WO2020186847A1 - 可控变形设备 - Google Patents

可控变形设备 Download PDF

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Publication number
WO2020186847A1
WO2020186847A1 PCT/CN2019/125465 CN2019125465W WO2020186847A1 WO 2020186847 A1 WO2020186847 A1 WO 2020186847A1 CN 2019125465 W CN2019125465 W CN 2019125465W WO 2020186847 A1 WO2020186847 A1 WO 2020186847A1
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Prior art keywords
rotating
controllable deformation
controller
controllable
arm
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PCT/CN2019/125465
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English (en)
French (fr)
Inventor
何仁城
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深圳市大可奇科技有限公司
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Priority claimed from CN201921745557.2U external-priority patent/CN211933322U/zh
Application filed by 深圳市大可奇科技有限公司 filed Critical 深圳市大可奇科技有限公司
Publication of WO2020186847A1 publication Critical patent/WO2020186847A1/zh

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
    • A47B96/00—Details of cabinets, racks or shelf units not covered by a single one of groups A47B43/00 - A47B95/00; General details of furniture

Definitions

  • the invention relates to a controllable deformation device.
  • the existing robotic arms are not long enough and flexible enough. In some cases, more sensitive robotic arms are needed; in some cases, a variety of multi-purpose furniture is needed, and the deformation degree of the existing furniture is not flexible enough.
  • the purpose of the present invention is to provide a controllable deformation device, which can change the position and angle of the constituent units according to user requirements to adapt to different occasions.
  • a technical solution adopted by the present invention to achieve the above-mentioned objective is: a controllable deformation device, comprising at least two working surfaces and a controllable deformation device connecting the two working surfaces;
  • the controllable deformation device includes two brackets.
  • the bracket has a front surface and a rear surface opposed to each other.
  • the rear surface of the bracket is provided with a spherical groove;
  • a rotating arm is provided.
  • the middle section of the rotating arm is a telescopic arm, and the two ends of the rotating arm are
  • the sphere, the spherical groove contains the fixed rotating arm sphere, the rotating arm sphere can rotate in the spherical groove; the two brackets are connected by the rotating arm;
  • At least two controllable deformation devices are provided to connect the two working surfaces, and the front surface of the support is fixed on the working surface; the relative position and angle between the two working surfaces are adjusted through the change of the telescopic arm of the two rotating arms.
  • three controllable deformation devices are provided to connect the two working surfaces.
  • the three controllable deformation devices are distributed in a triangle shape, and the front surface of the support is fixed on the working surface; the expansion and contraction of the three rotating arms are adjusted to adjust the two The relative position and angle between two working surfaces.
  • controllable deformation devices are distributed in an equilateral triangle.
  • the power supply is electrically connected to the controller, and the controller is electrically connected to the operation panel and the telescopic arm, respectively, and the working surface is a basic unit.
  • a rotating device is provided, the front surface of the bracket is fixed on the rotating device, and the working surface is fixed on the rotating surface of the rotating device.
  • the power supply is electrically connected to the controller, and the controller is electrically connected to the operation panel, the telescopic arm, and the rotating device, respectively, and the working surface is a basic unit.
  • the controller is provided with one or a combination of a Bluetooth chip, a wireless communication chip, and a wife chip.
  • the invention can achieve the purpose of deforming according to user needs.
  • Fig. 1 is a schematic structural diagram of a preferred embodiment of the present invention
  • Figure 2 is a schematic structural diagram of a preferred embodiment of the present invention.
  • Figure 3 is a schematic diagram of the connection of the preferred embodiment of the present invention.
  • a controllable deformation device includes at least two working surfaces and a controllable deformation device connecting the two working surfaces.
  • the controllable deformation device includes two brackets 1.
  • the bracket 1 has a front surface 11 and a rear surface 12 opposed to each other.
  • a spherical groove 13 is provided on the rear surface 12 of the bracket;
  • a rotating arm 2 is provided, and the middle section of the rotating arm is a telescopic arm 4.
  • the two ends of the rotating arm are rotating arm spheres 22, the spherical groove 13 contains the fixed rotating arm sphere 22, and the rotating arm sphere 22 is rotatable in the spherical groove 13; the two brackets 1 are connected by the rotating arm 2.
  • the sphere 22 connected with the rotating arm and the support, the sphere 22 includes a regular or irregular sphere.
  • the diameter of the rotating arm sphere 22 is smaller than the diameter of the sphere where the spherical groove 13 is located, and the diameter of the rotating arm sphere 22 is larger than the diameter of the open cross-sectional circle of the spherical groove.
  • the spherical groove 13 is in the shape of a hollow hemisphere; the length of the line segment where the shortest distance between the cross section of the spherical groove 13 and the center of the ball extends to the other surface of the hollow hemisphere is greater than the radius of the sphere where the hemisphere is located. This design allows the ball 22 to rotate in the spherical groove 13 with a greater degree of freedom while not falling out of the spherical groove 13.
  • Three controllable deformation devices are provided to connect the two working surfaces.
  • the three controllable deformation devices are distributed in a triangular shape.
  • the front surface 11 of the support 1 is fixed on the working surface; the expansion and contraction of the telescopic arm 4 of the three rotating arms 2 is adjusted.
  • the relative position and angle between the two working surfaces As shown in Figure 2, the three controllable deformation devices are distributed in an equilateral triangle. Three controllable deformation devices can better control the angle and position of the two faces.
  • At least one power source 5, a controller 6, and an operating surface 7 are provided.
  • the power source 5 is electrically connected to the controller 6, and the controller 6 is electrically connected to the operating panel 7 and the telescopic arm 4 respectively.
  • the working surface is a basic unit 3, the power source 5 and the controller 6 are all arranged inside the basic unit 3, and the operation panel 7 is arranged on the side of the basic unit; the specific position can be set according to the needs of the user.
  • the base unit 3 can be set according to the needs of the user, and can be a number of furniture panels, or a joint of a number of mechanical tentacles, or a combination of part of the connecting plate and the mechanical tentacles, and so on.
  • the base unit 3 can add various components according to the needs of the user, such as a camera, a temperature sensor, a humidity sensor, a pressure sensor, a rolling device, a rubber pad, and so on.
  • a rotating device 8 is provided, the front surface 11 of the bracket 1 is fixed on the rotating device 8, and the working surface is fixed on the rotating surface of the rotating device.
  • One end of the three controllable deformation devices is distributed and fixed on the rotating device 8 in a triangular shape.
  • the front surface 11 is fixed to the rotating device 8 by screws or welding.
  • the setting of the rotating device 8 and the combination of the controllable deformation device facilitate the change of the angle between the working surfaces. When the angle changes between the same working surfaces are achieved, the setting of the rotating device 8 can reduce the number and workload of controllable deformation devices.
  • At least one power supply 5, a controller 6, and an operation panel 7 are provided.
  • the power supply 5 is electrically connected to the controller 6, and the controller 6 is electrically connected to the operation panel 7, the telescopic arm 4, and the rotating device 8 respectively.
  • the working face is a basic unit 3.
  • the present invention can be configured as a mechanical arm, such as a mechanical finger or a palm.
  • the relative position and angle between the two basic units 3 connected to the rotating arm 2 can be quickly adjusted through the expansion and contraction of the telescopic arm 4 of the three rotating arms 2 and the rotation angle of the rotating device 8, especially on some small-sized mechanical arms application.
  • the controllable deformation device can be configured as various furniture or toy products by changing the basic unit 3 and changing the connecting device, but is not limited to furniture or toy products.
  • the controller 6 is provided with a Bluetooth chip, a wireless communication chip and a wife chip, and the controller 6 can be connected to the user's mobile device through the Bluetooth chip, the wireless communication chip and the wife chip to form a remote operation.
  • the basic unit of the controllable deformation device can be a 1 cm cube, the number is 1000, and the maximum stretched length of a single controllable deformation device is also 1 cm; then the built-in or external power supply is turned on, and the user
  • the corresponding shape can be set through the operation panel, and then the controller controls the telescopic arm in each controllable deformation device to adjust its length, so as to adjust the relative three-dimensional position between each adjacent two basic units; so as to achieve the strip shape
  • Objects are transformed into various shapes: "For example, the simplest long stick (this requires the length of the three telescopic arms in each connection device to be the same)"; for example, it can be woven into a circle or a stool (three-dimensional) It can be compiled into any shape such as tables, boxes, boxes, cabinets, etc.
  • the present invention can achieve the purpose of automatically deforming according to user requirements; it can also achieve the basic unit as a tentacles to execute instructions deep into a narrow and curved area.

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Abstract

一种可控变形设备，包括至少两个工作面和连接两个工作面的可控变形装置；可控变形装置包括两个支架(1)，支架(1)具有相对设置的前表面(11)和后表面(12)，在支架(1)的后表面(12)设有球形凹槽(13)；设有一旋转臂(2)，旋转臂(2)的中段为伸缩臂(4)，旋转臂(2)的两端为旋转臂球体(22)，球形凹槽(13)包容固定旋转臂球体(22)，旋转臂球体(22)在球形凹槽(13)中可旋转；两个支架(1)通过旋转臂(2)连接；至少设有两个可控变形装置连接两个工作面，支架(1)的前表面(11)固定在工作面上；通过两根旋转臂(2)中伸缩臂(4)的伸缩量变化，调整两个工作面之间相对位置与角度，达到根据用户需求变形的目的。

Description

可控变形设备 技术领域
本发明涉及可控变形设备。
背景技术
现有的机械臂的长度不够而且也不够灵活，在某些场合需要更灵敏的机械臂；有些时候需要各种多用途的家具，而现有的家具的变形程度又不够灵活。
发明内容
本发明的目的在于提供一种可控变形设备，根据用户需求变动组成单元间的位置和角度以适应不同场合。
本发明为达到上述目的所采用的一个技术方案是：一种可控变形设备，包括至少两个工作面和连接两个工作面的可控变形装置；
可控变形装置包括两个支架，支架具有相对设置的前表面和后表面，在支架的后表面设有球形凹槽；设有一旋转臂，旋转臂的中段为伸缩臂，旋转臂的两端为球体，球形凹槽包容固定旋转臂球体，旋转臂球体在球形凹槽中可旋转；两个支架通过旋转臂连接；
至少设有两个可控变形装置连接两个工作面，支架的前表面固定在工作面上；通过两根旋转臂中伸缩臂的伸缩量变化，调整两个工作面之间相对位置与角度。
进一步地，设有三个可控变形装置连接两个工作面，三个可控变形装置呈三角形分布，支架的前表面固定在工作面上；通过三根旋转臂中伸缩臂的伸缩量变化，调整两个工作面之间相对位置与角度。
更进一步地，三个可控变形装置呈等边三角形分布。
更进一步地，至少设有一电源、控制器、操作面板，电源电连接于控制器， 控制器分别电连接于操作面板、伸缩臂，工作面为一基础单元。
进一步地，设有旋转装置，支架的前表面固定在旋转装置上，工作面固定在旋转装置的转动面上。
更进一步地，至少设有一电源、控制器、操作面板，电源电连接于控制器，控制器分别电连接于操作面板、伸缩臂、旋转装置，工作面为一基础单元。
进一步地，控制器设有蓝牙芯片、无线通讯芯片、wife芯片中的一种或者组合。
本发明可以达到根据用户需求变形的目的。
附图说明
图1是本发明较佳实施例的结构示意图；
图2是本发明较佳实施例的结构示意图；
图3是本发明较佳实施例的连接示意图。
附图标记说明：1、支架；2、旋转臂；3、基础单元；4、伸缩臂；5、电源；6、控制器；7、操作面板；8、旋转装置；11前表面；12、后表面；13、球形凹槽；21、球面；22、旋转臂球体；31、固定面。
具体实施方式
下面将结合附图及实施例对本发明作进一步说明：
如图1和图2所示，一种可控变形设备，包括至少两个工作面和连接两个工作面的可控变形装置。可控变形装置包括两个支架1，支架1具有相对设置的前表面11和后表面12，在支架的后表面12设有球形凹槽13；设有一旋转臂2，旋转臂的中段为伸缩臂4，旋转臂的两端为旋转臂球体22，球形凹槽13包容固定旋转臂球体22，旋转臂球体22在球形凹槽13中可旋转；两个支架1通过旋转臂2连接。
旋转臂与支架连接的球体22，该球体22包括规则或不规则的球体。旋转臂球体22的直径小于球形凹槽13所在球形的直径，旋转臂球体22的直径大于球形凹槽开口截面圆的直径。球形凹槽13设为镂空半球状；球形凹槽13 的截面与该球中心的最短距离所在的线段延长到该镂空半球体另一表面的线段的长度大于该半球所在球体的半径。该设计使得球体22在球形凹槽13内旋转有较大的自由度同时又不会脱出球形凹槽13。
设有三个可控变形装置连接两个工作面，三个可控变形装置呈三角形分布，支架1的前表面11固定在工作面上；通过三根旋转臂2中伸缩臂4的伸缩量变化，调整两个工作面之间相对位置与角度。如图2所示，三个可控变形装置呈等边三角形分布。三个可控变形装置可较好地控制两个面的角度和位置。
至少设有一电源5、控制器6、操作面7，电源5电连接于控制器6，控制器6分别电连接于操作面板7、伸缩臂4。工作面为一基础单元3，所述电源5、控制器6均设在基础单元3内部，操作面板7设于基础单元的侧边；具体位置可以根据使用者需求设置。基础单元3可以根据使用者需要设置，可以是若干的家具面板，也可以是若干机械触手的关节，也可以是部分连接板与机械触手的组合等等。基础单元3可以根据使用者需要添加各种组件，比如摄像头、温度传感器、湿度传感器、压力传感器、滚动装置、橡胶垫等等。
设有旋转装置8，支架1的前表面11固定在旋转装置8上，工作面固定在旋转装置的转动面上。三个可控变形装置的一端呈三角形分布固定在旋转装置8上。前表面11通过螺丝或焊接固定在旋转装置8上。旋转装置8的设置，与可控变形装置的结合，方便工作面之间角度的变化。在达到相同的工作面之间角度的变化，旋转装置8的设置可减少可控变形装置的数量和工作量。
对于有旋转装置8的设置，至少设有一电源5、控制器6、操作面板7，电源5电连接于控制器6，控制器6分别电连接于操作面板7、伸缩臂4、旋转装置8。工作面为一基础单元3。
本发明可设置成为一个机械臂，比如机械手指或者手掌。通过三根旋转臂2中伸缩臂4的伸缩量变化以及旋转装置8的旋转角度，快速调整旋转臂2连接的两个基础单元3之间相对位置与角度，特别是在某些小尺寸的机械臂上应用。
该可控变形设备可通过改变基础单元3及变换连接装置设为各种家具或者玩具产品，但并不限于家具或者玩具产品。
控制器6设有蓝牙芯片、无线通讯芯片和wife芯片，控制器6能够通过蓝牙芯片、无线通讯芯片和wife芯片与使用者的移动设备相连接，构成可远程操作。
一实施例，可控变形设备设置的基础单元可为1厘米的正方体，数量1000个，单个可控变形装置的最大伸展开的长度也是1厘米；然后接通内置电源或外接电源，使用者就可以通过操作面板设置相应的形状，然后控制器控制每个可控变形装置中的伸缩臂调整其长度，而达到调整每相邻两个基础单元之间的相对立体位置；从而达到把该条状物变形成各种形状：“比如最简单长棍(这个需要每个连接装置中的三个伸缩臂的长度各自保持一致)”；比如还可以编制成为圆圈，还可以编制成为凳子(立体)还可以编制成为桌子、箱子、盒子、柜子等等任意形状。
本发明可以达到根据用户需求自动变形的目的；也可以达到把基础单元设为触手以深入到很狭窄弯曲的区域执行指令。

Claims (7)

  1. 一种可控变形设备，其特征在于：包括至少两个工作面和连接两个工作面的可控变形装置；
    可控变形装置包括两个支架，支架具有相对设置的前表面和后表面，在支架的后表面设有球形凹槽；设有一旋转臂，旋转臂的中段为伸缩臂，旋转臂的两端为球体，球形凹槽包容固定旋转臂球体，旋转臂球体在球形凹槽中可旋转；两个支架通过旋转臂连接；
    至少设有两个可控变形装置连接两个工作面，支架的前表面固定在工作面上；通过两根旋转臂中伸缩臂的伸缩量变化，调整两个工作面之间相对位置与角度。
  2. 根据权利要求1所述的可控变形设备，其特征在于：设有三个可控变形装置连接两个工作面，三个可控变形装置呈三角形分布，支架的前表面固定在工作面上；通过三根旋转臂中伸缩臂的伸缩量变化，调整两个工作面之间相对位置与角度。
  3. 根据权利要求2所述的可控变形设备，其特征在于：三个可控变形装置呈等边三角形分布。
  4. 根据权利要求1或2所述的可控变形设备，其特征在于：设有旋转装置，支架的前表面固定在旋转装置上，工作面固定在旋转装置的转动面上。
  5. 根据权利要求1所述的可控变形设备，其特征在于：至少设有一电源、控制器、操作面板，电源电连接于控制器，控制器分别电连接于操作面板、伸缩臂；工作面为一基础单元。
  6. 根据权利要求4所述的可控变形设备，其特征在于：至少设有一电源、控制器、操作面板，电源电连接于控制器，控制器分别电连接于操作面板、伸缩臂、旋转装置；工作面为一基础单元。
  7. 根据权利要求5或6所述的可控变形设备，其特征在于：控制器设有蓝牙芯片、无线通讯芯片、wife芯片中的一种或者组合。
PCT/CN2019/125465 2019-03-19 2019-12-15 可控变形设备 WO2020186847A1 (zh)

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