure of bracing wire are illustrated
Figure；
Fig. 2 shows the structure diagrams of the wobble component of flexible bending structure according to the present utility model；
Fig. 3 shows the structure diagram of the driving device of flexible bending structure according to the present utility model；
Fig. 4 shows that the driving device of flexible bending structure according to the present utility model and the mounting structure of support base are illustrated
Figure.
Wherein, above-mentioned attached drawing is marked including the following drawings：
10th, wobble component；11st, flexible piece；12nd, the first connecting plate；13rd, the second connecting plate；14th, sliding sleeve；15th, mounting base；
20th, driving device；21st, bracing wire；22nd, reel；221st, the first winding slot；222nd, the second winding slot；23rd, driven wheel；24th, actively
Wheel；25th, driving motor；26th, limit switch；30th, support base；31st, stent；32nd, bearing；321st, connecting seat.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the application can phase
Mutually combination.The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
The utility model provides a kind of flexible bending structure, please refers to Fig.1 to Fig. 4, flexible bending structure includes：It swings
Component 10, wobble component 10 include flexible piece 11；Driving device 20, is provided with bracing wire 21 in driving device 20, bracing wire 21 with it is soft
Property part 11 is drivingly connected, and bracing wire 21 can be set to folding and unfolding along the extending direction of flexible piece 11, so that 11 flexural deformation of flexible piece.
The flexible bending structure driving device 20 and wobble component 10 of the utility model are drivingly connected, and can make wobble component
10 at least part does bending motion.Wherein, wobble component 10 include flexible piece 11, flexible piece 11 be flexible piece, driving device
Drawing article is provided on 20, drawing article is drivingly connected with flexible piece 11.When flexible piece 11 is driven to move, by pulling drawing article
So that drawing article driving flexible piece 11 generates flexural deformation.The flexible bending structure of the utility model is by pulling on part and flexibility
Flexible piece 11 be drivingly connected, by the way that drawing article is pulled just flexible piece 11 can be made to occur bending and deformation, overall structure is more simple
It is single, so as to solve the problems, such as that flexible bending structure of the prior art is complex.
Preferably, drawing article is bracing wire 21.
In order to flexible piece 11 be driven to occur bending and deformation by bracing wire, as shown in Figure 1, wobble component 10 further includes：
First connecting plate 12, the first connecting plate 12 are set on flexible piece 11, and bracing wire 21 is connected with the first connecting plate 12, to pass through
One connecting plate 12 is drivingly connected with flexible piece 11.
In the present embodiment, by being provided with the first connecting plate 12 on wobble component 10, wherein, the first 12 sets of connecting plate
It is located at one end of flexible piece 11.In order to drive flexible piece 11 more conveniently by bracing wire 21, bracing wire 21 is connect with first
Plate 12 is connected, so as to pull the first connecting plate 12 that flexible piece 11 is driven to generate flexural deformation by bracing wire 21.
In order to which flexible piece 11 is made to generate various forms of flexural deformations, the first connecting plate 12 be it is multiple, multiple first
Connecting plate 12 is arranged at intervals, and bracing wire 21 is multiple, and each bracing wire 21 is connected with corresponding first connecting plate 12.
In the present embodiment, by the way that the first connecting plate 12 is set as multiple, wherein, multiple intervals of first connecting plate 12 are set
It puts, correspondingly, bracing wire 21 is multiple, and each bracing wire 21 is connected with corresponding first connecting plate 12.In specific drive motion,
The bracing wire 21 that can be operated alone on first connecting plate 12 moves, and can also drive simultaneously on multiple first connecting plates 12
Bracing wire 21 moves, and with this so that flexible piece 11 generates different curve forms, is more bonded the motion state of plant.
Intensity in view of assembling and flexible piece 11 is facilitated to generate flexural deformation, the cross section of multiple first connecting plates 12
Area along flexible piece 11 extending direction it is incremented by successively or successively decrease successively.
In the present embodiment, flexible piece 11 is vertically placed, at this point, the face of the cross section of multiple first connecting plates 12
Product is successively decreased successively from down to up along the extending direction of flexible piece 11.
Stability in view of structure and meet outer packing demand, as shown in Figure 1, wobble component 10 further includes：Second
Connecting plate 13, the second connecting plate 13 are movably set on flexible piece 11, and bracing wire 21 passes through the second connecting plate 13 and first to connect
Fishplate bar 12 is connected；Multiple sliding sleeves 14, sliding sleeve 14 are movably set on flexible piece 11, and the both sides of the second connecting plate 13 cover
Equipped with sliding sleeve 14, to support the second connecting plate 13.
In the present embodiment, wobble component 10 further includes the second connecting plate 13, in order to not influence the normal curved of flexible piece 11
Qu Yundong, the second connecting plate 13 are movably set on flexible piece 11, and bracing wire 21 is connect across the second connecting plate 13 with first
Plate 12 is connected.
In order to ensure the relative position of the second connecting plate 13 and flexible piece 11, wobble component 10 further includes multiple sliding sleeves 14,
Wherein, sliding sleeve 14 is movably set on flexible piece 11, and the both sides of the second connecting plate 13 are arranged with sliding sleeve 14, so as to
Second connecting plate 13 is supported using at least two sliding sleeves 14.
In the present embodiment, sliding sleeve 14 is spherical sliding sleeve.
Preferably, the second connecting plate 13 is multiple, and multiple second connecting plates 13 are arranged at intervals.
In order to ensure the normal flexural deformation of flexible piece 11, as shown in Figure 1, wobble component 10 further includes：Mounting base
15, flexible piece 11 is connected with mounting base 15, and the second connecting plate 13 is located between mounting base 15 and second the first connecting plate 12,
Bracing wire 21 passes through mounting base 15, the second connecting plate 13 to be connected with the first connecting plate 12.
In the present embodiment, the first end of flexible piece 11 is secured with mounting base 15 and is connect, the second end of flexible piece 11 with
First connecting plate 12 is fixedly connected.
In the present embodiment, it is both provided on 15 and first connecting plate 12 of mounting base and the second connecting plate 13 for bracing wire 21
The perforating passed through.
Preferably, the outer edge of mounting base 15, the second connecting plate 13 and the first connecting plate 12 is circle, each circle
Diameter along flexible piece 11 extending direction it is incremented by successively or successively decrease successively.
In order to realize the flexural deformation of flexible piece 11, bracing wire 21 is arranged in pairs, two pairs of bracing wires 21 side by side and
It is positioned apart from, two pairs of bracing wires 21 are synchronized with the movement, and the direction of motion of two bracing wires 21 is on the contrary, when first bracing wire 21 is put
When long, second bracing wire 21 receive it is short so that flexible piece 11 is towards receiving short 21 direction of bracing wire bending.
In the present embodiment, bracing wire 21 is arranged in pairs, and two pairs of bracing wires 21 are arranged side by side and are positioned apart from, i.e., first
Bracing wire 21 is located at the first side of flexible piece 11, and second bracing wire 21 is located at the second side of flexible piece 11, the first side and the second side phase
Deviate from.In order to ensure 11 flexural deformation of flexible piece, two pairs of bracing wires 21 are synchronized with the movement, the movement side of two bracing wires 21
To on the contrary, when first bracing wire 21 lengthens, second bracing wire 21 receive it is short, so as to make flexible piece 11 towards receiving short bracing wire
21 directions are bent.
In order to realize the flexural deformation of 11 different directions of flexible piece, bracing wire 21 is multipair, and the multipair interval of bracing wire 21 is set
It puts, each pair of bracing wire 21 is used to control the corresponding bending direction of flexible piece 11.
In order to which two pairs of bracing wires is caused to be synchronized with the movement, as shown in figure 3, driving device 20 further includes：Reel
22, reel 22 is rotatably arranged with reel 22 has the first winding slot 221 and the second winding slot 222, pairs of two drawings
One end of first bracing wire 21 in line 21 is wrapped in along the first direction on the first winding slot 221, one end of second bracing wire 21
It is wrapped in a second direction on the second winding slot 222, wherein, first direction and second direction are opposite both direction.
In the present embodiment, by being provided with reel 22 in driving device 20, reel 22 has the first winding slot
221 and second winding slot 222, one end of first bracing wire 21 in two pairs of bracing wires 21 be wrapped in first along the first direction
On winding slot 221, one end of second bracing wire 21 is wrapped in a second direction on the second winding slot 222, wherein, first direction and
Second direction is opposite both direction.When driving 11 flexural deformation of flexible piece, reel 22 is rotated, so that a drawing
Line 21 lengthens, at the same time, another bracing wire 21 receive it is short, so as to which flexible piece 11 is made to be bent towards short bracing wire 21 is received.
In order to which reel 22 is driven to rotate, as shown in figure 3, driving device 20 further includes：Driven wheel 23, driven wheel 23
Output shaft be connected with reel 22；Driving wheel 24, driving wheel 24 are meshed with driven wheel 23；Driving motor 25, driving electricity
The output shaft of machine 25 is connected with driving wheel 24, and the output shaft of driving motor 25 can rotate clockwise or counterclockwise.
In the present embodiment, driving device 20 further includes driven wheel 23, driving wheel 24 and driving motor 25, wherein, from
The output shaft of driving wheel 23 is connected with reel 22, and driving wheel 24 is meshed with driven wheel 23, the output shaft of driving motor 25 with
Driving wheel 24 is connected, so as to reel 22 be driven to rotate by driving motor 25.
In specific movement, it can be rotated clockwise or counterclockwise by the output shaft of driving motor 25, flexibility can be driven
The flexural deformation of 11 both direction of part.
In order to facilitate the installation of, as shown in figure 4, flexible bending structure further includes：Support base 30, support base 30 include stent 31
And the bearing 32 on stent 31, wobble component 10 are arranged on the first end of bearing 32, driving device 20 is arranged on branch
The second end of seat 32.
In the present embodiment, connecting seat 321 is provided on bearing 32, connecting seat 321 is connect with flexible piece 11.
Preferably, flexible piece 11 is multiple, and multiple flexible pieces 11 are arranged at intervals.
Preferably, driving device 20 further includes：Limit switch 26, limit switch 26 are contacted with the limiting of driven wheel 23, are limited
Switch 26 is used to control the slewing area of driven wheel 23.
Preferably, driving device 20 is multiple, and multiple driving devices 20 are arranged at intervals, and each driving device 20 controls accordingly
A pair of of bracing wire 21.
Preferably, 11 circle of position cylinder of flexible piece.
Preferably, flexible piece 11 is excellent power stick.
For a specific embodiment of the flexible bending structure of the utility model：
As depicted in figs. 1 and 2, the first connecting plate 12 is two, and two the first connecting plates 12 are spaced apart and arranged in flexible piece
On 11, wherein, first the first connecting plate 12 is located at the top of second the first connecting plate 12；Bracing wire 21 is two groups, first group
Bracing wire 21 is connected with first the first connecting plate 12, and second group of bracing wire 21 is connected with second the first connecting plate 12.
In the present embodiment, the first connecting plate 12 is two, and two the first connecting plates 12 are spaced apart and arranged in flexible piece 11
On wherein, first the first connecting plate 12 is located at the top of second the first connecting plate 12.Correspondingly, bracing wire 21 is two groups, the
One group of bracing wire 21 is connected with first the first connecting plate 12, and second group of bracing wire 21 is connected with second the first connecting plate 12.
First group of bracing wire 21 drives the first segment of flexible piece 11 to generate flexural deformation for driving first the first connecting plate 12, with this,
Correspondingly, second group of bracing wire 21 drives the second segment of flexible piece 11 to generate curved for driving second the first connecting plate 12 with this
Song deformation.It, can be by pulling two groups of bracing wires 21 that can also be grouped pulling in specific driving.
In the present embodiment, first group of bracing wire 21 is four, and four bracing wires 21 are separately positioned on four sides of flexible piece 11
To second group of bracing wire 21 is four, and correspondingly, four bracing wires 21 are separately positioned on the four direction of flexible piece 11, second group of drawing
Line 21 is shorter than first group of bracing wire 21.
For the concrete form of two groups of bracing wires 21, bracing wire 21 is steel wire rope, and the outer surface of second group of bracing wire 21 is arranged with soft
Property casing, bracing wire 21 are movably disposed relative to flexible sleeve.
In the present embodiment, bracing wire 21 is steel wire rope, and first group of bracing wire 21 can be bare wire, and second group of bracing wire 21 is outer
Surface is arranged with flexible sleeve, ensures that second group of bracing wire 21 is not in relaxation state when first group of bracing wire 21 is moved with this,
But it is arranged in flexible sleeve with unfolding.
In the present embodiment, driving device 20 is 4, and each driving device 20 controls a pair of of bracing wire 21, so as to protect
One driving device 20 of card controls the flexural deformation in a direction of flexible piece 11.
The utility model additionally provides a kind of robot, and including flexible bending structure, flexible bending structure is above-mentioned soft
Property warp architecture.
It can be seen from the above description that the above embodiments of the present invention achieve the following technical effects：
The flexible bending structure driving device 20 and wobble component 10 of the utility model are drivingly connected, and can make wobble component
10 at least part does bending motion.Wherein, wobble component 10 include flexible piece 11, flexible piece 11 be flexible piece, driving device
Drawing article is provided on 20, drawing article is drivingly connected with flexible piece 11.When flexible piece 11 is driven to move, by pulling drawing article
So that drawing article driving flexible piece 11 generates flexural deformation.The flexible bending structure of the utility model is by pulling on part and flexibility
Flexible piece 11 be drivingly connected, by the way that drawing article is pulled just flexible piece 11 can be made to occur bending and deformation, overall structure is more simple
It is single, so as to solve the problems, such as that flexible bending structure of the prior art is complex.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (19)
1. a kind of flexible bending structure, which is characterized in that including：
Wobble component (10), the wobble component (10) include flexible piece (11)；
Driving device (20), drawing article is provided on the driving device (20), and the drawing article drives with the flexible piece (11)
Dynamic connection, the drawing article can be set to folding and unfolding along the extending direction of the flexible piece (11), so that the flexible piece (11) is curved
Song deformation.
2. flexible bending structure according to claim 1, which is characterized in that the drawing article is bracing wire (21).
3. flexible bending structure according to claim 2, which is characterized in that the wobble component (10) further includes：
First connecting plate (12), first connecting plate (12) are set on the flexible piece (11), the bracing wire (21) and institute
It states the first connecting plate (12) to be connected, to be drivingly connected by first connecting plate (12) and the flexible piece (11).
4. flexible bending structure according to claim 3, which is characterized in that first connecting plate (12) is more to be multiple
A first connecting plate (12) is arranged at intervals, the bracing wire (21) be it is multiple, each bracing wire (21) with it is corresponding described in
First connecting plate (12) is connected.
5. flexible bending structure according to claim 4, which is characterized in that multiple first connecting plates (12) it is transversal
The extending direction of the area in face along the flexible piece (11) is incremented by successively or successively decreases successively.
6. flexible bending structure according to claim 3, which is characterized in that first connecting plate (12) be two, two
A first connecting plate (12) is spaced apart and arranged on the flexible piece (11), wherein, first first connecting plate
(12) positioned at the top of second first connecting plate (12)；The bracing wire (21) is two groups, bracing wire (21) described in first group
It is connected with first first connecting plate (12), bracing wire (21) described in second group and second first connecting plate (12)
It is connected.
7. flexible bending structure according to claim 6, which is characterized in that the bracing wire (21) be steel wire rope, second group
The outer surface of the bracing wire (21) is arranged with flexible sleeve, and the bracing wire (21) movably sets relative to the flexible sleeve
It puts.
8. the flexible bending structure described according to claim 6 or 7, which is characterized in that the wobble component (10) further includes：
Second connecting plate (13), second connecting plate (13) are movably set on the flexible piece (11), the bracing wire
(21) it is connected across second connecting plate (13) with first connecting plate (12)；
Multiple sliding sleeves (14), the sliding sleeve (14) are movably set on the flexible piece (11), second connecting plate
(13) both sides are arranged with the sliding sleeve (14), to support second connecting plate (13).
9. flexible bending structure according to claim 8, which is characterized in that second connecting plate (13) is more to be multiple
A second connecting plate (13) is arranged at intervals.
10. flexible bending structure according to claim 8, which is characterized in that the wobble component (10) further includes：
Mounting base (15), the flexible piece (11) are connected with the mounting base (15), and second connecting plate (13) is positioned at institute
It states between mounting base (15) and second first connecting plate (12), the bracing wire (21) is across the mounting base (15), institute
The second connecting plate (13) is stated with first connecting plate (12) to be connected.
11. flexible bending structure according to claim 10, which is characterized in that the mounting base (15), described second connect
The outer edge of fishplate bar (13) and first connecting plate (12) is circle, and each circular diameter is along the flexible piece
(11) extending direction is incremented by successively or successively decreases successively.
12. flexible bending structure according to claim 2, which is characterized in that the bracing wire (21) is arranged in pairs, pairs of
Two bracing wires (21) are arranged side by side and are positioned apart from, and two pairs of bracing wires (21) are synchronized with the movement, two bracing wires
(21) the direction of motion is on the contrary, when first bracing wire (21) lengthens, and second bracing wire (21) receipts is short, so that described
Flexible piece (11) is bent towards the short bracing wire (21) direction is received.
13. flexible bending structure according to claim 12, which is characterized in that the bracing wire (21) is multipair, multipair institute
State bracing wire (21) interval setting, it is each to the bracing wire (21) for controlling the corresponding bending direction of the flexible piece (11).
14. flexible bending structure according to claim 13, which is characterized in that the driving device (20) further includes：
Reel (22), the reel (22) rotatably arranged with, the reel (22) have the first winding slot (221) and
Second winding slot (222), one end of first bracing wire (21) in two pairs of bracing wires (21) is along the first direction
It is wrapped on first winding slot (221), one end of second bracing wire (21) is wrapped in described second in a second direction
On winding slot (222), wherein, the first direction and the second direction are opposite both direction.
15. flexible bending structure according to claim 14, which is characterized in that the driving device (20) further includes：
Driven wheel (23), the output shaft of the driven wheel (23) are connected with the reel (22)；
Driving wheel (24), the driving wheel (24) are meshed with the driven wheel (23)；
Driving motor (25), the output shaft of the driving motor (25) are connected with the driving wheel (24), the driving motor
(25) output shaft can rotate clockwise or counterclockwise.
16. the flexible bending structure according to any one of claim 12 to 15, which is characterized in that the driving device
(20) it is multiple, multiple driving devices (20) are arranged at intervals, each corresponding a pair of of institute of driving device (20) control
State bracing wire (21).
17. flexible bending structure according to claim 1, which is characterized in that the flexible bending structure further includes：
Support base (30), the support base (30) include bearing (32), and the wobble component (10) is arranged on the bearing (32)
First end, the driving device (20) is arranged on the second end of the bearing (32).
18. flexible bending structure according to claim 1, which is characterized in that the flexible piece (11) is excellent power stick.
19. a kind of robot, including flexible bending structure, which is characterized in that the flexible bending structure is claim 1 to 18
Any one of described in flexible bending structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721661040.6U CN207522598U (en) | 2017-12-01 | 2017-12-01 | Flexible bending structure and with its robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721661040.6U CN207522598U (en) | 2017-12-01 | 2017-12-01 | Flexible bending structure and with its robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207522598U true CN207522598U (en) | 2018-06-22 |
Family
ID=62577340
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721661040.6U Expired - Fee Related CN207522598U (en) | 2017-12-01 | 2017-12-01 | Flexible bending structure and with its robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207522598U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019104907A1 (en) * | 2017-12-01 | 2019-06-06 | 深圳光启合众科技有限公司 | Flexible curved structure and robot with same |
-
2017
- 2017-12-01 CN CN201721661040.6U patent/CN207522598U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019104907A1 (en) * | 2017-12-01 | 2019-06-06 | 深圳光启合众科技有限公司 | Flexible curved structure and robot with same |
| CN109866213A (en) * | 2017-12-01 | 2019-06-11 | 深圳光启合众科技有限公司 | Flexible bending structure and robot with it |
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