Integrated nodal compliant mechanism of rope-driven active metamorphic topology

Abstract

The application provides a kind of integrated node flexible variable mechanism of rope drive active deformation topology structure, it is related to flexible deformation device technical field, control is realized to large-span deformable structure by using rope drive, structural weight is reduced, and the operating performance of flexible deformation body mechanism is improved.The shortening of first winding makes the radius of annular framework larger;The shortening of second winding makes the length of annular framework longer;Between the first annular framework and the second annular framework, the first winding on the first annular framework is arranged on the first node on the second annular framework, and the second winding on the first annular framework is arranged on the first node on the second annular framework to realize active turning, which can reduce the stress applied to the mechanism by the outside when the pipeline moves, help protect the flexible structure, improve the system use time, and better adapt to complex terrain space scenarios, actively adjust the travel speed and direction to select the optimal path to improve work efficiency.

Description

Technical Field

[0001] This invention relates to the field of flexible deformation device technology, and in particular to an integrated node flexible deformation mechanism with a rope-driven active deformation topology. Background Technology

[0002] Flexible structures are widely used in intelligent manufacturing, advanced robotics, aerospace, and other fields due to their relative safety and multi-degree-of-freedom characteristics compared to rigid structures. Currently, soft robotics is a hot research area in robotics technology. Various flexible mechanisms and actuators are applied to machine body structures and actuation devices. Constructing flexible variant mechanisms using the fundamental principles of mechanism geometry and flexible actuation is a challenging task. We hope that such variant structures possess both passive flexible deformation characteristics and the ability to actively deform according to environmental or task requirements to better adapt to work demands. Flexible mechanisms are a new type of mechanism that utilizes the flexible deformation of a mechanism to transmit or convert motion, force, and energy. They are easy to miniaturize, lightweight, and integrate in design and manufacturing, exhibiting no backlash or hysteresis, and achieving highly reliable active and passive deformation. They can be applied to the development of soft robots. Compared to rigid multi-joint robots, these robots have higher compliance and more user-friendly human-machine interaction.

[0003] However, current flexible mechanisms have the following main shortcomings:

[0004] (1) The stroke is limited by elastic deformation, and the rotational displacement is very limited;

[0005] (2) Most flexible mechanisms do not have scalable combination capabilities and cannot be reconfigured according to task requirements;

[0006] (3) Some flexible mechanisms can only achieve passive deformation and cannot perform active deformation. Summary of the Invention

[0007] The purpose of this invention is to provide an integrated node flexible variant mechanism for a rope-driven active deformation topology, thereby solving the technical problems of existing flexible mechanisms being inconvenient to achieve deformation and unable to actively deform. 。 The preferred technical solutions among the many technical solutions provided by this invention can produce a variety of technical effects, which are described in detail below.

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] The present invention provides a flexible deformable body mechanism comprising multiple annular skeletons arranged in a ring, wherein the annular skeletons are topologically formed along the axial direction.

[0010] The ring-shaped frame includes a first node, a second node, a third node, and a first connecting rod that can rotate relative to each other. The first connecting rod is disposed between two adjacent first nodes and the second node, and between the first node and the third node. Each of the first node, the second node, and the third node is provided with two first connecting members that can rotate relative to each other. The two first connecting members are arranged in a cross shape. Each first connecting member has two connecting parts arranged in opposite directions. The connecting parts are connected to the first connecting rod. The first node and the second node, and the first node and the third node are staggered. The second node and the third node are disposed on the same circumferential plane so that the two opposite first nodes and the two second nodes, or the two first nodes, the second node, and the third node, form a parallelogram.

[0011] The third node includes a third bolt, a support base, and a third rubber cap. The third bolt passes through the third rubber cap, the two first connectors, and the support base in sequence. The support base is equipped with a motor and a winding shaft. The motor drives the winding shaft to rotate. The winding shaft is equipped with a first winding and a second winding, and the winding direction of the first winding is opposite to that of the second winding. The first winding passes through the first node in a Z-shaped loop along the circumferential extension direction of the annular frame. The second winding passes through the second node along the circumferential direction of the second frame. When the motor rotates, the radius of the annular frame can increase when it contracts and decrease when it extends.

[0012] The first ring frame and the second ring frame are arranged between them. The first winding on the first ring frame passes through the first node on the second ring frame, and the second winding on the first ring frame passes through the first node on the second ring frame. The first node of the first winding on the second ring frame and the first node of the second winding on the second ring frame are arranged opposite to each other. The first ring frame and the second ring frame are elastic members, so that when the motor rotates, one ring frame and the second ring frame can rotate.

[0013] Preferably, the first node further includes a first rubber cap, a first bearing, a bearing sleeve, and a first bolt, wherein the first bearing is installed inside the bearing sleeve, the first bearing housing is V-shaped to form a V-groove along the height direction, the first winding is laid in the V-groove, and along the height direction of the first bearing, at least a portion of the end face of the bearing sleeve is equal to or lower than the middle position of the V-groove, and the bolt passes through the first rubber cap, the two first connectors, the first bearing, and the bearing sleeve in sequence.

[0014] Preferably, the second node further includes a second bolt, a second rubber cap, and a base. The second bolt passes through the second rubber cap, the two first connectors, and the base in sequence. The base is provided with a wire hole for the first winding or the second winding to pass through.

[0015] Preferably, the motor is a two-phase stepper motor.

[0016] Preferably, the feature is that, along the extending direction of the flexible deformable body mechanism, a second connecting rod is provided between the two annular skeletons, and the flexibility of the second connecting rod is greater than that of the first connecting rod.

[0017] Preferably, the cross-section of the ring-shaped skeleton is pentagonal or hexagonal, and the line connecting two adjacent first nodes or second nodes forms one side.

[0018] Preferably, a fourth bolt is provided between the first connecting rod and the first node, the second node, and the third node.

[0019] Preferably, a groove is provided between the two connecting parts, and the groove communicates with the first mounting hole on the connecting part.

[0020] The present invention also provides an integrated node steerable flexible deformable body mechanism with an active deformable topology, including any of the steerable flexible deformable body mechanisms described above, wherein multiple flexible deformable body mechanisms are topologically formed along the axial direction to form a flexible deformable body mechanism, and further includes a remote controller, which can be electrically connected to multiple motors to control the motors to move sequentially.

[0021] The technical solution provided in this application document has the following beneficial effects:

[0022] This invention provides an integrated node flexible deformable mechanism with a rope-driven active deformable topology. It utilizes rope drive to control a large-span deformable structure, reducing structural weight and improving the maneuverability of the flexible deformable mechanism. The mechanism includes multiple annular frames arranged in a ring shape. These frames are topologically formed into a flexible deformable mechanism along the axial direction. Rope drive ensures the flexibility of the deformable structure, reducing mechanical weight and improving maneuverability. Simultaneously, shortening the first winding increases the radius of the annular frame, causing the length of the second winding to extend; conversely, shortening the second winding lengthens the annular frame, causing the length of the first winding to extend, thus achieving active deformation of the flexible deformable mechanism. Furthermore, between the first and second annular frames, the first winding on the first annular frame passes through a first node on the second annular frame, and the second winding on the first annular frame passes through a first node on the second annular frame. This active deformation of the flexible deformable mechanism allows it to better adapt to environmental changes and complex scenarios, actively adjusting its speed and direction to select the optimal path and improve operational efficiency. Active turning also reduces the stress of the external environment on the mechanism during movement, contributing to a longer service life of the mechanical structure. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram illustrating the structure of the first node according to an exemplary embodiment;

[0025] Figure 2 This is a schematic diagram illustrating the structure of the second node according to an exemplary embodiment;

[0026] Figure 3 This is a schematic diagram illustrating the structure of the third node according to an exemplary embodiment;

[0027] Figure 4 This is a schematic diagram illustrating the structure of the third node omitting the motor and winding shaft according to an exemplary embodiment;

[0028] Figure 5 This is a schematic diagram of the structure of a support base according to an exemplary embodiment;

[0029] Figure 6 This is a schematic diagram illustrating the structure of the ring-shaped skeleton after it has been unfolded, according to an exemplary embodiment.

[0030] Figure 7This is a schematic diagram of the structure of the base of the second node according to an exemplary embodiment;

[0031] Figure 8 This is a schematic diagram illustrating the structure of the first connector according to an exemplary embodiment;

[0032] Figure 9 This is a schematic diagram illustrating the structure of a winding shaft according to an exemplary embodiment;

[0033] Figure 10 This is a schematic diagram illustrating the connection between two environmental skeletons according to an exemplary embodiment;

[0034] Figure 11 This is a schematic diagram illustrating a structure of a flexible deformable body mechanism composed of multiple ring skeletons connected according to an exemplary embodiment.

[0035] In the diagram: 1. First node; 11. First rubber cap; 12. First bearing; 121. V-groove; 13. Bearing sleeve; 14. First bolt; 2. Second node; 21. Second bolt; 22. Second rubber cap; 23. Base; 231. Wire hole; 3. Third node; 31. Third bolt; 32. Support seat; 33. Third rubber cap; 34. Motor; 35. Winding shaft; 36. First winding; 37. Second winding; 4. First connector; 41. Groove; 42. Connecting part; 5. First connecting rod; 6. Second connecting rod. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0037] This specific embodiment provides an integrated node flexible variant mechanism for a rope-driven active deformation topology, which solves the technical problems of existing flexible mechanisms being inconvenient to deform and unable to actively deform.

[0038] Hereinafter, embodiments will be described with reference to the accompanying drawings. Furthermore, the embodiments shown below do not limit the scope of the invention as described in the claims. Additionally, the complete contents of the configurations represented in the embodiments below are not limited to those necessary for the solution of the invention described in the claims.

[0039] Reference Figure 1-11The present invention provides an integrated node flexible variant mechanism with a rope-driven active deformation topology, comprising multiple ring skeletons forming a ring, the ring skeletons being topologically transformed into a flexible deformable body mechanism along the axial direction;

[0040] The ring-shaped frame includes a first node 1, a second node 2, a third node 3, and a first connecting rod 5 that can rotate relative to each other. The first connecting rod is located between two adjacent first nodes 1 and second nodes 2, and between first nodes 1 and third nodes 3. Each of the first nodes 1, second nodes 2, and third nodes 3 is provided with two first connecting pieces 4 that can rotate relative to each other. The two first connecting pieces 4 are arranged in a cross shape. Two connecting parts 42 are arranged in opposite directions on the first connecting pieces 4. The connecting parts 42 are connected to the first connecting rod. The first nodes 1 and second nodes 2, and the first nodes and third nodes are staggered. The second nodes and third nodes are located on the same circumferential plane so that the two opposite first nodes 1 and two second nodes 2, or the two first nodes and second nodes and third nodes, form a parallelogram.

[0041] The third node 3 includes a third bolt 31, a support 32, and a third rubber cap 33. The third bolt 31 passes sequentially through the third rubber cap 33, two first connecting pieces 4, and the support 32. The support 32 is equipped with a motor 34 and a winding shaft 35. The motor 34 drives the winding shaft 35 to rotate. The winding shaft 35 is equipped with a first winding 36 and a second winding 37, and the winding direction of the first winding 36 is opposite to that of the second winding 37. The first winding 36 passes through the first node 1 in a Z-shaped loop along the circumferential extension direction of the annular frame, and the second winding 37 passes along the ring... The ring frame is circumferentially threaded on the second node 2. When the motor 34 rotates, the radius of the ring frame can increase when it contracts or decrease when it extends. For example, if the motor 34 rotates in the opposite direction and the first winding 36 is wound on the winding shaft 35, then the second winding 37 will disengage from the winding shaft 35, and the radius of the ring frame will decrease along the length direction. If the motor 34 rotates in the forward direction and the second winding 37 is wound on the winding shaft 35, then the first winding 36 will disengage from the winding shaft 35, and the radius of the ring frame will increase along the length direction. This facilitates the deformation of the flexible deformable body mechanism to achieve active deformation.

[0042] Among them, the support base 32 has a cross-shaped bracket base 321, such as Figure 3-5 As shown, the support base 321 has a central support hole 322 at its center; the support base 321 has three support arms 323 perpendicular to it at its three ends, and each support arm 323 has a rope hole 324, with a support platform 325 on its upper side wall. The third bolt 31 passes through the third rubber cap, the two first connectors, the bolt hole 326 on the support base 32, and the central support hole 322 in sequence, thus connecting and fixing the various parts.

[0043] The ring-shaped skeleton consists of three layers: the first layer is composed of five first node 1 components forming a first pentagon; the second layer is composed of five second node 2 components forming a second pentagon; and the third layer is composed of five first node 1 components forming a third pentagon. The five sides of the first pentagon and the third pentagon are aligned, while the second pentagon is staggered from the first and third pentagons.

[0044] Specifically, the flexible deformable body mechanism includes five annular frames, which are coaxially arranged and interconnected. Adjacent annular frames are staggered circumferentially, and connected by a first connecting rod 5, forming a rhombus shape between adjacent annular frames. Figure 6 As shown, the flexible deformable mechanism can achieve creeping forward movement. The specific operation is as follows: In the initial state, each ring skeleton is in its maximum inner diameter state. First, the motor 34 is controlled to rotate in the reverse direction. Along the axial direction of the flexible deformable mechanism, the length of the first winding 36 is shortened, and the first winding 36 is wound around the winding shaft 35. At the same time, the second winding 37 is unwound from the winding shaft 35, and the length of the second winding 37 along the axial direction of the ring skeleton is lengthened, thereby reducing the radius of the ring skeleton. Then, the motor 34 is controlled to rotate in the forward direction. The second winding 37 is shortened along the circumferential direction and wound around the winding shaft 35. At the same time, the first winding 36 is lengthened along the circumferential direction of the ring skeleton and unwound from the winding shaft 35, thereby increasing the radius of the ring skeleton. This setting facilitates the deformation of the flexible deformable mechanism.

[0045] The first ring frame and the second ring frame are arranged between the first ring frame and the second ring frame. The first winding 36 on the first ring frame passes through the first node 1 on the second ring frame, and the second winding 37 on the first ring frame passes through the first node 1 on the second ring frame. The first node 1 of the first winding 36 and the first node 1 of the second winding 37 on the second ring frame are arranged opposite to each other. The first ring frame and the second ring frame are elastic members, so that when the motor rotates, one ring frame and the second ring frame can rotate.

[0046] Specifically, such as Figure 10As shown, the first winding 36 is wound around the first node at points A and B. The second winding passes through the second node and then winds around the first node at points C and D. When the first winding contracts, the distance between points A and B decreases, and the distance between points C and D increases. Simultaneously, the elastic element between A and B contracts to accumulate elastic force, and the elastic element between C and D extends to accumulate tensile force, causing the deformable mechanism to deflect towards A and B. When the second winding contracts, the distance between points A and B increases, and the distance between C and D decreases. Simultaneously, the elastic element between C and D contracts to accumulate elastic force, and the elastic element between A and B extends to accumulate tensile force, causing the front end of the deformable mechanism to deflect towards C and D. (Similar to the turning of an insect, when an insect turns to the right, its left side extends and its right side shortens, corresponding to the increase in the distance between A and B and the decrease in the distance between C and D. Moreover, the insect cannot turn immediately; it needs to be driven by its head, with the rest of its body slowly following the head's deflection. This means that for the active turning problem of the flexible deformable mechanism, only the front end needs to actively deflect, and the whole will slowly and gradually achieve deflection.)

[0047] This setup, utilizing rope drive, ensures the flexibility of the deformable mechanism, reduces mechanical weight, and improves its maneuverability. Simultaneously, shortening the first winding 36 increases the radius of the annular frame, causing the second winding 37 to extend; conversely, shortening the second winding 37 lengthens the annular frame, further extending the first winding 36, thus enabling active deformation of the flexible deformable mechanism. Furthermore, between the first and second annular frames, the first winding on the first annular frame passes through the first node on the second annular frame, and the second winding on the first annular frame passes through the first node on the second annular frame. This active deformation allows the flexible deformable mechanism to better adapt to environmental changes and complex scenarios (it can travel in water and on land), actively selecting paths to improve operational efficiency and speed. Active turning also reduces the stress exerted on the mechanism by the external environment during movement, contributing to a longer service life of the mechanical structure.

[0048] In this embodiment, as Figure 1As shown, to facilitate rotation of the first node 1, the first node 1 further includes a first rubber cap 11, a first bearing 12, a bearing sleeve 13, and a first bolt 14. The first bearing 12 is installed inside the bearing sleeve 13. The outer shell of the first bearing 12 forms a V-groove 121 along its height direction. The first winding 36 is laid within the V-groove 121. Along the height direction of the first bearing 12, at least a portion of the end face of the bearing sleeve 13 is equal to or lower than the middle position of the V-groove 121, facilitating the first winding 36 to be laid at the innermost end of the V-groove 121. This prevents the first winding 36 from detaching from the V-groove 121 and also facilitates sliding of the first winding 36 when it extends or retracts. The bolt passes sequentially through the first rubber cap 11, the two first connecting pieces 4, the first bearing 12, and the bearing sleeve 13, thus forming a complete first node 1.

[0049] In this embodiment, as Figure 2 As shown, the second node 2 also includes a second bolt 21, a second rubber cap 22, and a base 23. The second bolt 21 passes through the second rubber cap, two first connectors 4, and the base 23 in sequence. The base 23 is provided with a wire hole 231 for the first winding 36 or the second winding 37 to pass through. When the first winding 36 passes through, the first winding 36 starts from the position of the motor 34, first passes through the outer periphery of the V-groove 121 of the first bearing 12 of the first node 1, then passes through the wire hole 231 on the base 23 of the adjacent second node 2, and then is arranged in sequence on the outer periphery of the first bearing 12 of the first node 1 adjacent to the second node 2, thus forming a wave shape, which facilitates the first winding 36 to drive the flexible deformable body mechanism to shorten, so as to achieve active deformation. The second winding 37 is sequentially passed through the wire hole 231 of the second node 2 along the axial direction of the ring skeleton. When the second winding 37 contracts, it will inevitably cause the flexible deformable body mechanism to extend, thereby driving the first winding 36 to extend, thus achieving active deformation of extension.

[0050] In this embodiment, the motor 34 is a two-phase stepper motor 34. The biggest difference between the stepper motor 34 and other control-purpose motors 34 is that it receives digital control signals (electrical pulse signals) and converts them into corresponding angular or linear displacements. It is itself an actuator that completes digital mode conversion. Moreover, it can perform open-loop position control; inputting a pulse signal yields a specified position increment. Compared with traditional DC control systems, this incremental position control system significantly reduces costs and requires almost no system adjustments. The angular displacement of the stepper motor 34 is strictly proportional to the number of input pulses and is synchronized with the pulses in time. Therefore, by controlling the number and frequency of pulses and the phase sequence of the motor 34 windings, the required angle, speed, and direction can be obtained, facilitating the adjustment of the deformation of the flexible deformable body mechanism.

[0051] In this embodiment, a second connecting rod 6 is provided between the two annular frames along the extension direction of the flexible deformable body mechanism. The flexibility of the second connecting rod 6 is greater than that of the first connecting rod 5, which facilitates deformation between the two adjacent annular frames.

[0052] In this embodiment, the cross-section of the ring skeleton is pentagonal or hexagonal, and the line connecting two adjacent first nodes 1 or second nodes 2 forms one side. However, the shape of the cross-section of the ring skeleton is not limited to pentagonal or hexagonal. People can increase or decrease the number of sides of the ring skeleton according to the actual situation.

[0053] In this embodiment, to facilitate the connection between the first connecting rod 5 and the first node 1, the second node 2, and the third node 3, a fourth bolt is provided between the first connecting rod 5 and the first node 1, the second node 2, and the third node 3. Specifically, both ends of the first connecting member 4 are provided with connecting portions 42, and the connecting portions 42 are provided with first mounting holes for the fourth bolt to pass through. The first connecting rod 5 is provided with a second mounting hole corresponding to the first mounting hole. The fourth bolt is installed in both the first mounting hole and the second mounting hole, thereby limiting the first connecting rod 5 to the first connecting member 4 and preventing the first connecting rod 5 from detaching from the first connecting member 4.

[0054] In this embodiment, two connecting parts 42 are arranged in opposite directions on the first connecting member 4. The connecting parts 42 are used to connect with the first connecting rod 5. A groove 41 is provided between the two connecting parts 42. The two ends of the groove 41 are connected to the first mounting hole on the connecting part 42. People can tighten the first connecting rod 5 or the second connecting rod 6 again from the position of the groove 41 to ensure the tightness of the first connecting rod 5 and the connecting part 42, and the second connecting rod 6 and the connecting part 42.

[0055] In this embodiment, a remote control is also included. The remote control can be electrically connected to multiple motors 34 to control their sequential movement. Specifically, when in use, the remote control is activated, and each motor 34 is controlled using a phase difference sine wave, meaning the motors 34 rotate sequentially in the axial direction, forming a wave-like transmission (after the first motor 34 starts, the second motor 34 starts two seconds later, the third motor 34 starts four seconds later, and so on). This causes the diameter of the flexible deformable mechanism to decrease sequentially along the axial direction. To facilitate forward movement, the first motor 34 rotates forward, and the diameter of the flexible deformable mechanism increases sequentially along the axial direction, causing the outer periphery of the flexible deformable mechanism to press against the side wall of the pipe. This cycle repeats, achieving forward movement of the mechanism. During the mechanism's movement, the operating status and rotation position of each motor 34 need to be detected at each step, allowing the mechanism to start moving forward from any state. By adjusting the phase difference of the movement of each flexible deformable mechanism, smooth movement of the robot within each gait cycle can be achieved. By synchronously adjusting the phase difference of the motion of each flexible deformable body mechanism, the robot can move in a creeping manner in the environment. The magnitude and frequency of the phase difference can also be adjusted according to actual needs to control the robot's speed.

[0056] The rope-driven active deformation topology integrated node flexible variant mechanism provided by this invention has the advantages of integration, making the overall mechanism miniaturized and modular, highly reconfigurable, easy to debug and modify, and capable of active deformation. It can better adapt to environmental changes and complex scenarios, actively select paths to improve work efficiency and speed, and possesses both flexibility and rigidity. It has a large radius variation, high contraction rate, and strong environmental adaptability, employing a peristaltic motion mode, making it suitable for confined and tortuous environments. It has strong rhythmicity and can be controlled by a central pattern generator; due to the overall flexibility, it can passively deform to conform to the inner wall of a pipe.

[0057] In this application, the first connector 4, bearing sleeve 13, base 23, motor 34 bracket, and winding wheel are all 3D printed. The longitudinal and circumferential control windings use No. 14 fluorocarbon wire. The motor 34 is a 42-phase stepper motor with a rated voltage of 3.6V, phase resistance of 2 ohms, phase inductance of 3.2 millihenries, rated current of 1.7A, and torque of 0.46 N·m. The motor 34 driver uses an L298N with a 12V input voltage and a stable 12V output voltage and a maximum drive current of 2A. The main control chip is an STM32F103ZET6, powered by a 5V lithium battery. STM32CubeMX is used to define and initialize the chip's GPIO general-purpose input / output pins, controlling the counting frequency and positioning function of the stepper motor 34 to control its stopping, direction, and speed. Furthermore, the motor 34 drive signal is adjusted by comparing the differential of the position feedback information with the target speed to achieve a speed closed loop. All 34 motors are connected to the STM32F103ZET6 main control chip, and are controlled by sinusoidal rhythmic commands with a phase difference of 60°, achieving forward and backward movement according to the gait cycle based on the worm-like pattern. The flexible variant mechanism demonstrated in this invention can effectively achieve precise control with closed-loop speed feedback. The modular structure facilitates modification, testing, and component replacement, and allows for expansion of the number of sections, making it highly significant in practical production and daily life. Simultaneously, sensors can be installed to monitor the robot's motion status and environmental conditions in real time, and the motion phase difference can be adjusted as needed to ensure that the robot can stably perform worm-like movement in the environment.

[0058] It should be noted that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., used herein to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0059] In the description herein, it should also be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0060] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

[0061] It is understood that the same or similar parts in the above embodiments can be referred to each other, and the content not described in detail in some embodiments can be referred to the same or similar content in other embodiments. The multiple solutions provided in this application contain their own basic solutions, are independent of each other, and do not restrict each other, but they can also be combined with each other without conflict to achieve multiple effects.

[0062] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. An integrated node flexible variant mechanism with a rope-driven active deformation topology, characterized in that, It includes multiple annular skeletons arranged in a ring, the annular skeletons being topologically formed as the flexible variant mechanism along the axial direction; The ring frame includes a first node (1), a second node (2), a third node (3), and a first connecting rod (5) that can rotate relative to each other. The first connecting rod is disposed between two adjacent first nodes and the second node, and between the first node and the third node. Each of the first node, the second node, and the third node (3) is provided with two first connecting pieces (4) that can rotate relative to each other. The two first connecting pieces (4) are arranged in a cross shape. Two connecting parts (42) are provided on the first connecting pieces (4) in opposite directions. The connecting parts (42) are connected to the first connecting rod. The first node (1) and the second node (2), and the first node and the third node are staggered. The second node and the third node are disposed on the same circumferential plane so that the two opposite first nodes (1) and the two second nodes (2) or the two first nodes, the second node, and the third node form a parallelogram. The third node (3) includes a third bolt (31), a support base (32), and a third rubber cap (33). The third bolt (31) passes through the third rubber cap (33), the two first connectors (4), and the support base (32) in sequence. The support base (32) is equipped with a motor (34) and a winding shaft (35). The motor (34) drives the winding shaft (35) to rotate. The winding shaft (35) is equipped with a first winding (36) and a second winding (37). The winding direction of the first winding (36) is opposite to that of the second winding (37). The first winding (36) passes through the first node (1) in a Z-shaped loop along the circumferential extension direction of the ring skeleton. The second winding (37) passes through the second node (2) along the circumferential direction of the ring skeleton. When the motor (34) rotates, the radius of the ring skeleton can increase when it contracts and decrease when it extends. Among them, between the first ring frame and the second ring frame, the first winding on the first ring frame passes through the first node on the second ring frame, and the second winding on the first ring frame passes through the first node on the second ring frame. The first node on the second ring frame and the first node on the second ring frame are arranged opposite to each other. Along the extension direction of the flexible variant mechanism, a second connecting rod (6) is provided between the two ring frames. The flexibility of the second connecting rod (6) is greater than that of the first connecting rod (5). When the motor rotates, the first ring frame and the second ring frame can rotate.

2. The integrated node flexible variant mechanism of the rope-driven active deformation topology according to claim 1, characterized in that, The first node (1) also includes a first rubber cap (11), a first bearing (12), a bearing sleeve (13), and a first bolt (14). The first bearing (12) is installed inside the bearing sleeve (13). The outer shell of the first bearing (12) forms a V-groove (121) in the height direction. The first winding (36) is laid in the V-groove (121). Along the height direction of the first bearing (12), at least a part of the end face of the bearing sleeve (13) is equal to or lower than the middle position of the V-groove (121). The bolt passes through the first rubber cap (11), the two first connectors (4), the first bearing (12), and the bearing sleeve (13) in sequence.

3. The integrated node flexible variant mechanism of the rope-driven active deformation topology according to claim 1, characterized in that, The second node (2) also includes a second bolt (21), a second rubber cap (22), and a base (23). The second bolt (21) passes through the second rubber cap (22), the two first connectors (4), and the base (23) in sequence. The base (23) is provided with a wire hole (231) for the first winding (36) or the second winding (37) to pass through.

4. The integrated node flexible variant mechanism of the rope-driven active deformation topology according to claim 1, characterized in that, The motor (34) is a two-phase stepper motor (34).

5. The integrated node flexible variant mechanism of the rope-driven active deformation topology according to claim 1, characterized in that, The cross-section of the ring skeleton is pentagonal or hexagonal, and the line connecting two adjacent first nodes (1) or second nodes (2) forms one side.

6. The integrated node flexible variant mechanism of the rope-driven active deformation topology according to claim 1, characterized in that, A fourth bolt is provided between the first connecting rod and the first node (1), the second node (2), and the third node (3).

7. The integrated node flexible variant mechanism of the rope-driven active deformation topology according to claim 1, characterized in that, The connecting part (42) is connected to the first connecting rod (5), and a groove (41) is provided between the two connecting parts (42), and the groove (41) is connected to the first mounting hole on the connecting part (42).

8. The integrated node flexible variant mechanism of the rope-driven active deformation topology according to claim 1, characterized in that, It also includes a remote control that can be electrically connected to multiple motors (34) to control the motors (34) to move sequentially.

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