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Flexible spine mechanism and kangaroo-like hopping robot

A spine and flexible technology, applied in the field of bionic robots, can solve the problems of insufficient flexibility of the trunk, complex structure, and invariable stiffness of the spine, and achieve the effect of increasing controllability

Inactive Publication Date: 2021-01-05
RES & DEV INST OF NORTHWESTERN POLYTECHNICAL UNIV IN SHENZHEN +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problems existing in the prior art, the present invention provides a flexible spine mechanism of a kangaroo-like jumping robot with variable stiffness. technical problem

Method used

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Examples

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Embodiment 1

[0031]A flexible spine mechanism of a kangaroo-like jumping robot with variable stiffness, comprising a bionic spine 8, a pneumatic bionic muscle 9 and a supporting baffle 10, wherein:

[0032]The bionic spine 8 includes a long elastic plate 5 and several bionic vertebrae 6 with the same structure but different sizes. The long elastic plate 5 is designed with many closely arranged through holes for fixing the bionic vertebrae. Vertebrae 6 and supporting baffle 10. By arranging a number of through holes on the elastic plate 5, different basic rigidities of the bionic spine 8 can be realized by changing the gap between the bionic vertebrae 6 and the number of the bionic vertebrae 6 on the elongated elastic plate 5.

[0033]The bionic vertebrae 6 are made of rigid wooden blocks with a trapezoidal longitudinal section and a rectangular cross section, which are connected in series to the elongated elastic plate 5 from large to small, and are fixed by bolts passing through through holes. Throug...

Embodiment 2

[0040]Such asfigure 1 As shown, a flexible spine mechanism of a kangaroo-like jumping robot with variable stiffness is composed of a bionic spine 8, a pneumatic bionic muscle 9 and a supporting baffle 10. The supporting baffle 10 includes a front supporting baffle 1 and a back Support baffle 2. The two ends of the bionic spine 8 pass through the center of the front support baffle 1 and the rear support baffle 2 respectively, and are fixed by a triangular bracket; there are two pneumatic bionic muscles 9 which are respectively installed on the bionic The upper and lower sides of the longitudinal direction of the spine 8; the air intake end 3 of the pneumatic bionic muscle 9 is fixed to the rear support baffle 2 through a threaded rod, and the air blocking end 4 is fixed to the front support baffle 1 through a universal joint.

[0041]Such asfigure 2As shown, the bionic spine 8 includes a long elastic metal sheet and several bionic vertebrae 6 with the same structure but different sizes....

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Abstract

The invention discloses a flexible spine mechanism. The flexible spine mechanism comprises a bionic spine, pneumatic bionic muscles and supporting baffles; the bionic spine comprises an elastic plateand a plurality of bionic vertebrae different in size, the bionic vertebrae are sequentially and fixedly arranged on the elastic plate from large to small in the length direction of the elastic plate,the end, with the large size, of each bionic vertebra is the waist of the bionic spine, and the end, with the small size, of each bionic vertebra is the chest of the bionic spine; the supporting baffle plates are divided into a front support baffle plate and a rear support baffle plate; the front supporting baffle is fixedly connected with the chest of the bionic spine, and the rear supporting baffle is fixedly connected with the waist of the bionic spine; and the pneumatic bionic muscles are arranged on the two sides of the bionic spine, and the two ends of the pneumatic bionic muscles are fixedly arranged on the front supporting baffle and the rear supporting baffle correspondingly. The rigidity-variable kangaroo-like hopping robot flexible spine mechanism is simple in structure and used for solving the technical problems that at present, a hopping robot is insufficient in trunk flexibility, invariable in spine rigidity and complex in structure.

Description

Technical field[0001]The invention belongs to the technical field of bionic robots, in particular to a flexible spine mechanism and a kangaroo-like jumping robot.Background technique[0002]Compared with traditional wheeled and legged robots, jumping robots have obvious advantages such as strong obstacle crossing ability, large exploration range, simple structure and control, flexible movement, small landing area, and fast moving speed. Therefore, they are more suitable for interstellar exploration. , Military reconnaissance, anti-terrorism rescue and other complex unknown environments. Especially in interstellar exploration, the jumping robot can make full use of the tiny gravity environment of the moon, Mars and other celestial bodies to jump higher and farther.[0003]At present, most jumping robots use a rigid torso. For example, the Chinese patent named "Kangaroo Leg-like Jumping Robot Structure" with the patent grant announcement number CN201276158Y discloses a kangaroo-like leg-l...

Claims

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Application Information

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IPC IPC(8): B25J9/00A63H11/06B62D57/032
CPCB25J9/0006A63H11/06B62D57/032
Inventor 袁建平郭宇飞孙冲
Owner RES & DEV INST OF NORTHWESTERN POLYTECHNICAL UNIV IN SHENZHEN
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