WO2019104907A1

WO2019104907A1 - Flexible curved structure and robot with same

Info

Publication number: WO2019104907A1
Application number: PCT/CN2018/079838
Authority: WO
Inventors: 刘若鹏; 张喆仁; 尹东富; 赵金玉; 郑杨; 胡如杰
Original assignee: 深圳光启合众科技有限公司
Priority date: 2017-12-01
Filing date: 2018-03-21
Publication date: 2019-06-06
Also published as: CN109866213A

Abstract

Provided are a flexible curved structure and a robot having the same, the flexible curved structure comprises: a swinging assembly (10), which comprises a flexible member (11); a driving device (20), wherein the driving device (20) is provided with a pulling member, and the pulling member is drivingly connected with the flexible member (11). The pulling member is retractably arranged along the extending direction of the flexible member (11) to bend and deform the flexible member (11). The flexible curved structure solves the problem that the flexible bending structure in the prior art is complicated.

Description

Flexible curved structure and robot with the same

Technical field

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

Background technique

In large playgrounds, the number of animals and plants capable of intelligent movement is gradually increasing, but there is a single bending movement of the branches, which cannot be swayed with the wind like a bionic plant. In order to enhance the motion simulation effect of the bionic tree, bionic branches are required to have flexible motion and simple control.

technical problem

Plants that can interact with each other generally have a swinging motion. At present, there are plants with oscillating function. The main implementation method of one package is tandem multi-rudder, pneumatic, cable, scissor and other structures. However, it is difficult to simulate flexible structures, and it is difficult to predict the effect. It is impossible to perfectly realize plant branches. Free swing function.

Technical solution

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

In order to achieve the above object, according to an aspect of the invention, a flexible bending structure is provided, comprising: a swinging assembly, the swinging assembly comprising a flexible member; and a driving device, the driving device is provided with a pulling member, and the pulling member is drivingly connected with the flexible member, The pulling member is retractably disposed along the extending direction of the flexible member to bend and deform the flexible member.

Further, the pulling member is a pull wire.

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

Further, the first connecting plates are plural, the plurality of first connecting plates are spaced apart, and the plurality of pulling wires are connected, and the respective connecting wires are connected to the corresponding first connecting plates.

Further, the area of the cross section of the plurality of first connecting plates is sequentially increased or decreased sequentially along the extending direction of the flexible member.

Further, the first connecting plates are two, and the two first connecting plates are spaced apart from each other on the flexible member, wherein the first first connecting plate is located above the second first connecting plate; The first set of pull wires are connected to the first first connecting plate, and the second set of pull wires are connected to the second first connecting plate.

Further, the wire is a wire rope, and the outer surface of the second wire is sleeved with a flexible sleeve, and the wire is movably disposed with respect to the flexible sleeve.

Further, the swinging assembly further includes: a second connecting plate, the second connecting plate is movably sleeved on the flexible member, and the pulling wire is connected to the first connecting plate through the second connecting plate; the plurality of sliding sleeves and the sliding sleeve are The sleeve is movably disposed on the flexible member, and the sliding sleeve is sleeved on both sides of the second connecting plate to support the second connecting plate.

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

Further, the swing assembly further includes: a mounting seat, the flexible member is connected to the mounting seat, the second connecting plate is located between the mounting seat and the second first connecting plate, and the pulling wire passes through the mounting seat, the second connecting plate and the first The connecting plates are connected.

Further, the outer edges of the mounting seat, the second connecting plate and the first connecting plate are all circular, and the diameters of the respective circular shapes are sequentially increased or decreased sequentially along the extending direction of the flexible member.

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

Further, the pull wires are arranged in multiple pairs, and the plurality of pairs of pull wires are spaced apart, and each pair of pull wires is used to control the corresponding bending direction of the flexible member.

Further, the driving device further includes: a reel, the reel is rotatably disposed, the reel has a first winding groove and a second winding groove, and one end of the first one of the pair of two wires Winding on the first winding groove in the first direction, one end of the second wire is wound on the second winding groove in the second direction, wherein the first direction and the second direction are opposite directions.

Further, the driving device further includes: a driven wheel, the output shaft of the driven wheel is connected with the reel; the driving wheel, the driving wheel and the driven wheel are meshed; the driving motor, the output shaft of the driving motor is connected with the driving wheel, and the driving motor is driven The output shaft can be rotated clockwise or counterclockwise.

Further, the driving device is plural, and the plurality of driving devices are spaced apart, and each driving device controls a corresponding pair of pulling wires.

Further, the flexible bending structure further includes: a support base, the support base includes a support, the swing assembly is disposed at the first end of the support, and the driving device is disposed at the second end of the support.

Further, the flexible member is an excellent rod.

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

Beneficial effect

The flexible curved structure driving device of the present invention is drivingly coupled to the swinging assembly to enable at least a portion of the swinging assembly to perform a bending motion. Wherein, the swinging component comprises a flexible member, and the driving device is provided with a pulling member, and the pulling member is drivingly connected with the flexible member. When the driving flexible member is moved, the pulling member drives the flexible member to generate a bending deformation by pulling the pulling member. The flexible curved structure of the invention is driven and connected with the flexible flexible member, and the flexible member is bent and deformed by pulling the pulling member, and the overall structure is relatively simple, thereby solving the complicated bending structure of the prior art. problem.

DRAWINGS

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

1 is a schematic view showing a connection structure of a swinging assembly and a pull wire of a flexible bending structure according to the present invention;

Figure 2 is a schematic view showing the structure of a swinging assembly of a flexible bending structure according to the present invention;

Figure 3 is a schematic view showing the structure of a driving device of a flexible bending structure according to the present invention;

Fig. 4 is a view showing the mounting structure of the driving device and the support base of the flexible bending structure according to the present invention.

Wherein, the above figures include the following reference numerals:

10, swinging component; 11, flexible member; 12, first connecting plate; 13, second connecting plate; 14, sliding sleeve; 15, mounting seat; 20, driving device; 21, pull wire; 22, reel; , the first winding groove; 222, the second winding groove; 23, the driven wheel; 24, the driving wheel; 25, the driving motor; 26, the limit switch; 30, the support base; 31, the bracket; 32, the support; 321, the connector.

Embodiments of the invention

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

The present invention provides a flexible bending structure. Referring to FIG. 1 to FIG. 4, the flexible bending structure includes: a swinging assembly 10, the swinging assembly 10 includes a flexible member 11; a driving device 20, and the driving device 20 is provided with a pulling wire 21, and the pulling wire 21 Driven with the flexible member 11, the pull wire 21 is retractably disposed along the extending direction of the flexible member 11 to bend and deform the flexible member 11.

The flexible curved structure driving device 20 of the present invention is drivingly coupled to the swing assembly 10 to enable at least a portion of the swing assembly 10 to perform a bending motion. The swinging assembly 10 includes a flexible member 11 which is a flexible member. The driving device 20 is provided with a pulling member, and the pulling member is drivingly connected with the flexible member 11. When the driving flexible member 11 is moved, the pulling member drives the flexible member 11 to generate a bending deformation by pulling the pulling member. The flexible curved structure of the present invention is driven and connected to the flexible flexible member 11 by pulling the pulling member, and the flexible member 11 is bent and deformed, and the overall structure is relatively simple, thereby solving the flexible bending structure in the prior art. complicated question.

Preferably, the pull member is a pull wire 21.

In order to enable the bending deformation of the flexible member 11 by the pull wire, as shown in FIG. 1 , the swing assembly 10 further includes: a first connecting plate 12 , the first connecting plate 12 is sleeved on the flexible member 11 , and the pulling wire 21 and the first connecting plate The 12 phases are connected to drive the connection with the flexible member 11 through the first connecting plate 12.

In the present embodiment, the first connecting plate 12 is disposed on the swinging assembly 10, wherein the first connecting plate 12 is sleeved at one end of the flexible member 11. In order to drive the flexible member 11 more easily by the pull wire 21, the pull wire 21 is connected to the first connecting plate 12, so that the first connecting plate 12 can be pulled by the pull wire 21 to drive the flexible member 11 to generate bending deformation.

In order to enable the flexible member 11 to have different forms of bending deformation, the first connecting plate 12 is plural, the plurality of first connecting plates 12 are spaced apart, and the plurality of pulling wires 21 are plural, and each of the pulling wires 21 is associated with the corresponding first connecting plate 12. connection.

In this embodiment, the first connecting plate 12 is disposed in plurality, wherein the plurality of first connecting plates 12 are spaced apart, and correspondingly, the plurality of pulling wires 21 are plural, and each of the pulling wires 21 and the corresponding first connecting plate 12 Connected. During the specific driving motion, the movement of the wire 21 on the first connecting plate 12 may be separately driven, or the pulling wires 21 on the plurality of first connecting plates 12 may be simultaneously driven, so that the flexible member 11 has different bending forms. More suitable for the movement state of plants.

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

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

Considering the stability of the structure and meeting the requirements of the outer package, as shown in FIG. 1, the swing assembly 10 further includes: a second connecting plate 13, the second connecting plate 13 is movably sleeved on the flexible member 11, and the pulling wire 21 passes through The second connecting plate 13 is connected to the first connecting plate 12; the sliding sleeve 14 is movably sleeved on the flexible member 11 , and the sliding sleeve 14 is sleeved on both sides of the second connecting plate 13 . To support the second connecting plate 13.

In the present embodiment, the swing assembly 10 further includes a second connecting plate 13 movably sleeved on the flexible member 11 so as not to affect the normal bending motion of the flexible member 11, and the pull wire 21 passes through the second The connecting plate 13 is connected to the first connecting plate 12.

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

In the present embodiment, the sliding sleeve 14 is a spherical sliding sleeve.

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

In order to ensure normal bending deformation of the flexible member 11, as shown in FIG. 1, the swing assembly 10 further includes: a mounting seat 15, the flexible member 11 is connected to the mounting seat 15, and the second connecting plate 13 is located at the mounting seat 15 and the second Between the first connecting plates 12, the pulling wire 21 is connected to the first connecting plate 12 through the mounting seat 15 and the second connecting plate 13.

In this embodiment, the first end of the flexible member 11 is fixedly coupled to the mounting seat 15, and the second end of the flexible member 11 is fixedly coupled to the first connecting plate 12.

In the embodiment, the mounting seat 15 and the first connecting plate 12 and the second connecting plate 13 are respectively provided with through holes through which the pulling wires 21 pass.

Preferably, the outer edges of the mounting seat 15, the second connecting plate 13, and the first connecting plate 12 are all circular, and the diameters of the respective circular shapes are sequentially increased or decreased sequentially along the extending direction of the flexible member 11.

In order to enable the bending deformation of the flexible member 11, the pull wires 21 are arranged in pairs, the two pairs of pull wires 21 are arranged side by side and spaced apart, and the two pairs of pull wires 21 move synchronously, and the two pull wires 21 move in opposite directions. When one of the pull wires 21 is extended, the second pull wire 21 is shortened to bend the flexible member 11 toward the shortened pull wire 21.

In the present embodiment, the pull wires 21 are disposed in pairs, and the pair of two pull wires 21 are juxtaposed and spaced apart, that is, the first pull wire 21 is located on the first side of the flexible member 11, and the second pull wire 21 is located at the flexible member 11. On the second side, the first side and the second side are facing away from each other. In order to ensure that the flexible member 11 is bent and deformed, the pair of two pull wires 21 move synchronously, and the two pull wires 21 move in opposite directions. When the first pull wire 21 is elongated, the second pull wire 21 is shortened, thereby enabling flexibility. The piece 11 is bent toward the shortened wire 21 .

In order to enable bending deformation of the flexible member 11 in different directions, the pull wires 21 are a plurality of pairs, and the plurality of pairs of pull wires 21 are spaced apart, and each pair of pull wires 21 is used to control the corresponding bending direction of the flexible member 11.

In order to enable the two pairs of pull wires to move synchronously, as shown in FIG. 3, the driving device 20 further includes: a reel 22, the reel 22 is rotatably disposed, and the reel 22 has a first winding groove 221 and The second winding groove 222, one end of the first one of the pair of two pulling wires 21 is wound on the first winding groove 221 in the first direction, and one end of the second pulling wire 21 is wound in the second direction. The second winding groove 222 is in which the first direction and the second direction are opposite directions.

In the present embodiment, by providing the reel 22 on the driving device 20, the reel 22 has a first winding groove 221 and a second winding groove 222, and the first of the pair of two pulling wires 21 One end of the pull wire 21 is wound on the first winding groove 221 in a first direction, and one end of the second pull wire 21 is wound on the second winding groove 222 in a second direction, wherein the first direction and the second direction are opposite The two directions. When the driving flexible member 11 is bent and deformed, the reel 22 is rotated, so that one of the pulling wires 21 is elongated, and at the same time, the other pulling wire 21 is shortened, so that the flexible member 11 can be bent toward the shortened pulling wire 21.

In order to be able to drive the reel 22 to rotate, as shown in FIG. 3, the driving device 20 further includes a driven wheel 23, the output shaft of the driven wheel 23 is connected to the reel 22; the driving wheel 24, the driving wheel 24 and the driven wheel 23 The driving motor 25, the output shaft of the driving motor 25 is connected to the driving wheel 24, and the output shaft of the driving motor 25 can be rotated clockwise or counterclockwise.

In the present embodiment, the driving device 20 further includes a driven wheel 23, a driving wheel 24 and a driving motor 25, wherein the output shaft of the driven wheel 23 is connected to the reel 22, and the driving wheel 24 meshes with the driven wheel 23 to drive The output shaft of the motor 25 is coupled to the driving wheel 24 to drive the reel 22 to rotate by the drive motor 25.

During specific movement, the output shaft of the drive motor 25 can be rotated clockwise or counterclockwise to drive the bending deformation of the flexible member 11 in both directions.

For convenience of installation, as shown in FIG. 4, the flexible bending structure further includes: a support base 30 including a bracket 31 and a support 32 mounted on the bracket 31, and the swing assembly 10 is disposed at the first end of the support 32. The drive unit 20 is disposed at the second end of the holder 32.

In the embodiment, the support 32 is provided with a connecting seat 321 , and the connecting seat 321 is connected with the flexible member 11 .

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

Preferably, the driving device 20 further includes: a limit switch 26, the limit switch 26 is in limited contact with the driven wheel 23, and the limit switch 26 is used to control the range of rotation of the driven wheel 23.

Preferably, there are a plurality of driving devices 20, and a plurality of driving devices 20 are spaced apart, and each driving device 20 controls a corresponding pair of pulling wires 21.

Preferably, the flexible member is 11 cylinders.

Preferably, the flexible member 11 is a superior rod.

A specific embodiment of the flexible curved structure of the present invention:

As shown in FIG. 1 and FIG. 2, the first connecting plates 12 are two, and the two first connecting plates 12 are spaced apart from each other on the flexible member 11, wherein the first first connecting plate 12 is located at the second first Above the connecting plate 12; the pulling wires 21 are two groups, the first group of pulling wires 21 are connected with the first first connecting plate 12, and the second group of pulling wires 21 are connected with the second first connecting plate 12.

In this embodiment, the first connecting plates 12 are two, and the two first connecting plates 12 are spaced apart from each other on the flexible member 11 , and the first first connecting plate 12 is located at the second first connecting plate 12 . Above. Correspondingly, the pull wires 21 are two groups, the first set of pull wires 21 are connected to the first first connecting plate 12, and the second set of pull wires 21 are connected to the second first connecting plate 12. The first set of pull wires 21 are used to drive the first first connecting plate 12, thereby driving the first segment of the flexible member 11 to produce a bending deformation, and correspondingly, the second set of pulling wires 21 are used to drive the second first connecting plate 12 In this way, the second section of the flexible member 11 is driven to produce a bending deformation. In the specific driving, the two sets of pull wires 21 can be pulled or grouped.

In this embodiment, the first set of pull wires 21 are four, the four pull wires 21 are respectively disposed in four directions of the flexible member 11, and the second set of pull wires 21 are four. Accordingly, the four pull wires 21 are respectively disposed in the flexible state. In the four directions of the member 11, the second set of pull wires 21 is shorter than the first set of pull wires 21.

For the specific form of the two sets of pull wires 21, the pull wire 21 is a steel wire rope, and the outer surface of the second set of pull wire 21 is sleeved with a flexible sleeve, and the pull wire 21 is movably disposed with respect to the flexible sleeve.

In this embodiment, the pull wire 21 is a steel wire rope, the first set of pull wires 21 may be a bare wire, and the outer surface of the second set of pull wire 21 is sleeved with a flexible sleeve, thereby ensuring that when the first set of pull wires 21 move, The two sets of pull wires 21 do not appear relaxed, but are placed in a flexible sleeve in a stretched manner.

In the present embodiment, there are four driving devices 20, and each of the driving devices 20 controls a pair of pulling wires 21, so that one driving device 20 can be controlled to control the bending deformation of the flexible member 11 in one direction.

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

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

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

Claims

A flexible curved structure, comprising:

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

a driving device (20), the driving device (20) is provided with a pulling member, the pulling member is drivingly connected with the flexible member (11), and the pulling member is extendable along the extending direction of the flexible member (11) Reposed so as to bend and deform the flexible member (11).
The flexible bending structure according to claim 1, wherein the pulling member is a pull wire (21).
The flexible bending structure according to claim 2, wherein the swinging assembly (10) further comprises:

a first connecting plate (12), the first connecting plate (12) is sleeved on the flexible member (11), and the pulling wire (21) is connected with the first connecting plate (12) to pass The first connecting plate (12) is drivingly coupled to the flexible member (11).
The flexible bending structure according to claim 3, wherein the first connecting plate (12) is plural, a plurality of the first connecting plates (12) are spaced apart, and the pulling wire (21) is plural. Each of the pull wires (21) is connected to the corresponding first connecting plate (12).
The flexible bending structure according to claim 4, characterized in that the area of the cross section of the plurality of first connecting plates (12) is sequentially increased or decreased sequentially along the extending direction of the flexible member (11).
The flexible bending structure according to claim 3, wherein the first connecting plates (12) are two, and the two first connecting plates (12) are spaced apart from each other at the flexible member (11) The first one of the first connecting plates (12) is located above the second one of the first connecting plates (12); the pulling wires (21) are two groups, and the first group of the connecting wires (21) And connected to the first one of the first connecting plates (12), and the second set of the pulling wires (21) are connected to the second one of the first connecting plates (12).
The flexible bending structure according to claim 6, wherein the wire (21) is a wire rope, and the outer surface of the second group of the wire (21) is sleeved with a flexible sleeve, and the wire (21) is opposite The flexible sleeve is movably disposed.
The flexible bending structure according to claim 6 or 7, wherein the swinging assembly (10) further comprises:

a second connecting plate (13), the second connecting plate (13) is movably sleeved on the flexible member (11), and the pulling wire (21) passes through the second connecting plate (13) The first connecting plates (12) are connected;

a plurality of sliding sleeves (14), the sliding sleeve (14) is movably sleeved on the flexible member (11), and the sliding sleeve is sleeved on both sides of the second connecting plate (13) (14) to support the second connecting plate (13).
The flexible bending structure according to claim 8, characterized in that the second connecting plates (13) are plural, and the plurality of the second connecting plates (13) are spaced apart.
The flexible curved structure according to claim 8, wherein the swinging assembly (10) further comprises:

a mounting seat (15), the flexible member (11) is connected to the mounting seat (15), the second connecting plate (13) is located at the mounting seat (15) and the second first connection Between the plates (12), the pull wire (21) is connected to the first connecting plate (12) through the mounting seat (15) and the second connecting plate (13).
The flexible bending structure according to claim 10, wherein the outer edges of the mounting seat (15), the second connecting plate (13) and the first connecting plate (12) are all circular. The diameter of each of the circular shapes is sequentially increased or decreased sequentially along the extending direction of the flexible member (11).
The flexible bending structure according to claim 2, wherein the pull wires (21) are disposed in pairs, and the pair of the two pull wires (21) are juxtaposed and spaced apart, and the two pairs of the wires are paired (21) Synchronous movement, the movement directions of the two pull wires (21) are opposite, and when the first pull wire (21) is elongated, the second pull wire (21) is shortened to make the flexibility The piece (11) is bent toward the shortened wire (21).
The flexible bending structure according to claim 12, wherein the pull wires (21) are a plurality of pairs, and the plurality of pairs of the pull wires (21) are spaced apart, and each pair of the pull wires (21) is used to control the flexibility. The corresponding bending direction of the piece (11).
The flexible bending structure according to claim 13, wherein the driving device (20) further comprises:

a reel (22), the reel (22) is rotatably disposed, the reel (22) having a first winding groove (221) and a second winding groove (222), paired One end of the first one of the two pull wires (21) is wound on the first winding groove (221) in a first direction, and one end of the second pull wire (21) Winding in the second direction on the second winding groove (222), wherein the first direction and the second direction are opposite directions.
The flexible bending structure according to claim 14, wherein the driving device (20) further comprises:

a driven wheel (23), an output shaft of the driven wheel (23) is connected to the reel (22);

a driving wheel (24), the driving wheel (24) meshing with the driven wheel (23);

A driving motor (25) is connected to the driving wheel (24), and an output shaft of the driving motor (25) is rotatable clockwise or counterclockwise.
The flexible bending structure according to any one of claims 12 to 15, characterized in that the driving device (20) is plural, a plurality of the driving devices (20) are spaced apart, and each of the driving devices ( 20) Control a corresponding pair of said pull wires (21).
The flexible curved structure according to claim 1, wherein the flexible curved structure further comprises:

a support base (30), the support base (30) includes a support (32), the swing assembly (10) is disposed at a first end of the support (32), and the driving device (20) is disposed at The second end of the support (32).
The flexible bending structure according to claim 1, characterized in that the flexible member (11) is a superior rod.
A robot comprising a flexible curved structure, characterized in that the flexible curved structure is the flexible curved structure according to any one of claims 1 to 18.