A Rigid-Flexible-Soft Coupling Humanoid Robot Spine Structure
A humanoid robot, spine structure technology, applied in the field of robotics, can solve difficult performance requirements and other problems
Active Publication Date: 2020-06-16
ZHEJIANG UNIV
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Problems solved by technology
However, the requirements for the elastic performance of the elastic member are different under the two conditions of use. It needs to have better compressibility when bending, and a higher elastic modulus when bearing load. Therefore, it is difficult to use one material to meet the requirements at the same time. Performance requirements in both cases
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[0024] Such as figure 1 As shown, a rigid-soft-soft coupling humanoid robot spine structure includes several vertebral bodies 21 made of rigid materials, and the vertebral bodies 21 are stacked in sequence to form a column body 2, and two adjacent vertebral bodies 21 Elastic soft body 22 is arranged between. Such as figure 2 As shown, three connecting blocks 214 are evenly distributed in a ring around the outer edge of the vertebral body 21 , and the connecting blocks 214 are provided with a rope channel 211 . The connecting block 214 is arranged on the outer edge of the vertebral body 21, and the rope channel 211 can well avoid the elastic soft body 22 between two adjacent vertebral bodies 21, leaving enough space for the installation of the elastic soft body 22. At the same time, as opposed to directly setting the rope channel 211 on the vertebral body 21, the connecting block 214 is arranged on the outer edge of the vertebral body 21. When the connecting rope 4 controls ...
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The invention relates to the field of robots, and particularly discloses a rigidity-flexibility-softy coupled humanoid robot spine structure. The spine structure comprises a plurality of vertebra bodies made from rigid materials; the vertebra bodies are sequentially stacked to form a spine body; an elastic soft body is arranged between every two adjacent vertebra bodies; the surface, making contact with the corresponding vertebra body, of each elastic soft body is sunken inwards to form a cavity; the surface, making contact with the corresponding elastic soft body, of each vertebra body is provided with a protrusion corresponding to the cavity; each elastic soft body comprises an intermediate body and a ring body arranged on the outer side of the intermediate body in an annular sleeving manner; and the fluidity of each ring body is higher than that of the corresponding intermediate body. According to the spine structure, the elastic soft bodies and the vertebra bodies are limited through the cavities and the protrusions, and the risk that the elastic soft bodies are extruded out when the vertebra bodies are bent is reduced.
Description
technical field [0001] The invention relates to the field of robots, in particular to a spine structure of a rigid-soft-soft coupling humanoid robot. Background technique [0002] Humanoid robots, that is, robots designed and manufactured to imitate human shapes and behaviors, generally have humanoid limbs and heads separately or simultaneously. Humanoid robot research integrates many sciences such as machinery, electronics, computers, materials, sensors, control technology, etc., and represents a country's high-tech development level. Structural flexibility is the development trend of humanoid robots. From the perspective of bionics, the flexible design of the structure makes the posture of the robot more flexible and can better reflect human-like characteristics; from the perspective of engineering, the flexible design of the structure enables the robot to have a larger working space and can adapt to complex operations Task. From the perspective of human-computer integr...
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IPC IPC(8): B25J9/00
Inventor 甘春标葛一敏田蒋仁徐小峰能一鸣朱小京
Owner ZHEJIANG UNIV