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Flexible spine with omni-directional angle feedback

An all-round, spine-based technology, applied in the field of flexible spines, can solve problems such as the blank spine of robots, and achieve the effects of compact structure, convenient routing, and small size

Active Publication Date: 2015-05-27
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, domestic research on robotic spine is still blank

Method used

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  • Flexible spine with omni-directional angle feedback
  • Flexible spine with omni-directional angle feedback
  • Flexible spine with omni-directional angle feedback

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Embodiment Construction

[0013] The present invention will be further described below in conjunction with the accompanying drawings, and the purpose and effect of the present invention will become more obvious.

[0014] like Figure 1-3 As shown, the present invention has a flexible spine with omnidirectional angle feedback, which mainly includes a spine, a base and several drive feedback units; wherein, the base part includes a base plate 11 and a base 9 fixed at the center of the base plate, etc., and the spine part includes a flexible spine. Vertebral body 1, vertebral ring 2, top flange 7 and bottom flange 8, etc., one end of the flexible vertebral body 1 is fixed to the top flange 7, the other end is fixed to the bottom flange 8, and the bottom flange 8 is fixed to the base by screws 10 On the central hole of 9, the flexible vertebral body 1 is made of flexible material and processed into a hollow shape, so that under the action of tension, it can realize a full range of compound movements. The o...

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PUM

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Abstract

The invention discloses a flexible spine with omni-directional angle feedback. The flexible spine mainly comprises a spine, a base and a plurality of drive feedback units, a spine portion comprises a flexible spine body, a spine ring, a top flange and a bottom flange, one end of the flexible spine body is fixed on the top flange, the other end of the flexible spine body is fixed on the bottom flange, the bottom flange is fixed on the base, the drive feedback units are uniformly distributed on the base, each drive feedback unit comprises a displacement sensor, a tensioner and a shape memory alloy (SMA) wire, one end of the SMA wire is fixed on the tensioner, and the SMA wire and a displacement line together sequentially penetrate through circumferential holes of the bottom flange, the spine ring and the top flange to be fixed on the top flange. The initial angle and controllable angle range of the flexible spine body can be adjusted through adjusting the degree of tightness of the tensioner. The flexible spine with the omni-directional angle feedback has the advantages that the SMA wire is used for driving the flexible spine, the design cost is lowered, the space is saved, the improvement of flexibility of omni-directional moving of a robot is facilitated, and the adaptability of the robot to the environment is improved.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a flexible spine with omnidirectional angle feedback. Background technique [0002] In recent years, bionic robot technology has developed rapidly. Scholars at home and abroad have developed a batch of exciting bionic robots by simulating the physiology and movement mechanism of natural creatures. From the fast-running "BigDog" and "Cheetah" quadruped robots developed by Boston Dynamics, to the "Petman" biped humanoid robot that can walk quickly and stably, from the "Elephant Trunk" developed by Germany's FESTO Company, to Free-flying "Smart Bird", etc. These bionic technologies are applied to robots to improve the flexibility and flexibility of robot movements, improve the adaptability of robots to the natural environment, and greatly improve the efficiency of movement. [0003] The spine is an important part of the animal's physiological structure. The spine not onl...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J11/00
Inventor 朱秋国王世全熊蓉褚健
Owner ZHEJIANG UNIV
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