A series bionic active flexible spine based on rope drive

Abstract

The invention discloses a serial bionic active flexible spine based on rope drive, the serial bionic active flexible spine comprises a main spine section, the main spine section comprises a fixed bracket, a follower unit and a passive support frame; a driving motor is installed on the fixed bracket, and the driving motor is transmission-connected with an active rope winding wheel; the follower unit comprises a follower bracket and an active connecting rod; the fixed bracket, the passive support frame and the follower bracket are rotationally connected in sequence; one end of the two active connecting rods is rotationally connected to each other, and the other end of the two active connecting rods is slidingly sleeved with the fixed bracket and the follower bracket respectively; a passive slide groove is provided on the passive support frame, and the length direction of the passive slide groove is perpendicular to the length direction of the passive support frame; the end of the two active connecting rods rotationally connected to each other is slidingly connected to the passive slide groove; both sides of the fixed bracket and the follower bracket are rotationally connected with a driven rope winding wheel; the active rope winding wheel and the driven rope winding wheel are used to control the follower bracket to swing along the length direction of the passive slide groove in a rope-driven transmission manner.

Description

Technical Field

[0001] The invention relates to the field of bionic technology, in particular to a series bionic active flexible spine based on rope drive. Background Art

[0002] Bionic robots are widely used in inspection and detection, emergency disaster rescue and other fields.

[0003] The existing crawling robots mainly focus on the leg structure and motion mode control. Most of the existing quadruped crawling robots use rigid spines or passive flexible spines, which are replaced by passive elastomers. They do not have a flexible active compliant spine design, cannot actively control the motion shape, have poor bionic effects, and their motion capabilities need to be further improved.

[0004] Therefore, there is an urgent need for a technical solution that can solve the problem that existing crawling robots do not have an active bionic spine, resulting in their limited movement capabilities and movement methods. Summary of the invention

[0005] The purpose of the present invention is to provide a rope-driven serial bionic active flexible spine to solve the problem that existing crawling robots do not have an active bionic spine, resulting in limited movement ability and movement mode and complex movement control.

[0006] In order to solve the above technical problems, the present invention provides a series bionic active flexible spine based on rope drive, the series bionic active flexible spine includes a main spine segment, the main spine segment includes a fixed bracket, a follower unit and a passive support frame; a driving motor is installed on the fixed bracket, and the driving motor is connected to an active rope winding wheel in a transmission manner; the follower unit includes a follower bracket and an active connecting rod; the fixed bracket, the passive support frame and the follower bracket are rotatably connected in sequence; one end of the two active connecting rods are rotatably connected to each other, and the other end of the two active connecting rods is respectively slidably sleeved with the fixed bracket and the follower bracket; a passive slide is provided on the passive support frame, and the length direction of the passive slide is perpendicular to the length direction of the passive support frame; the end of the two active connecting rods that are rotatably connected to each other is slidably connected to the passive slide; based on the connection path of the fixed bracket and the follower bracket, both sides of the fixed bracket and the follower bracket are rotatably connected to a driven rope winding wheel; the active rope winding wheel and the driven rope winding wheel are used to control the follower bracket to swing along the length direction of the passive slide in a rope-driven transmission manner.

[0007] In one of the embodiments, the plurality of main spine segments are rotatably connected to each other in sequence; the head of the fixed bracket is rotatably connected to the tail of the previous follower bracket.

[0008] In one embodiment, the serial bionic active flexible spine also includes an extended spine segment, and a plurality of the extended spine segments are slidably connected to each other in sequence; the extended spine segment of the first segment is slidably connected to the main spine segment; and the main spine segment is used to drive the plurality of extended spine segments to move synchronously.

[0009] In one embodiment, the extended spine segment includes a first connecting rod, a second connecting rod, a first extension bracket and a second extension bracket; the two first connecting rods are rotatably connected to each other; the first connecting rod is slidably connected to the head of the first extension bracket; the two second connecting rods are rotatably connected to each other; the second connecting rod is slidably connected to the head of the second extension bracket; the first extension bracket is provided with a first axial hole, a first slide groove and a first through hole in sequence; the length direction of the first slide groove is perpendicular to the length direction of the first extension bracket; the second extension bracket is provided with a second axial hole, a second slide groove and a second through hole in sequence; the length direction of the second slide groove is perpendicular to the length direction of the second extension bracket; the rotation connection of the two second connecting rods is slidably connected to the first slide groove; the first through hole is rotatably connected to the second axial hole.

[0010] In one embodiment, the first first connecting rod of the multiple extended spine segments is slidably connected to the tail of the previous first extended bracket; the first second connecting rod of the multiple extended spine segments is slidably connected to the tail of the previous second extended bracket; the rotational connection between the two first connecting rods of the multiple extended spine segments is slidably connected to the previous second slide groove; the first axial hole of the multiple extended spine segments is rotatably connected to the previous second through hole.

[0011] In one of the embodiments, a follower slide groove and a follower through hole are sequentially provided on the follower bracket, and the follower slide groove and the follower through hole are arranged between the driven rope winding wheel and the tail of the follower bracket; the length direction of the follower slide groove is perpendicular to the length direction of the follower bracket; the first first connecting rod of the first section is slidingly connected to the tail of the passive support frame; the first second connecting rod of the first section is slidingly connected to the tail of the follower bracket; the rotation points of the two first connecting rods of the first section are slidingly connected to the follower slide groove; the first shaft hole of the first section is rotationally connected to the follower through hole.

[0012] In one of the embodiments, a tensioning wheel is also installed on the fixed bracket, and the tensioning wheel is rope-drivenly connected to the active rope winding wheel and the driven rope winding wheel.

[0013] In one of the embodiments, the fixed bracket includes a fixed main rod and a fixed branch rod; the two fixed branch rods are connected and fixed on both sides of the fixed main rod in the length direction; the end of the fixed branch rod away from the fixed main rod is rotatably connected to the driven rope winding wheel; the driving motor is installed at one end of the fixed main rod, and the other end of the fixed main rod is slidably connected to the active connecting rod; the passive support frame is rotatably connected to the fixed main rod.

[0014] In one embodiment, the follower bracket includes a follower main rod and a follower sub-rod; the two follower sub-rods are connected and fixed on both sides of the follower main rod in the length direction; the end of the follower sub-rod away from the follower main rod is rotatably connected to the driven rope winding wheel; the follower main rod is slidably connected to the active connecting rod; the passive support frame is rotatably connected to the follower main rod.

[0015] The beneficial effects of the present invention are as follows:

[0016] 1. Compared with the traditional flexible spine, the present invention realizes the use of a single driving motor, in conjunction with the follower unit and the passive support frame, to realize the serial linkage of multiple spine segments simulating the bionic spine, with multiple degrees of freedom; it has a small size, a compact structure, uses composite materials and a special connecting rod configuration, can be integrated into the body configuration design, saves the space occupied by the multi-joint multi-motor configuration, has a light overall structure, a large load space, and a strong load capacity;

[0017] 2. Different from the traditional rope drive design, the present invention adopts the combined design of the active rope winding wheel and the driven rope winding wheel, which can amplify the driving tension and joint torque, provide a larger driving torque for the joint, and have the impact and vibration resistance of the rope drive to achieve smooth operation;

[0018] 3. Through the design of the main spine segment and the extended spine segment, multiple main spine segments can be spliced ​​and linked, or the main spine segment and multiple extended spine segments can be spliced ​​and linked; modular design is achieved, so that the number of spine segments can be increased arbitrarily, and it can be applied to designs such as serial flexible spines, bionic flexible tails, bionic robotic arms, etc., expanding more movement modes. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the implementation mode will be briefly introduced below. Obviously, the drawings described below are only some implementation modes of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 is an overall front view of a first embodiment of the present invention;

[0021] Figure 2 It is a mechanical principle diagram of the first embodiment of the present invention;

[0022] Figure 3 is a mechanical schematic diagram of a second embodiment of the present invention;

[0023] Figure 4 is an overall front view of a third embodiment of the present invention;

[0024] Figure 5 is a mechanical principle diagram of a third embodiment of the present invention;

[0025] Figure 6 is a front view of a rope winding diagram of a first embodiment of the present invention;

[0026] Figure 7 It is a schematic diagram of axonometric rope winding according to the first embodiment of the present invention.

[0027] The reference numerals are as follows:

[0028] 1. Main spine section; 11. Fixed bracket; 111. Fixed main rod; 112. Fixed sub-rod; 12. Follow-up unit; 121. Follow-up bracket; 122. Follow-up main rod; 123. Follow-up sub-rod; 124. Active connecting rod; 13. Passive support frame; 131. Passive slide; 14. Driven rope pulley; 15. Driving motor; 16. Active rope pulley; 17. Tensioner; 18. Sliding block;

[0029] 2. Extended spine section; 21. First connecting rod; 22. First extended bracket; 221. First axial hole; 222. First slide groove; 223. First through hole; 23. Second connecting rod; 24. Second extended bracket; 241. Second axial hole; 242. Second slide groove; 243. Second through hole;

[0030] 3. Follow-up slide; 31. Follow-up through hole;

[0031] 4. Transmission rope. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0033] The first implementation of a serial bionic active flexible spine Figure 1 and Figure 2As shown, the serial bionic active flexible spine includes a main spine segment 1, which includes a fixed bracket 11, a follower unit 12 and a passive support frame 13; a driving motor 15 is installed on the fixed bracket 11, and the driving motor 15 is connected to an active rope winding wheel 16; the follower unit 12 includes a follower bracket 121 and an active connecting rod 124; the fixed bracket 11, the passive support frame 13 and the follower bracket 121 are connected in rotation in sequence; one end of the two active connecting rods 124 is connected to each other in rotation, and the other end of the two active connecting rods 124 is respectively slidable with the fixed bracket 11 and the follower bracket 121 The passive support frame 13 is provided with a passive slide groove 131, and the length direction of the passive slide groove 131 is perpendicular to the length direction of the passive support frame 13; the end of the two active connecting rods 124 that are rotatably connected to each other is slidably connected to the passive slide groove 131; based on the connection path between the fixed bracket 11 and the follower bracket 121, both sides of the fixed bracket 11 and the follower bracket 121 are rotatably connected with a driven rope wheel 14; the active rope wheel 16 and the driven rope wheel 14 are used to control the follower bracket 121 to swing along the length direction of the passive slide groove 131 in a rope-driven transmission manner.

[0034] Rope winding method of rope drive transmission, such as Figure 6 and Figure 7 As shown, the arrow in the figure is the direction of rope winding: its rope winding method is similar to that of a pulley block system, and the driving motor 15 drives the active rope winding wheel 16 to transmit and realize the contraction of the rope; the driven rope winding wheel 14 on the same bracket as the driving motor 15 is a fixed pulley block, which is used to change the direction of the rope tension; the driven rope winding wheel 14 located on the follower bracket 121 is a movable pulley block; the rope is wound around the movable pulley block and then returns to the fixed pulley block, and then returns to the movable pulley block, and after repeating this several times, it is fixed on the fixed pulley end of the fixed pulley, thereby forming a pulley block system; the rope winding tension is multiplied in this pulley block system, and the speed of rope contraction is correspondingly reduced, so the driving torque of the joint is amplified and the rotation speed is correspondingly reduced.

[0035] It should be noted that the above-mentioned rotational connections all adopt hinged connections, and each hinge point is regarded as a joint; the end at which the two active connecting rods 124 are rotationally connected to each other is rotatably installed with a slider 18, and the slider 18 is then embedded in the passive slide groove 131 and slidably connected to the passive slide groove 131.

[0036] Main spine segment 1 mechanical principle: constrained by active link 124 and slider 18 mechanism Figure 2 The joints at points E and F rotate along a single degree of freedom; the fixed bracket 11 and the follower bracket 121 in the middle cooperate with the sliding of the active connecting rod 124 to realize the dynamic extension and contraction of the active connecting rod 124, so that the rotation can be transmitted, so that each joint in the structure can be linked in series.

[0037] The main spine segment 1 is connected by a fixed bracket 11, a passive support bracket 13 and a follower bracket 121 to form a double joint by rotating two points EF, which are driven by a driving motor 15. The slider 18 mechanism between the two points EF plays a limiting role to limit the active angle of the double joint.

[0038] In particular, the distance between the passive slide 131 and the front and rear joints can adjust the rotation angle ratio of the front and rear joints. For example, when the passive slide 131 is at the midpoint of the line connecting the two joints EF, the rotation angle ratio of the E joint and the F joint is 1:1 when the passive slide 131 is close to the F joint, the rotation angle of the F joint is greater than the E angle.

[0039] The four points ABCD in the main spine segment 1 form an isosceles trapezoid, and the sum of the distances of the transmission rope 4 on both sides of AB and CD is exactly twice the length of the two points EF. Tightening the transmission rope 4 on one side and loosening the transmission rope 4 on the other side at the same time can cause the rotation angle of the joint at point E to rotate, and the subsequent joint rotation angle is driven by the connecting rod slider 18 mechanism to achieve follow-up, thereby realizing the cycloidal motion of the bionic flexible spine as a whole.

[0040] A plurality of driven rope wheels 14 form a movable pulley group. The rope drive combination based on the movable pulley group can provide rotational power for the structure. The movable pulley group can amplify the rope tension output by the drive motor 15, and decelerate the high-speed rotation of the drive motor 15 to a slower joint limited angle rotation, that is, spinal segment swing, while amplifying the rotational torque of the joint.

[0041] Furthermore, in order to achieve the tensioning of the transmission rope 4 between the active rope reel 16 and the driven rope reel 14, this embodiment Figure 1 and Figure 2 As shown, a tensioning wheel 17 is also installed on the fixed bracket 11, and the tensioning wheel 17 is connected to the active rope winding wheel 16 and the driven rope winding wheel 14 by rope driving transmission.

[0042] When in use, the design of the tensioning wheel 17 enables the wire rope to be pre-tightened in advance, thereby preventing the transmission rope 4 from being disengaged from the active rope winding wheel 16 or the driven rope winding wheel 14 during the transmission process.

[0043] Regarding the specific structure of the fixing bracket 11, this embodiment Figure 1 and Figure 2 As shown, the fixed bracket 11 includes a fixed main rod 111 and a fixed branch rod 112; the two fixed branch rods 112 are connected and fixed on both sides of the fixed main rod 111 in the length direction; the end of the fixed branch rod 112 away from the fixed main rod 111 is rotatably connected to a driven rope winding wheel 14; a driving motor 15 is installed at one end of the fixed main rod 111, and the other end of the fixed main rod 111 is slidably connected to the active connecting rod; the passive support frame 13 is rotatably connected to the fixed main rod 111.

[0044] During application, the two fixed branch rods 112 are collinear and perpendicular to the fixed main rod 111 .

[0045] Regarding the specific structure of the above-mentioned follower bracket 121, this embodiment Figure 1 and Figure 2 As shown, the follower bracket 121 includes a follower main rod 122 and a follower sub-rod 123; the two follower sub-rods 123 are connected and fixed on both sides of the follower main rod 122 in the length direction; the end of the follower sub-rod 123 away from the follower main rod 122 is rotatably connected to the driven rope winding wheel 14; the follower main rod 122 is slidably sleeved with the active connecting rod 124; the passive support frame is rotatably connected to the follower main rod 122.

[0046] During application, the two follower sub-rods 123 are collinear and perpendicular to the follower main rod 122 .

[0047] The second embodiment of the present invention is Figures 1 to 3 As shown, it is basically the same as the first embodiment, except that a plurality of main spine segments 1 are rotationally connected to each other in sequence; the head of the fixed bracket 11 is rotationally connected to the tail of the previous follower bracket 121.

[0048] It should be noted that Figure 1 For example, the head and tail of the fixed bracket 11 are respectively the two ends of the fixed main rod 111 from left to right in the figure, and the head and tail of the follower bracket 121 are respectively the two ends of the follower main rod 122 from left to right in the figure.

[0049] When in use, each main spine segment 1 is connected by a hinge, and the head of the fixed bracket 11 of each main spine segment 1 is hinged to the tail of the follower bracket 121 of the previous main spine segment 1;

[0050] The serial bionic active flexible spine adopts a modular design. A single main spine segment 1 is an active module. Two active modules can form a combination of four joints, which are driven by two drive motors 15. Similarly, n active modules can be combined to form a 2n joint combination (such as Figure 3 Marked Ⅰ, Ⅱ, Ⅲ, Ⅳ, Ⅴ, Ⅵ, Ⅶ, or Figure 4 , Figure 5 The marked Ⅰ, Ⅱ, Ⅲ, Ⅳ, Ⅴ, Ⅵ are all joint codes), which are driven by n driving motors 15 and can be freely split, effectively reducing the number of driving motors 15.

[0051] The third embodiment of the present invention is Figure 2 , Figure 4 and Figure 5As shown, it is basically the same as the first embodiment, except that the serial bionic active flexible spine also includes an extended spine segment 2, and the multiple extended spine segments 2 are slidingly connected to each other in sequence; the first extended spine segment 2 is slidingly connected to the main spine segment 1; the main spine segment 1 is used to drive the multiple extended spine segments 2 to move synchronously.

[0052] Rope winding method of embodiment 3: The rope winding method in embodiment 3 is consistent with that in embodiment 1, as shown in detail. Figure 6 and Figure 7 As shown, the difference lies in the connecting rod structure.

[0053] When used, multiple extended spine segments 2 can be installed behind the main spine segment 1 to form a structure in which a single drive motor 15 drives multiple extended spine segments 2. The specific driving principle is: driven by a multi-link slider structure.

[0054] Regarding the specific structure and connection method of the extended spine segment 2, this embodiment is as follows: Figure 4 and Figure 5 As shown, the extended spine section 2 includes a first connecting rod 21, a second connecting rod 23, a first extension bracket 22 and a second extension bracket 24; the two first connecting rods 21 are rotatably connected to each other; the first connecting rod 21 is slidably connected to the head of the first extension bracket 22; the two second connecting rods 23 are rotatably connected to each other; the second connecting rod 23 is slidably connected to the head of the second extension bracket 24; the first extension bracket 22 is provided with a first axial hole 221, a first slide groove 222 and a first through hole 223 in sequence; the length direction of the first slide groove 222 is perpendicular to the length direction of the first extension bracket 22; the second extension bracket 24 is provided with a second axial hole 241, a second slide groove 242 and a second through hole 243 in sequence; the length direction of the second slide groove 242 is perpendicular to the length direction of the second extension bracket 24; the rotation connection of the two second connecting rods 23 is slidably connected to the first slide groove 222; the first through hole 223 is rotatably connected to the second axial hole 241.

[0055] It should be noted that Figure 5 For example, the head and tail of the first extension bracket 22 are respectively the first and last ends of the first extension bracket 22 from the upper left to the lower right in the figure, and the head and tail of the second extension bracket 24 are respectively the first and last ends of the second extension bracket 24 from the upper left to the lower right in the figure.

[0056] In particular, the extended spine segment 2 is similar to the main spine segment 1. The extended spine segment 2 transmits power to subsequent joints through a sliding connecting rod and a slider 18 mechanism. By adjusting the range of motion of each slider 18, the rotation angle of each joint can be limited. By adjusting the position of the slide groove between each joint, the activity ratio of the front and rear joints in each spine segment can be adjusted.

[0057] Regarding the specific connection method between the multiple extended spine segments 2, this embodiment is as follows: Figure 4 and Figure 5 As shown, the first connecting rod 21 of the multi-section extended spine segment 2 is slidably connected to the tail of the previous first extended bracket 22; the first second connecting rod 23 of the multi-section extended spine segment 2 is slidably connected to the tail of the previous second extended bracket 24; the rotational connection between the two first connecting rods 21 of the multi-section extended spine segment 2 is slidably connected to the previous second slide groove 242; the first axial hole 221 of the multi-section extended spine segment 2 is rotatably connected to the previous second through hole 243.

[0058] During application, the multiple extended spine segments 2 can be spliced ​​together through the above-mentioned connection method, thereby realizing the linkage between the multiple extended spine segments 2.

[0059] Regarding the specific connection method of the main spine segment 1 and the extended spine segment 2, this embodiment is as follows: Figure 4 and Figure 5 As shown, the follower bracket 121 is provided with a follower slot 3 and a follower through hole 31 in sequence, and the follower slot 3 and the follower through hole 31 are arranged between the driven rope winding wheel 14 and the tail of the follower bracket 121; the length direction of the follower slot 3 is perpendicular to the length direction of the follower bracket 121; the first first connecting rod 21 of the first section is slidingly connected to the tail of the passive support frame 13; the first second connecting rod 23 of the first section is slidingly connected to the tail of the follower bracket 121; the rotation point of the two first connecting rods 21 of the first section is slidingly connected to the follower slot 3; the first axial hole 221 of the first section is rotationally connected to the follower through hole 31.

[0060] When applying, by adding a follow-up slide groove 3 and a follow-up through hole 31 on the follow-up bracket 121 of the main spinal segment 1, and adding the sliding connection position of the first connecting rod 21 and the second connecting rod 23 of the extended spinal segment 2 at the tail of the follow-up bracket 121 and the passive support frame 13; it is possible to install the extended spinal segment 2 on the main spinal segment 1, creating the possibility of realizing more movement modes for the active flexible spine.

[0061] It should be noted that if Figures 1 to 3 In the first and second embodiments, the sliding connection mode of the active connecting rod 124 is that the active connecting rod 124 is slidably sleeved in the bracket to realize the sliding telescopic function of the connecting rod;

[0062] like Figure 4 and Figure 5 As shown in the third embodiment, the sliding connection method of the first connecting rod 21 and the second connecting rod 23 is that many connecting rods are slidably sleeved outside the bracket, and the sliding and telescopic function of the connecting rod can also be realized; it can be seen that no matter whether the connecting rod is slidably sleeved outside the bracket or inside the bracket, it can realize its sliding and telescopic mechanical action, and then realize its transmission function, so this article does not explicitly limit its sliding sleeve method.

[0063] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A series bionic active flexible spine based on rope drive, characterized in that: The serial bionic active flexible spine includes a main spine segment, and the main spine segment includes a fixed support, a follower unit and a passive support frame; A driving motor is installed on the fixed bracket, and the driving motor is transmission-connected to an active rope winding wheel; The follower unit includes a follower bracket and an active connecting rod; The fixed support, the passive support and the follower support are rotatably connected in sequence; One ends of the two active connecting rods are rotatably connected to each other, and the other ends of the two active connecting rods are respectively slidably sleeved with the fixed bracket and the follower bracket; The passive support frame is provided with a passive slide groove, and the length direction of the passive slide groove is perpendicular to the length direction of the passive support frame; The ends of the two active connecting rods that are rotatably connected to each other are slidably connected to the passive sliding groove; Taking the connection path between the fixed bracket and the follower bracket as a reference, both sides of the fixed bracket and the follower bracket are rotatably connected with a driven rope winding wheel; The active rope winding wheel and the driven rope winding wheel are used to control the follower bracket to swing along the length direction of the passive slide slot in a rope-driven transmission manner.

2. The serial bionic active flexible spine according to claim 1, characterized in that: The plurality of main spine segments are rotatably connected to each other in sequence; The head of the fixed bracket is rotatably connected to the tail of the previous follower bracket.

3. The serial bionic active flexible spine according to claim 1, characterized in that: The serial bionic active flexible spine also includes an extended spine segment, and a plurality of the extended spine segments are sequentially slidably connected to each other; The extended spine section of the first section is slidably connected to the main spine section; The main spine segment is used to drive the plurality of extended spine segments to move synchronously and in linkage.

4. The serial bionic active flexible spine according to claim 3, characterized in that: The extended spine segment includes a first connecting rod, a second connecting rod, a first extended bracket and a second extended bracket; The two first connecting rods are rotatably connected to each other; the first connecting rod is slidably connected to the head of the first extension bracket; The two second connecting rods are rotatably connected to each other; the second connecting rod is slidably connected to the head of the second extension bracket; The first extension bracket is provided with a first shaft hole, a first slide groove and a first through hole in sequence; The length direction of the first slide groove is perpendicular to the length direction of the first extension bracket; The second extension bracket is provided with a second shaft hole, a second slide groove and a second through hole in sequence; The length direction of the second slide groove is perpendicular to the length direction of the second extension bracket; The rotation connection of the two second connecting rods is slidably connected to the first sliding groove; the first through hole is rotationally connected to the second shaft hole.

5. The serial bionic active flexible spine according to claim 4, characterized in that: The first connecting rod of the plurality of extended spine segments is slidably connected to the tail of the previous first extended bracket; The first second connecting rod of the plurality of extended spine segments is slidably connected to the tail of the previous second extended bracket; The rotation connection of the two first connecting rods of the plurality of extended spine segments is slidably connected to the upper and the second sliding grooves; The first axial holes of the plurality of extended spine segments are rotatably connected to the previous and the second through holes.

6. The serial bionic active flexible spine according to claim 4, characterized in that: The following bracket is provided with a following slide groove and a following through hole in sequence, wherein the following slide groove and the following through hole are arranged between the driven rope winding wheel and the tail of the following bracket; the length direction of the following slide groove is perpendicular to the length direction of the following bracket; The first connecting rod of the first section is slidably connected to the tail of the passive support frame; The first of the second connecting rods of the first section is slidably connected to the tail of the follower bracket; The rotation points of the two first connecting rods of the first section are slidably connected with the follower slide groove; The first shaft hole of the first section is rotationally connected to the follower through hole.

7. The serial bionic active flexible spine according to any one of claims 1 to 3, characterized in that: A tensioning wheel is also installed on the fixed bracket, and the tensioning wheel is connected with the active rope winding wheel and the driven rope winding wheel by rope driving transmission.

8. The serial bionic active flexible spine according to claim 1, characterized in that: The fixed bracket includes a fixed main rod and a fixed branch rod; The two fixed branch rods are connected and fixed to two sides of the fixed main rod in the length direction; The end of the fixed sub-rod away from the fixed main rod is rotatably connected to the driven rope winding wheel; The driving motor is installed at one end of the fixed main rod, and the other end of the fixed main rod is slidably connected with the active connecting rod; The passive support frame is rotatably connected to the fixed main rod.

9. The serial bionic active flexible spine according to claim 1, characterized in that: The follower bracket comprises a follower main rod and a follower branch rod; The two follower sub-rods are connected and fixed to two sides of the follower main rod in the length direction; The end of the follower rod away from the follower main rod is rotatably connected to the driven rope winding wheel; The follower main rod is slidably sleeved with the active connecting rod; The passive support frame is rotationally connected to the follower main rod.

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