Bionical robotic spinal assembly

Abstract

This invention discloses a biomimetic robot spine assembly, comprising a base, a spine, and a drive assembly. The base consists of two components respectively positioned at the bottom of both sides of the spine for support. The spine comprises vertebrae connected in sequence via hinge axes, allowing the entire spine to bend forward and backward. The drive assembly inputs power through the vertebrae to drive the entire spine to bend forward and backward. This invention achieves the forward and backward bending of the entire spine through the sequentially hinged vertebrae. The entire spine is supported by a connecting rod between the vertebrae and the base, and the drive assembly provides power for the bending of the spine. The spine structure of this invention is simple, low-cost, highly versatile, and easily achieves forward and backward bending of the spine.

Description

Technical Field

[0001] The invention relates to a spine, and more particularly to a bionic robotic spine assembly. Background Technology

[0002] Currently, robots are autonomous mechanical devices capable of performing various tasks, widely used in industries such as manufacturing, medicine, military, aerospace, and home services. With the continuous development of science and technology, and the emergence of new materials, sensors, and control algorithms, the functions and performance of robots are constantly improving. At the same time, the continuous development of technologies such as artificial intelligence and machine learning will provide even broader possibilities for autonomous decision-making and intelligent control of robots. It is foreseeable that robots will undergo tremendous changes in the coming decades, becoming an important partner for human survival and a powerful productivity tool. Humanoid robots, as the crown jewel of robotics, have developed rapidly in recent years under the high attention of many large companies and research institutions. Among them, the spine, as one of the key core components of humanoid robots, is used to connect the head, arms, and chassis. Common spines mainly adopt fixed or lifting structures, but due to their complex structure or single function, they do not possess good practical value and versatility. Because existing structures cannot help robots achieve flexible bending movements similar to humans, they cannot meet the requirements of humanoid robots' strong environmental adaptability.

[0003] Based on the above problems, there is an urgent need to develop a spine that is simple in structure, low in cost, and highly versatile, and can accurately achieve a variety of motion patterns in complex environments. Summary of the Invention

[0004] In view of this, the purpose of the invention is to provide a biomimetic robot spine assembly, including a base, a spine and a drive assembly, wherein the base consists of two parts respectively disposed at the bottom of both sides of the spine for supporting the spine;

[0005] The spine comprises vertebrae that are hinged together in sequence, and the multiple vertebrae achieve the overall forward and backward bending of the spine through the hinge axis;

[0006] The drive component uses power input from the spine to cause the entire spine to bend forward and backward.

[0007] Furthermore, the spine includes a first vertebra, a second vertebra, and a third vertebra. A first connecting rod is connected between the second vertebra and the base to support the overall structure of the spine and control the rotation angle of the second vertebra.

[0008] A second link connects the first and third vertebrae to support the overall structure of the spine and control the rotation angle of the third vertebra.

[0009] Furthermore, the first spine includes a first concave fixing plate and a first rotating shaft. The first concave fixing plate is inverted and its bottom two side walls are fixedly connected to the first rotating shaft. The top two sides of the first concave fixing plate are respectively fixedly connected to a first bearing seat. The first rotating shaft is hinged to the base.

[0010] Furthermore, the second spine includes a second concave fixing plate and a second rotating shaft. The second concave fixing plate is inverted and its bottom two side walls are fixedly connected to the second rotating shaft. The top two sides of the second concave fixing plate are respectively fixedly connected to second bearing seats, and the second rotating shaft is hinged to the first bearing seat.

[0011] Furthermore, the third spine includes a third concave fixing plate and a third rotating shaft. The third concave fixing plate is inverted and its bottom two side walls are fixedly connected to the third rotating shaft. The third rotating shaft is hinged to the second bearing seat.

[0012] Furthermore, the concave fixing plate includes a top plate located at the top, side plates fixedly connected to both sides of the bottom of the top plate, and a support column fixedly connected between the two side plates.

[0013] Furthermore, the first connecting rod includes two first connectors and a first threaded rod. One of the two first connectors is hinged to the side wall of the base bearing seat, and the other first connector is hinged to the side plate of the second concave fixing plate on the same side.

[0014] The second connecting rod includes two second connectors and a second threaded rod. One of the two second connectors is hinged to the side plate of the first concave fixing plate, and the other second connector is hinged to the side plate of the third concave fixing plate on the same side.

[0015] Furthermore, the first link and the second link are located on both sides of the spine.

[0016] Furthermore, the power assembly includes a power source for providing power and a rocker arm hinged to the output end of the power source, the rocker arm being fixedly connected to the first rotation shaft.

[0017] Furthermore, the power source is a hydraulic cylinder or a servo electric cylinder, and a drive seat is hinged to the bottom of the power source.

[0018] Beneficial effects of the invention: The present invention provides a biomimetic robot spine assembly, which realizes human-like spinal curvature through ingenious mechanism design, and drives and controls the spine to present various curvature shapes through drive components, which greatly increases the mobility and environmental adaptability of humanoid robots. Compared with traditional robot spine mechanisms, it has the characteristics of simple structure, easy implementation, low cost, multiple shapes can be controlled by a single drive component, and strong versatility. Attached Figure Description

[0019] The invention will be further described below with reference to the accompanying drawings and embodiments:

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the structure of the first vertebra of the present invention;

[0022] Figure 3 This is a schematic diagram of the structure of the second vertebra of the present invention;

[0023] Figure 4 This is a schematic diagram of the structure of the third vertebra of the present invention;

[0024] Figure 5 This is a schematic diagram of the structure of the first connecting rod of the present invention;

[0025] Figure 6 This is a schematic diagram of the structure of the second link of the present invention;

[0026] Figure 7 This is a schematic diagram of an embodiment of the invention when it bends forward;

[0027] Figure 8 This is a schematic diagram of an embodiment of the present invention when it is bent backward. Detailed Implementation

[0028] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure of the first vertebra of the present invention;

[0029] Figure 3 This is a schematic diagram of the structure of the second vertebra of the present invention; Figure 4 This is a schematic diagram of the structure of the third vertebra of the present invention;

[0030] Figure 5 This is a schematic diagram of the structure of the first connecting rod of the present invention; Figure 6 This is a schematic diagram of the structure of the second link of the present invention;

[0031] Figure 7 This is a schematic diagram of an embodiment of the invention when it bends forward; Figure 8 This is a schematic diagram of an embodiment of the present invention when bending backward. As shown in the figure: a biomimetic robot spine assembly includes a base 4, a spine, and a drive assembly. The base 4 consists of two parts, respectively disposed on the bottom of the left and right sides of the spine, for supporting the spine. The spine includes vertebrae that are hinged together in sequence, and the multiple vertebrae achieve bending of the spine as a whole in the forward and backward directions through the hinge axes. The drive assembly drives the spine to bend forward and backward by inputting power through the vertebrae. In this embodiment, the bending of the spine as a whole in the forward and backward directions is achieved by the vertebrae that are hinged together in sequence, and the drive assembly provides power for the bending of the spine.

[0032] In this embodiment, the spine includes a first spine 5, a second spine 6, and a third spine 7. A first connecting rod 8 is connected between the second spine 6 and the base 4 to support the overall structure of the spine and control the rotation angle of the second spine 6. A second connecting rod 9 is connected between the first spine 5 and the third spine 7 to support the overall structure of the spine and control the rotation angle of the third spine 7. This solution achieves overall support for the spine by setting the first connecting rod 8 and the second connecting rod 9.

[0033] In this embodiment, the first vertebra 5 includes a first concave fixing plate 501 and a first rotating shaft 502. The first concave fixing plate 501 is inverted and its bottom two side walls are fixedly connected to the first rotating shaft 502. The top two sides of the first concave fixing plate 501 are respectively fixedly connected to a first bearing seat 503. The first rotating shaft 501 is hinged to the base 4. The second vertebra 6 includes a second concave fixing plate 601 and a second rotating shaft 602. The second concave fixing plate 602 is inverted and its bottom two side walls are fixedly connected to the second rotating shaft 601. The top two sides of the second concave fixing plate 602 are respectively fixedly connected to a second bearing seat 603. The second rotating shaft 601 is hinged to the first bearing seat 503. The third vertebra 7 includes a third concave fixing plate 701 and a third rotating shaft 702. The third concave fixing plate 701 is inverted and its bottom two side walls are fixedly connected to the third rotating shaft 702. The third rotating shaft 702 is hinged to the second bearing seat 603. This solution achieves relative rotation between vertebrae by hinged rotation shafts of one vertebra and bearing seats of another vertebra.

[0034] In this embodiment, the concave fixing plate includes a top plate at the top, side plates fixedly connected to both sides of the bottom of the top plate, and a support column fixedly connected between the two side plates. This solution increases the overall strength of the concave fixing plate by adding a support column between the two side plates.

[0035] In this embodiment, the first connecting rod 8 includes two first connectors 801 and a first threaded rod 802. One of the two first connectors 801 is hinged to the side wall of the base 4, and the other first connector 801 is hinged to the same side plate of the second concave fixing plate 601. The second connecting rod 9 includes two second connectors 901 and a second threaded rod 902. One of the two second connectors 901 is hinged to the side plate of the first concave fixing plate 501, and the other second connector 901 is hinged to the same side plate of the third concave fixing plate 701. The first connecting rod 8 and the second connecting rod 9 are located on both sides of the spine. In this solution, the first connecting rod 8 and the second connecting rod 9 are used to support the entire spine, and the threaded rod is used to make the connecting rod length adjustable, increasing the versatility of the components.

[0036] In this embodiment, the power assembly includes a power source 2 for providing power and a rocker arm 3 hinged to the output end of the power source. The rocker arm 3 is fixedly connected to the first rotating shaft 502. When the power source 2 is a hydraulic cylinder, a drive seat 1 is hinged to the bottom of the hydraulic cylinder. The drive seat 1 and the base 4 are respectively fixedly connected to the same base plate. In this solution, the rocker arm 3 is driven by the power source 2. As the hydraulic cylinder extends and retracts, the rocker arm 3 rotates around the first rotating shaft 502, driving the spine to bend. When the hydraulic cylinder retracts, it drives the rocker arm 3 to rotate counterclockwise downwards. The first rotating shaft 502, which is fixedly connected to the rocker arm 3, rotates counterclockwise together. The first spine 5 rotates counterclockwise around the first rotating shaft 502, driving the second spine 6 to move forward. The third spine 7 moves forward under the drive of the second connecting rod 9 connected to the first spine 5, forming a forward bending effect.

[0037] When the hydraulic cylinder extends, it drives the rocker arm 3 to rotate clockwise upwards. The first rotating shaft 502, which is fixedly connected to the rocker arm 3, rotates clockwise together. The first spine 5 rotates clockwise around the first rotating shaft 502, causing the second spine 6 to move backwards. The third spine 7 moves backwards under the action of the second connecting rod 9 connected to the first spine 5, creating a backward bending effect.

[0038] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the invention and not to limit it. Although the invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the invention without departing from the spirit and scope of the invention, and all such modifications and substitutions should be covered within the scope of the claims of the invention.

Claims

1. A biomimetic robot spine assembly, characterized in that: It includes a base, a spine, and a drive assembly, wherein there are two bases respectively disposed on both sides of the spine for supporting the spine; The spine comprises vertebrae that are hinged together in sequence, and the multiple vertebrae achieve the overall forward and backward bending of the spine through the hinge axis; The drive component drives the entire spine to bend forward and backward by inputting power through the spine; The spine includes a first spine, a second spine, and a third spine. A first connecting rod is connected between the second spine and the base to support the overall structure of the spine and control the rotation angle of the second spine. A second link connects the first and third vertebrae to support the overall structure of the spine and control the rotation angle of the third vertebra. The power assembly includes a power source for providing power and a rocker arm hinged to the output end of the power source, the rocker arm being fixedly connected to a first rotation axis; The bottom of the power source is hinged with a drive seat; The power source is a hydraulic cylinder, and a drive seat is hinged to the bottom of the hydraulic cylinder. The drive seat and the base are respectively fixedly connected to the same base plate. Under the drive of the power source, the rocker arm rotates around the first rotation axis as the hydraulic cylinder extends and retracts, driving the spine to bend. When the hydraulic cylinder retracts, it drives the rocker arm to rotate counterclockwise downwards, and rotates counterclockwise together with the first rotation axis fixedly connected to the rocker arm. The first spine rotates counterclockwise around the first rotation axis, driving the second spine to move forward. The third spine moves forward under the drive of the second link connected to the first spine, forming the effect of bending forward. When the hydraulic cylinder extends, it drives the rocker arm to rotate clockwise upwards. The first rotating shaft, which is fixedly connected to the rocker arm, rotates clockwise together. The first spine rotates clockwise around the first rotating shaft, causing the second spine to move backwards. The third spine moves backwards under the action of the second connecting rod connected to the first spine, creating the effect of bending backwards.

2. The bionic robot spine assembly according to claim 1, characterized in that: The first spine includes a first concave fixing plate and a first rotating shaft. The first concave fixing plate is inverted and its bottom two side walls are fixedly connected to the first rotating shaft. The top two sides of the first concave fixing plate are respectively fixedly connected to a first bearing seat. The first rotating shaft is hinged to the base.

3. The bionic robot spine assembly according to claim 1, characterized in that: The second spine includes a second concave fixing plate and a second rotating shaft. The second concave fixing plate is inverted and its bottom two side walls are fixedly connected to the second rotating shaft. The top two sides of the second concave fixing plate are respectively fixedly connected to second bearing seats. The second rotating shaft is hinged to the first bearing seat.

4. The bionic robot spine assembly according to claim 1, characterized in that: The third vertebra includes a third concave fixing plate and a third rotating shaft. The third concave fixing plate is inverted and its bottom two side walls are fixedly connected to the third rotating shaft. The third rotating shaft is hinged to the second bearing seat.

5. The bionic robot spine assembly according to any one of claims 2-4, characterized in that: The concave fixing plate includes a top plate at the top, side plates fixedly connected to both sides of the bottom of the top plate, and a support column fixedly connected between the two side plates.

6. The bionic robot spine assembly according to claim 1, characterized in that: The first connecting rod includes two first connectors and a first threaded rod. One of the two first connectors is hinged to the side wall of the base bearing seat, and the other first connector is hinged to the side plate of the second concave fixing plate on the same side. The second connecting rod includes two second connectors and a second threaded rod. One of the two second connectors is hinged to the side plate of the first concave fixing plate, and the other second connector is hinged to the side plate of the third concave fixing plate on the same side.

7. The bionic robot spine assembly according to claim 6, characterized in that: The first link and the second link are located on both sides of the spine.

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