Full gait lumbar dynamic loading robot

Abstract

This invention provides a dynamic loading robot for the lumbar spine with full gait, relating to the field of medical device technology. It comprises: an outer robot module, an inner robot module, a lumbar spine clamping module, and a connecting module. The outer robot module includes an outer moving platform, an outer stationary platform, and an outer electric cylinder module. The inner robot module includes an inner moving platform, an inner stationary platform, and an inner electric cylinder module. The inner robot module is disposed inside the outer robot module. The lumbar spine clamping module includes a first lumbar spine clamping unit and a second lumbar spine clamping unit, clamping both ends of the lumbar spine assembly. The first end of the connecting module is fixedly connected to the outer stationary platform, and the second end of the connecting module is fixedly connected to the inner stationary platform. This invention can accurately simulate the posture changes of the lumbar spine assembly under different gait states of the human body, and has a simple structure, convenient operation, and high reliability.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a dynamic loading robot for the lumbar spine with full gait. Background Technology

[0002] The lumbar spine is a crucial part of human trunk movement, and all human activities increase the burden on it. With the accelerating pace of life, prolonged strenuous work, excessive load-bearing, and unscientific exercise all exacerbate the occurrence of degenerative diseases of the lumbar spine. These diseases lead to decreased stability of the lumbar spine, triggering a series of pathological changes, such as intervertebral disc herniation, facet joint degeneration, narrowing of intervertebral spaces, ligament degeneration, and low back and leg pain. The risk of intervertebral disc degeneration increases with age. Lumbar interbody fusion can effectively reduce pressure on the dura mater and nerve roots, and effectively stabilize the lumbar spine. However, postoperative degeneration of adjacent lumbar segments is accelerated, and the complication rate is high, thus increasing the revision rate of lumbar interbody fusion surgery and affecting the patient's normal life.

[0003] Studies have found that the causes of lumbar fusion in adjacent segments are multifaceted, including normal aging processes, abnormal mechanical effects, and accidents. Among these, abnormal mechanical effects refer to the slight misalignment of the sacrum and ilium under chronic external forces such as lateral tendon traction, which leads to loss of normal stability of the sacroiliac joint, increased load on the joint surface, and impact on the body's stability, increasing the risk of falls and injuries, as well as degenerative changes in adjacent segments of the lumbar fusion.

[0004] Existing loading instruments for loading isolated lumbar vertebral components or spines containing lumbar vertebral components can only perform routine loading on the lumbar vertebral components in the spine. They lack loading for full gait motion of the human body, have only a certain degree of versatility, and cannot fully simulate the stress conditions of lumbar vertebral components in complex environments, nor can they truly reflect the biomechanical characteristics of lumbar vertebral components under actual conditions. Summary of the Invention

[0005] The purpose of this invention is to provide a full-gait lumbar dynamic loading robot that can accurately simulate the posture changes of lumbar vertebrae in different human body states. It has a simple structure, is easy to operate and has high reliability.

[0006] A dynamic loading robot for the lumbar spine with full gait, comprising: an outer robot module, an inner robot module, a lumbar spine clamping module, and a connector module;

[0007] The outer robot module includes an outer moving platform, an outer stationary platform, and an outer electric cylinder module; the first end of the outer electric cylinder module is rotatably connected to the first surface of the outer moving platform through an outer ball joint module, and the second end of the outer electric cylinder module is rotatably connected to the first surface of the outer stationary platform through an outer Hooke joint module.

[0008] The inner robot module includes an inner moving platform, an inner stationary platform, and an inner electric cylinder module; the first end of the inner electric cylinder module is rotatably connected to the first surface of the inner moving platform via an inner ball joint module, and the second end of the inner electric cylinder module is rotatably connected to the first surface of the inner stationary platform via an inner Hooke joint module; the inner robot module is disposed inside the outer robot module;

[0009] The lumbar spine clamping module includes a first lumbar spine clamping unit and a second lumbar spine clamping unit; the first lumbar spine clamping unit is fixedly disposed on the first surface of the inner moving platform, and clamps the first end of the lumbar spine assembly; the second lumbar spine clamping unit is fixedly disposed on the first surface of the outer moving platform, and clamps the second end of the lumbar spine assembly; the lumbar spine assembly passes through a through hole on the inner static platform;

[0010] The first end of the connector module is fixedly connected to the outer static platform, and the second end of the connector module is fixedly connected to the inner static platform.

[0011] The connector module includes a plurality of connectors; the first end of each connector is fixedly connected to the outer static platform, and the second end of each connector is fixedly connected to the inner static platform.

[0012] The connector includes an outer inclined surface, an inner inclined surface, and a connecting rod; the outer inclined surface and the inner inclined surface are connected by the connecting rod; the outer inclined surface is the first end of the connector and is fixedly connected to the outer static platform; the inner inclined surface is the second end of the connector and is fixedly connected to the inner static platform.

[0013] Optionally, both the outer moving platform and the outer stationary platform are hexagonal in shape; the six sides of the outer moving platform are defined sequentially as outer moving first side, outer moving second side, outer moving third side, outer moving fourth side, outer moving fifth side, and outer moving sixth side; the six sides of the outer stationary platform are defined sequentially as outer stationary first side, outer stationary second side, outer stationary third side, outer stationary fourth side, outer stationary fifth side, and outer stationary sixth side.

[0014] The lengths of the outer layer moving first side, the outer layer moving third side, and the outer layer moving fifth side are equal; the lengths of the outer layer moving second side, the outer layer moving fourth side, and the outer layer moving sixth side are equal.

[0015] The lengths of the outer layer moving first side, the outer layer moving third side, and the outer layer moving fifth side are greater than the lengths of the outer layer moving second side, the outer layer moving fourth side, and the outer layer moving sixth side;

[0016] The lengths of the outer static first side, the outer static third side, and the outer static fifth side are equal; the lengths of the outer static second side, the outer static fourth side, and the outer static sixth side are equal.

[0017] The lengths of the outer static first side, the outer static third side, and the outer static fifth side are greater than the lengths of the outer static second side, the outer static fourth side, and the outer static sixth side;

[0018] The outer layer moving first side is correspondingly arranged to the outer layer stationary second side, the outer layer moving second side is correspondingly arranged to the outer layer stationary third side, the outer layer moving third side is correspondingly arranged to the outer layer stationary fourth side, the outer layer moving fourth side is correspondingly arranged to the outer layer stationary fifth side, the outer layer moving fifth side is correspondingly arranged to the outer layer stationary sixth side, and the outer layer moving sixth side is correspondingly arranged to the outer layer stationary first side.

[0019] The outer ball joint module is disposed on the first surface of the outer moving platform and is close to the outer moving second side, the outer moving fourth side and the outer moving sixth side;

[0020] The outer Hooke hinge module is disposed on the first surface of the outer static platform and is close to the outer static second side, the outer static fourth side and the outer static sixth side.

[0021] Optionally, both the inner moving platform and the inner stationary platform are hexagonal in shape; the six sides of the inner moving platform are defined sequentially as inner moving first side, inner moving second side, inner moving third side, inner moving fourth side, inner moving fifth side, and inner moving sixth side; the six sides of the inner stationary platform are defined sequentially as inner stationary first side, inner stationary second side, inner stationary third side, inner stationary fourth side, inner stationary fifth side, and inner stationary sixth side.

[0022] The lengths of the first moving side, the third moving side, and the fifth moving side of the inner layer are equal; the lengths of the second moving side, the fourth moving side, and the sixth moving side of the inner layer are equal.

[0023] The lengths of the inner layer moving first side, the inner layer moving third side, and the inner layer moving fifth side are greater than the lengths of the inner layer moving second side, the inner layer moving fourth side, and the inner layer moving sixth side;

[0024] The lengths of the inner layer static first side, the inner layer static third side, and the inner layer static fifth side are equal; the lengths of the inner layer static second side, the inner layer static fourth side, and the inner layer static sixth side are equal.

[0025] The lengths of the inner static first side, the inner static third side, and the inner static fifth side are greater than the lengths of the inner static second side, the inner static fourth side, and the inner static sixth side.

[0026] The inner layer moving first side is correspondingly arranged to the inner layer stationary second side, the inner layer moving second side is correspondingly arranged to the inner layer stationary third side, the inner layer moving third side is correspondingly arranged to the inner layer stationary fourth side, the inner layer moving fourth side is correspondingly arranged to the inner layer stationary fifth side, the inner layer moving fifth side is correspondingly arranged to the inner layer stationary sixth side, and the inner layer moving sixth side is correspondingly arranged to the inner layer stationary first side.

[0027] The inner ball joint module is disposed on the first surface of the inner moving platform and is close to the inner moving second side, the inner moving fourth side and the inner moving sixth side;

[0028] The inner Hooke hinge module is disposed on the first surface of the inner static platform and is close to the inner static second side, the inner static fourth side, and the inner static sixth side.

[0029] Optionally, the outer ball joint module includes six outer ball joints, which are respectively defined as the first outer ball joint, the second outer ball joint, the third outer ball joint, the fourth outer ball joint, the fifth outer ball joint, and the sixth outer ball joint;

[0030] The outer Hooke hinge module includes six outer Hooke hinges, which are defined as the first outer Hooke hinge, the second outer Hooke hinge, the third outer Hooke hinge, the fourth outer Hooke hinge, the fifth outer Hooke hinge, and the sixth outer Hooke hinge, respectively.

[0031] The first outer ball joint and the sixth outer ball joint are disposed on the first surface of the outer moving platform and are close to the second outer moving side; the third outer ball joint and the second outer ball joint are disposed on the first surface of the outer moving platform and are close to the fourth outer moving side; the fifth outer ball joint and the fourth outer ball joint are disposed on the first surface of the outer moving platform and are close to the sixth outer moving side.

[0032] The first outer Hooke hinge and the second outer Hooke hinge are disposed on the first surface of the outer stationary platform and close to the second side of the outer stationary platform; the third outer Hooke hinge and the fourth outer Hooke hinge are disposed on the first surface of the outer stationary platform and close to the fourth side of the outer stationary platform; the fifth outer Hooke hinge and the sixth outer Hooke hinge are disposed on the first surface of the outer stationary platform and close to the sixth side of the outer stationary platform.

[0033] The outer electric cylinder module includes six outer electric cylinders, which are defined as the first outer electric cylinder, the second outer electric cylinder, the third outer electric cylinder, the fourth outer electric cylinder, the fifth outer electric cylinder, and the sixth outer electric cylinder, respectively.

[0034] The first end of the first outer electric cylinder is connected to the first outer ball joint, and the second end of the first outer electric cylinder is connected to the first outer Hooke joint; the first end of the second outer electric cylinder is connected to the second outer ball joint, and the second end of the second outer electric cylinder is connected to the second outer Hooke joint; the first end of the third outer electric cylinder is connected to the third outer ball joint, and the second end of the third outer electric cylinder is connected to the third outer Hooke joint; the first end of the fourth outer electric cylinder is connected to the fourth outer ball joint, and the second end of the fourth outer electric cylinder is connected to the fourth outer Hooke joint; the first end of the fifth outer electric cylinder is connected to the fifth outer ball joint, and the second end of the fifth outer electric cylinder is connected to the fifth outer Hooke joint; the first end of the sixth outer electric cylinder is connected to the sixth outer ball joint, and the second end of the sixth outer electric cylinder is connected to the sixth outer Hooke joint.

[0035] Optionally, the inner ball joint module includes six inner ball joints, which are respectively defined as the first inner ball joint, the second inner ball joint, the third inner ball joint, the fourth inner ball joint, the fifth inner ball joint and the sixth inner ball joint.

[0036] The inner Hooke hinge module includes six inner Hooke hinges, which are defined as the first inner Hooke hinge, the second inner Hooke hinge, the third inner Hooke hinge, the fourth inner Hooke hinge, the fifth inner Hooke hinge, and the sixth inner Hooke hinge, respectively.

[0037] The first inner ball joint and the sixth inner ball joint are disposed on the first surface of the inner moving platform and are close to the second inner moving side; the third inner ball joint and the second inner ball joint are disposed on the first surface of the inner moving platform and are close to the fourth inner moving side; the fifth inner ball joint and the fourth inner ball joint are disposed on the first surface of the inner moving platform and are close to the sixth inner moving side.

[0038] The first inner Hooke hinge and the second inner Hooke hinge are disposed on the first surface of the inner stationary platform and close to the second inner stationary side; the third inner Hooke hinge and the fourth inner Hooke hinge are disposed on the first surface of the inner stationary platform and close to the fourth inner stationary side; the fifth inner Hooke hinge and the sixth inner Hooke hinge are disposed on the first surface of the inner stationary platform and close to the sixth inner stationary side.

[0039] The inner electric cylinder module includes six inner electric cylinders, which are defined as the first inner electric cylinder, the second inner electric cylinder, the third inner electric cylinder, the fourth inner electric cylinder, the fifth inner electric cylinder, and the sixth inner electric cylinder, respectively.

[0040] The first end of the first inner layer electric cylinder is connected to the first inner layer ball joint, and the second end of the first inner layer electric cylinder is connected to the first inner layer Hooke joint; the first end of the second inner layer electric cylinder is connected to the second inner layer ball joint, and the second end of the second inner layer electric cylinder is connected to the second inner layer Hooke joint; the first end of the third inner layer electric cylinder is connected to the third inner layer ball joint, and the second end of the third inner layer electric cylinder is connected to the third inner layer Hooke joint; the first end of the fourth inner layer electric cylinder is connected to the fourth inner layer ball joint, and the second end of the fourth inner layer electric cylinder is connected to the fourth inner layer Hooke joint; the first end of the fifth inner layer electric cylinder is connected to the fifth inner layer ball joint, and the second end of the fifth inner layer electric cylinder is connected to the fifth inner layer Hooke joint; the first end of the sixth inner layer electric cylinder is connected to the sixth inner layer ball joint, and the second end of the sixth inner layer electric cylinder is connected to the sixth inner layer Hooke joint.

[0041] Optionally, the connector module includes three connectors, which are defined as a first connector, a second connector, and a third connector, respectively.

[0042] The outer inclined surface of the first connector is fixedly connected to the first surface of the outer static platform near the first edge of the outer static platform, and the inner inclined surface of the first connector is fixedly connected to the first surface of the inner static platform near the first edge of the inner static platform.

[0043] The outer inclined surface of the second connector is fixedly connected to the first surface of the outer static platform near the third side of the outer static platform, and the inner inclined surface of the second connector is fixedly connected to the first surface of the inner static platform near the third side of the inner static platform.

[0044] The outer inclined surface of the third connector is fixedly connected to the first surface of the outer static platform near the fifth side of the outer static platform, and the inner inclined surface of the third connector is fixedly connected to the first surface of the inner static platform near the fifth side of the inner static platform.

[0045] Optionally, electromagnetic locking is provided on the first outer electric cylinder, the second outer electric cylinder, the third outer electric cylinder, the fourth outer electric cylinder, the fifth outer electric cylinder, and the sixth outer electric cylinder.

[0046] Optionally, the first inner electric cylinder, the second inner electric cylinder, the third inner electric cylinder, the fourth inner electric cylinder, the fifth inner electric cylinder, and the sixth inner electric cylinder are all equipped with electromagnetic locking.

[0047] Optionally, a first outer protrusion is provided on the first surface of the outer static platform and near the second outer static side; a second outer protrusion is provided on the first surface of the outer static platform and near the fourth outer static side; and a third outer protrusion is provided on the first surface of the outer static platform and near the sixth outer static side.

[0048] The first outer Hooke hinge and the second outer Hooke hinge are disposed on the first outer protrusion, the third outer Hooke hinge and the fourth outer Hooke hinge are disposed on the second outer protrusion, and the fifth outer Hooke hinge and the sixth outer Hooke hinge are disposed on the third outer protrusion.

[0049] Optionally, an inner first protrusion is provided on the first surface of the inner static platform and near the second side of the inner static platform; an inner second protrusion is provided on the first surface of the inner static platform and near the fourth side of the inner static platform; and an inner third protrusion is provided on the first surface of the inner static platform and near the sixth side of the inner static platform.

[0050] The first inner Hooke hinge and the second inner Hooke hinge are disposed on the first inner protrusion, the third inner Hooke hinge and the fourth inner Hooke hinge are disposed on the second inner protrusion, and the fifth inner Hooke hinge and the sixth inner Hooke hinge are disposed on the third inner protrusion.

[0051] The effects of this invention are as follows:

[0052] This invention relates to a full-gait lumbar dynamic loading robot with a simple structure and high space utilization. Both the outer and inner moving platforms connected to the lumbar spine assembly can provide six-dimensional loading forces, effectively simulating the motion and load conditions of each degree of freedom of the lumbar spine assembly and improving the accuracy of biomechanical testing of the lumbar spine assembly.

[0053] This invention relates to a full-gait lumbar dynamic loading robot, which simulates the motion state of the lumbar spine components under different postures and stress conditions, enabling a more accurate understanding of the mechanical properties of the lumbar spine components. Attached Figure Description

[0054] Figure 1This is a schematic diagram of the overall structure of the full-gait lumbar spine dynamic loading robot of the present invention;

[0055] Figure 2 This is a schematic diagram of the outer robot module structure of the present invention;

[0056] Figure 3 This is a schematic diagram of the inner robot module structure of the present invention;

[0057] Figure 4 This is a schematic diagram of the lumbar spine clamping module structure of the present invention;

[0058] Figure 5 This is a schematic diagram of the first angle structure of the connector of the present invention;

[0059] Figure 6 This is a schematic diagram of the second angle structure of the connector of the present invention.

[0060] In the diagram: 1. Outer robot module; 2. Inner robot module; 3. Lumbar spine clamping module; 4. Connector module; 5. Lumbar spine assembly; 6. Electromagnetic locking; 11. Outer moving platform; 12. Outer stationary platform; 13. Outer electric cylinder module; 14. Outer ball joint module; 15. Outer Hooke joint module; 16. Outer first protrusion; 17. Outer second protrusion; 18. Outer third protrusion; 21. Inner moving platform; 22. Inner stationary platform; 23. Inner electric cylinder module; 24. Inner ball joint module; 25. Inner Hooke joint module; 26. Inner first protrusion; 31. First lumbar spine clamping unit; 32. Second lumbar spine. Clamping unit; 41. Outer inclined surface; 42. Inner inclined surface; 43. Connecting rod; 111. First moving side of outer layer; 112. Second moving side of outer layer; 113. Third moving side of outer layer; 114. Fourth moving side of outer layer; 115. Fifth moving side of outer layer; 116. Sixth moving side of outer layer; 121. First stationary side of outer layer; 122. Second stationary side of outer layer; 123. Sixth stationary side of outer layer; 131. First outer electric cylinder; 132. Second outer electric cylinder; 133. Third outer electric cylinder; 134. Fourth outer electric cylinder; 135. Fifth outer electric cylinder; 136. Sixth outer electric cylinder; 141. First outer ball joint; 142. Second outer ball joint; 143, Third outer ball joint; 144, Fourth outer ball joint; 145, Fifth outer ball joint; 146, Sixth outer ball joint; 151, First outer Hooke joint; 152, Second outer Hooke joint; 153, Third outer Hooke joint; 154, Fourth outer Hooke joint; 155, Fifth outer Hooke joint; 156, Sixth outer Hooke joint; 211, Inner moving second side; 212, Inner moving third side; 213, Inner moving fourth side; 221, Inner stationary first side; 222, Inner stationary second side; 223, Inner stationary third side; 224, Inner stationary fourth side; 225, Inner stationary fifth side; 22 6. Sixth inner static side; 227. Through hole; 231. First inner electric cylinder; 232. Second inner electric cylinder; 233. Third inner electric cylinder; 234. Fourth inner electric cylinder; 235. Fifth inner electric cylinder; 236. Sixth inner electric cylinder; 241. First inner ball joint; 242. Second inner ball joint; 243. Third inner ball joint; 244. Fourth inner ball joint; 245. Fifth inner ball joint; 246. Sixth inner ball joint; 251. First inner Hooke joint; 252. Second inner Hooke joint; 253. Third inner Hooke joint; 254. Fifth inner Hooke joint; 255. Sixth inner Hooke joint. Detailed Implementation

[0061] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0062] Figure 1 This is a schematic diagram of the overall structure of the full-gait lumbar spine dynamic loading robot of the present invention. Figure 1As shown, the present invention provides a full-gait lumbar spine dynamic loading robot, which includes: an outer robot module 1, an inner robot module 2, a lumbar spine clamping module 3, and a connector module 4.

[0063] like Figure 2 As shown, the outer robot module 1 includes an outer moving platform 11, an outer stationary platform 12, and an outer electric cylinder module 13. The first end of the outer electric cylinder module 13 is rotatably connected to the first surface of the outer moving platform 11 through an outer ball joint module 14, and the second end of the outer electric cylinder module 13 is rotatably connected to the first surface of the outer stationary platform 12 through an outer Hooke joint module 15.

[0064] like Figure 3 As shown, the inner robot module 2 includes an inner moving platform 21, an inner stationary platform 22, and an inner electric cylinder module 23. The first end of the inner electric cylinder module 23 is rotatably connected to the first surface of the inner moving platform 21 via an inner ball joint module 24, and the second end of the inner electric cylinder module 23 is rotatably connected to the first surface of the inner stationary platform 22 via an inner Hooke joint module 25. The inner robot module 2 is disposed inside the outer robot module 1.

[0065] like Figure 4 As shown, the lumbar spine clamping module 3 includes a first lumbar spine clamping unit 31 and a second lumbar spine clamping unit 32. The first lumbar spine clamping unit 31 is fixedly disposed on the first surface of the inner moving platform 21, and clamps the first end of the lumbar spine assembly 5. The second lumbar spine clamping unit 32 is fixedly disposed on the first surface of the outer moving platform 11, and clamps the second end of the lumbar spine assembly 5. The lumbar spine assembly 5 passes through a through hole 227 on the inner static platform 22. The through hole 227 does not restrict the lumbar spine assembly 5, and the lumbar spine assembly 5 can move freely within the through hole 227.

[0066] The inner moving platform 21 and the outer moving platform 11 perform biomechanical simulations of different working conditions such as flexion, extension, lateral flexion and rotation of the lumbar spine component 5, as well as simulations of full gait movements.

[0067] Preferably, the first lumbar vertebra clamping unit 31 is threadedly connected to the first surface of the inner moving platform 21, and the first lumbar vertebra clamping unit 31 elastically clamps the first end of the lumbar vertebra assembly 5; the second lumbar vertebra clamping unit 32 is threadedly connected to the first surface of the outer moving platform 11, and the second lumbar vertebra clamping unit 32 elastically clamps the second end of the lumbar vertebra assembly 5.

[0068] The first end of the connector module 4 is fixedly connected to the outer static platform 12, and the second end of the connector module 4 is fixedly connected to the inner static platform 22.

[0069] The connector module 4 includes several connectors; the first end of each connector is fixedly connected to the outer static platform 12, and the second end of each connector is fixedly connected to the inner static platform 22.

[0070] like Figure 5 and Figure 6 As shown, the connector includes an outer inclined surface 41, an inner inclined surface 42, and a connecting rod 43; the outer inclined surface 41 and the inner inclined surface 42 are connected by the connecting rod 43; the outer inclined surface 41 is the first end of the connector and is fixedly connected to the outer static platform 12; the inner inclined surface 42 is the second end of the connector and is fixedly connected to the inner static platform 22.

[0071] Preferably, both the outer moving platform 11 and the outer stationary platform 12 are hexagonal in shape; the six sides of the outer moving platform 11 are defined sequentially as the outer moving first side 111, the outer moving second side 112, the outer moving third side 113, the outer moving fourth side 114, the outer moving fifth side 115, and the outer moving sixth side 116; the six sides of the outer stationary platform 12 are defined sequentially as the outer stationary first side 121, the outer stationary second side 122, the outer stationary third side, the outer stationary fourth side, the outer stationary fifth side, and the outer stationary sixth side 123.

[0072] The lengths of the first moving side 111, the third moving side 113, and the fifth moving side 115 of the outer layer are equal; the lengths of the second moving side 112, the fourth moving side 114, and the sixth moving side 116 of the outer layer are equal.

[0073] The lengths of the first moving side 111, the third moving side 113, and the fifth moving side 115 of the outer layer are greater than the lengths of the second moving side 112, the fourth moving side 114, and the sixth moving side 116 of the outer layer.

[0074] The lengths of the first, third, and fifth sides of the outer static layer are equal; the lengths of the second, fourth, and sixth sides of the outer static layer are equal.

[0075] The lengths of the outermost static first side 121, the outermost static third side, and the outermost static fifth side are greater than the lengths of the outermost static second side 122, the outermost static fourth side, and the outermost static sixth side 123.

[0076] The outer layer moving first side 111 is set to correspond with the outer layer stationary second side 122, the outer layer moving second side 112 is set to correspond with the outer layer stationary third side, the outer layer moving third side 113 is set to correspond with the outer layer stationary fourth side, the outer layer moving fourth side 114 is set to correspond with the outer layer stationary fifth side, the outer layer moving fifth side 115 is set to correspond with the outer layer stationary sixth side 123, and the outer layer moving sixth side 116 is set to correspond with the outer layer stationary first side 121.

[0077] The outer ball joint module 14 is disposed on the first surface of the outer moving platform 11 and is close to the outer moving second side 112, the outer moving fourth side 114 and the outer moving sixth side 116.

[0078] The outer Hooke hinge module 15 is disposed on the first surface of the outer static platform 12 and close to the outer static second side 122, the outer static fourth side and the outer static sixth side 123.

[0079] Both the inner moving platform 21 and the inner static platform 22 are hexagonal in shape. The six sides of the inner moving platform 21 are defined as the first moving side, the second moving side 211, the third moving side 212, the fourth moving side 213, the fifth moving side, and the sixth moving side, respectively. The six sides of the inner static platform 22 are defined as the first static side 221, the second static side 222, the third static side 223, the fourth static side 224, the fifth static side 225, and the sixth static side 226, respectively.

[0080] The lengths of the first, third, and fifth moving sides of the inner layer are equal; the lengths of the second, fourth, and sixth moving sides of the inner layer are equal.

[0081] The lengths of the first, third, and fifth moving sides of the inner layer are greater than the lengths of the second, fourth, and sixth moving sides of the inner layer.

[0082] The lengths of the inner static first side 221, the inner static third side 223, and the inner static fifth side 225 are equal; the lengths of the inner static second side 222, the inner static fourth side 224, and the inner static sixth side 226 are equal.

[0083] The lengths of the inner static first side 221, inner static third side 223, and inner static fifth side 225 are greater than the lengths of the inner static second side 222, inner static fourth side 224, and inner static sixth side 226.

[0084] The inner layer moving first side is set to correspond with the inner layer stationary second side 222, the inner layer moving second side 211 is set to correspond with the inner layer stationary third side 223, the inner layer moving third side 212 is set to correspond with the inner layer stationary fourth side 224, the inner layer moving fourth side 213 is set to correspond with the inner layer stationary fifth side 225, the inner layer moving fifth side is set to correspond with the inner layer stationary sixth side 226, and the inner layer moving sixth side is set to correspond with the inner layer stationary first side 221.

[0085] The inner ball joint module 24 is disposed on the first surface of the inner moving platform 21 and is close to the inner moving second side 211, the inner moving fourth side 213 and the inner moving sixth side.

[0086] The inner Hooke hinge module 25 is disposed on the first surface of the inner static platform 22 and is close to the inner static second side 222, the inner static fourth side 224 and the inner static sixth side 226.

[0087] Furthermore, the outer ball joint module 14 includes six outer ball joints, which are defined as the first outer ball joint 141, the second outer ball joint 142, the third outer ball joint 143, the fourth outer ball joint 144, the fifth outer ball joint 145 and the sixth outer ball joint 146, respectively.

[0088] The outer Hooke hinge module 15 includes six outer Hooke hinges, which are defined as the first outer Hooke hinge 151, the second outer Hooke hinge 152, the third outer Hooke hinge 153, the fourth outer Hooke hinge 154, the fifth outer Hooke hinge 155 and the sixth outer Hooke hinge 156.

[0089] The first outer ball joint 141 and the sixth outer ball joint 146 are disposed on the first surface of the outer moving platform 11 and close to the second outer moving side 112; the third outer ball joint 143 and the second outer ball joint 142 are disposed on the first surface of the outer moving platform 11 and close to the fourth outer moving side 114; the fifth outer ball joint 145 and the fourth outer ball joint 144 are disposed on the first surface of the outer moving platform 11 and close to the sixth outer moving side 116.

[0090] The first outer Hooke hinge 151 and the second outer Hooke hinge 152 are disposed on the first surface of the outer stationary platform 12 and close to the second outer stationary side 122; the third outer Hooke hinge 153 and the fourth outer Hooke hinge 154 are disposed on the first surface of the outer stationary platform 12 and close to the fourth outer stationary side; the fifth outer Hooke hinge 155 and the sixth outer Hooke hinge 156 are disposed on the first surface of the outer stationary platform 12 and close to the sixth outer stationary side 123.

[0091] The outer electric cylinder module 13 includes six outer electric cylinders, defined as the first outer electric cylinder 131, the second outer electric cylinder 132, the third outer electric cylinder 133, the fourth outer electric cylinder 134, the fifth outer electric cylinder 135, and the sixth outer electric cylinder 136. The first outer electric cylinder 131, the second outer electric cylinder 132, the third outer electric cylinder 133, the fourth outer electric cylinder 134, the fifth outer electric cylinder 135, and the sixth outer electric cylinder 136 are of the same model and size.

[0092] The first end of the first outer electric cylinder 131 is connected to the first outer ball joint 141, and the second end of the first outer electric cylinder 131 is connected to the first outer Hooke joint 151; the first end of the second outer electric cylinder 132 is connected to the second outer ball joint 142, and the second end of the second outer electric cylinder 132 is connected to the second outer Hooke joint 152; the first end of the third outer electric cylinder 133 is connected to the third outer ball joint 143, and the second end of the third outer electric cylinder 133 is connected to the third outer Hooke joint 153. The first end of the fourth outer electric cylinder 134 is connected to the fourth outer ball joint 144, and the second end of the fourth outer electric cylinder 134 is connected to the fourth outer Hooke joint 154; the first end of the fifth outer electric cylinder 135 is connected to the fifth outer ball joint 145, and the second end of the fifth outer electric cylinder 135 is connected to the fifth outer Hooke joint 155; the first end of the sixth outer electric cylinder 136 is connected to the sixth outer ball joint 146, and the second end of the sixth outer electric cylinder 136 is connected to the sixth outer Hooke joint 156.

[0093] The six outer electric cylinders extend and retract independently, allowing the outer moving platform 11 to adjust its position and orientation arbitrarily in three-dimensional space. The six outer electric cylinders apply six-dimensional forces to the outer moving platform 11, enabling the outer moving platform 11 to move in a six-degree-of-freedom manner. At the same time, the lumbar spine component 5 connected to the outer moving platform 11 is also subjected to six-dimensional forces and can move in six degrees of freedom in space.

[0094] The inner ball joint module 24 includes six inner ball joints, which are defined as the first inner ball joint 241, the second inner ball joint 242, the third inner ball joint 243, the fourth inner ball joint 244, the fifth inner ball joint 245 and the sixth inner ball joint 246, respectively.

[0095] The inner Hooke hinge module 25 includes six inner Hooke hinges, which are defined as the first inner Hooke hinge 251, the second inner Hooke hinge 252, the third inner Hooke hinge 253, the fourth inner Hooke hinge, the fifth inner Hooke hinge 254, and the sixth inner Hooke hinge 255.

[0096] The first inner ball joint 241 and the sixth inner ball joint 246 are disposed on the first surface of the inner moving platform 21 and are close to the second inner moving side 211; the third inner ball joint 243 and the second inner ball joint 242 are disposed on the first surface of the inner moving platform 21 and are close to the fourth inner moving side 213; the fifth inner ball joint 245 and the fourth inner ball joint 244 are disposed on the first surface of the inner moving platform 21 and are close to the sixth inner moving side.

[0097] The first inner Hooke hinge 251 and the second inner Hooke hinge 252 are disposed on the first surface of the inner static platform 22 and close to the second inner static side 222; the third inner Hooke hinge 253 and the fourth inner Hooke hinge are disposed on the first surface of the inner static platform 22 and close to the fourth inner static side 224; the fifth inner Hooke hinge 254 and the sixth inner Hooke hinge 255 are disposed on the first surface of the inner static platform 22 and close to the sixth inner static side 226.

[0098] The inner electric cylinder module 23 includes six inner electric cylinders, defined as the first inner electric cylinder 231, the second inner electric cylinder 232, the third inner electric cylinder 233, the fourth inner electric cylinder 234, the fifth inner electric cylinder 235, and the sixth inner electric cylinder 236. The first inner electric cylinder 231, the second inner electric cylinder 232, the third inner electric cylinder 233, the fourth inner electric cylinder 234, the fifth inner electric cylinder 235, and the sixth inner electric cylinder 236 are of the same model and size.

[0099] The first end of the first inner electric cylinder 231 is connected to the first inner ball joint 241, and the second end of the first inner electric cylinder 231 is connected to the first inner Hooke joint 251; the first end of the second inner electric cylinder 232 is connected to the second inner ball joint 242, and the second end of the second inner electric cylinder 232 is connected to the second inner Hooke joint 252; the first end of the third inner electric cylinder 233 is connected to the third inner ball joint 243, and the second end of the third inner electric cylinder 233 is connected to the third inner Hooke joint 253. The first end of the fourth inner electric cylinder 234 is connected to the fourth inner ball joint 244, and the second end of the fourth inner electric cylinder 234 is connected to the fourth inner Hooke joint; the first end of the fifth inner electric cylinder 235 is connected to the fifth inner ball joint 245, and the second end of the fifth inner electric cylinder 235 is connected to the fifth inner Hooke joint 254; the first end of the sixth inner electric cylinder 236 is connected to the sixth inner ball joint 246, and the second end of the sixth inner electric cylinder 236 is connected to the sixth inner Hooke joint 255.

[0100] The six inner electric cylinders extend and retract independently, allowing the inner moving platform 21 to adjust its position and orientation arbitrarily in three-dimensional space. The six inner electric cylinders apply a six-dimensional force to the inner moving platform 21, enabling the inner moving platform 21 to move in a six-degree-of-freedom manner. At the same time, the lumbar spine component 5 connected to the inner moving platform 21 is also subjected to a six-dimensional force and can move in six degrees of freedom in space.

[0101] The connector module 4 includes three connectors, which are defined as the first connector, the second connector and the third connector.

[0102] The outer inclined surface 41 of the first connector is fixedly connected to the first surface of the outer static platform 12 near the first edge 121 of the outer static platform, and the inner inclined surface 42 of the first connector is fixedly connected to the first surface of the inner static platform 22 near the first edge 221 of the inner static platform.

[0103] The outer inclined surface 41 of the second connector is fixedly connected to the first surface of the outer static platform 12 near the third side of the outer static platform 12, and the inner inclined surface 42 of the second connector is fixedly connected to the first surface of the inner static platform 22 near the third side 223 of the inner static platform 22.

[0104] The outer inclined surface 41 of the third connector is fixedly connected to the first surface of the outer static platform 12 near the fifth side of the outer static platform 12, and the inner inclined surface 42 of the third connector is fixedly connected to the first surface of the inner static platform 22 near the fifth side 225 of the inner static platform 22.

[0105] Preferably, the connectors are fixedly connected to the outer static platform 12 and the inner static platform 22 by six bolts, six studs and six nuts respectively.

[0106] Preferably, the first outer electric cylinder 131, the second outer electric cylinder 132, the third outer electric cylinder 133, the fourth outer electric cylinder 134, the fifth outer electric cylinder 135 and the sixth outer electric cylinder 136 are all equipped with electromagnetic locking 6.

[0107] Electromagnetic locking devices 6 are installed on the first inner electric cylinder 231, the second inner electric cylinder 232, the third inner electric cylinder 233, the fourth inner electric cylinder 234, the fifth inner electric cylinder 235, and the sixth inner electric cylinder 236. The electromagnetic locking devices 6 are electrically connected to the electric cylinders.

[0108] An outer first protrusion 16 is provided on the first surface of the outer static platform 12 near the second side 122 of the outer static platform; an outer second protrusion 17 is provided on the first surface of the outer static platform 12 near the fourth side of the outer static platform; and an outer third protrusion 18 is provided on the first surface of the outer static platform 12 near the sixth side 123 of the outer static platform.

[0109] The first outer Hooke hinge 151 and the second outer Hooke hinge 152 are disposed on the first outer protrusion 16, the third outer Hooke hinge 153 and the fourth outer Hooke hinge 154 are disposed on the second outer protrusion 17, and the fifth outer Hooke hinge 155 and the sixth outer Hooke hinge 156 are disposed on the third outer protrusion 18.

[0110] An inner first protrusion 26 is provided on the first surface of the inner static platform 22 near the second inner static side 222; an inner second protrusion is provided on the first surface of the inner static platform 22 near the fourth inner static side 224; and an inner third protrusion is provided on the first surface of the inner static platform 22 near the sixth inner static side 226.

[0111] The first inner Hooke hinge 251 and the second inner Hooke hinge 252 are disposed on the first inner protrusion 26, the third inner Hooke hinge 253 and the fourth inner Hooke hinge are disposed on the second inner protrusion, and the fifth inner Hooke hinge 254 and the sixth inner Hooke hinge 255 are disposed on the third inner protrusion.

[0112] Before using this robot, the lumbar spine assembly is placed inside and elastically clamped and connected by the first and second lumbar spine clamping units. Both the inner and outer moving platforms can apply six-dimensional forces to the lumbar spine assembly, enabling it to achieve six degrees of freedom of movement. Specifically, the inner robot module applies six-dimensional forces to the lumbar spine assembly through its inner moving platform, and the outer robot module applies six-dimensional forces to achieve six degrees of freedom of movement through its outer moving platform, for a total of twelve degrees of freedom. Both the outer and inner robot modules possess six degrees of freedom. The principle behind the six-degree-of-freedom movement of their moving platforms is primarily based on the design of a parallel motion mechanism. Each electric cylinder can extend and retract independently. When these six electric cylinders extend and retract in tandem, the moving platform relative to the fixed static platform can achieve pose motion in six directions in space. These six degrees of freedom include linear translation along three coordinate axes (X, Y, Z) and rotational motion around these three coordinate axes. This comprehensive mobility capability enables it to simulate the complex movements of the lumbar spine assembly during walking, running, and other gait processes. By precisely controlling the extension and retraction of six electric cylinders, it can accurately simulate the posture changes of the lumbar spine assembly under different gait states. Through control algorithms and sensor technology, the motion state of the lumbar spine assembly can be acquired in real time and adjusted according to preset trajectory or force / torque requirements. This ensures accurate simulation of the motion trajectory and force conditions of the lumbar spine assembly during the entire gait process. In addition, real-time inverse kinematics calculation is relatively easy to implement during movement, which is also the key to its ability to achieve complex motion control. In summary, the invented full-gait lumbar spine dynamic loading robot, through the design of a mechanism that provides six-dimensional force and six degrees of freedom motion to the lumbar spine assembly through two moving platforms, and precise motion control, can realize general loading methods for the lumbar spine assembly, including flexion, extension, lateral bending, and rotation of the lumbar spine assembly segments. While meeting the universality of lumbar spine assembly loading, it realizes full-gait lumbar spine assembly loading motion.

[0113] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A full gait lumbar dynamic loading robot, characterized by, It includes: Outer robot module, inner robot module, lumbar spine clamping module, and connector module; The outer robot module includes an outer moving platform, an outer stationary platform, and an outer electric cylinder module; the first end of the outer electric cylinder module is rotatably connected to the first surface of the outer moving platform through an outer ball joint module, and the second end of the outer electric cylinder module is rotatably connected to the first surface of the outer stationary platform through an outer Hooke joint module. The inner robot module includes an inner moving platform, an inner stationary platform, and an inner electric cylinder module; the first end of the inner electric cylinder module is rotatably connected to the first surface of the inner moving platform via an inner ball joint module, and the second end of the inner electric cylinder module is rotatably connected to the first surface of the inner stationary platform via an inner Hooke joint module; the inner robot module is disposed inside the outer robot module; The lumbar spine clamping module includes a first lumbar spine clamping unit and a second lumbar spine clamping unit; the first lumbar spine clamping unit is fixedly disposed on the first surface of the inner moving platform, and clamps the first end of the lumbar spine assembly; the second lumbar spine clamping unit is fixedly disposed on the first surface of the outer moving platform, and clamps the second end of the lumbar spine assembly; the lumbar spine assembly passes through a through hole on the inner static platform; The first end of the connector module is fixedly connected to the outer static platform, and the second end of the connector module is fixedly connected to the inner static platform. The connector module includes a plurality of connectors; the first end of each connector is fixedly connected to the outer static platform, and the second end of each connector is fixedly connected to the inner static platform. The connector includes an outer inclined surface, an inner inclined surface, and a connecting rod; the outer inclined surface and the inner inclined surface are connected by the connecting rod; the outer inclined surface is the first end of the connector and is fixedly connected to the outer static platform; the inner inclined surface is the second end of the connector and is fixedly connected to the inner static platform.

2. The full-gait lumbar dynamic loading robot of claim 1, wherein, Both the outer moving platform and the outer static platform are hexagonal in shape; the six sides of the outer moving platform are defined sequentially as outer moving first side, outer moving second side, outer moving third side, outer moving fourth side, outer moving fifth side, and outer moving sixth side; the six sides of the outer static platform are defined sequentially as outer static first side, outer static second side, outer static third side, outer static fourth side, outer static fifth side, and outer static sixth side. The lengths of the outer layer moving first side, the outer layer moving third side, and the outer layer moving fifth side are equal; the lengths of the outer layer moving second side, the outer layer moving fourth side, and the outer layer moving sixth side are equal. The lengths of the outer layer moving first side, the outer layer moving third side, and the outer layer moving fifth side are greater than the lengths of the outer layer moving second side, the outer layer moving fourth side, and the outer layer moving sixth side; The lengths of the outer static first side, the outer static third side, and the outer static fifth side are equal; the lengths of the outer static second side, the outer static fourth side, and the outer static sixth side are equal. The lengths of the outer static first side, the outer static third side, and the outer static fifth side are greater than the lengths of the outer static second side, the outer static fourth side, and the outer static sixth side; The outer layer moving first side is correspondingly arranged to the outer layer stationary second side, the outer layer moving second side is correspondingly arranged to the outer layer stationary third side, the outer layer moving third side is correspondingly arranged to the outer layer stationary fourth side, the outer layer moving fourth side is correspondingly arranged to the outer layer stationary fifth side, the outer layer moving fifth side is correspondingly arranged to the outer layer stationary sixth side, and the outer layer moving sixth side is correspondingly arranged to the outer layer stationary first side. The outer ball joint module is disposed on the first surface of the outer moving platform and is close to the outer moving second side, the outer moving fourth side and the outer moving sixth side; The outer Hooke hinge module is disposed on the first surface of the outer static platform and is close to the outer static second side, the outer static fourth side and the outer static sixth side.

3. The full-gait lumbar dynamic loading robot of claim 2, wherein, Both the inner moving platform and the inner static platform are hexagonal in shape; the six sides of the inner moving platform are defined sequentially as inner moving first side, inner moving second side, inner moving third side, inner moving fourth side, inner moving fifth side, and inner moving sixth side; the six sides of the inner static platform are defined sequentially as inner static first side, inner static second side, inner static third side, inner static fourth side, inner static fifth side, and inner static sixth side. The lengths of the first moving side, the third moving side, and the fifth moving side of the inner layer are equal; the lengths of the second moving side, the fourth moving side, and the sixth moving side of the inner layer are equal. The lengths of the inner layer moving first side, the inner layer moving third side, and the inner layer moving fifth side are greater than the lengths of the inner layer moving second side, the inner layer moving fourth side, and the inner layer moving sixth side; The lengths of the inner layer static first side, the inner layer static third side, and the inner layer static fifth side are equal; the lengths of the inner layer static second side, the inner layer static fourth side, and the inner layer static sixth side are equal. The lengths of the inner static first side, the inner static third side, and the inner static fifth side are greater than the lengths of the inner static second side, the inner static fourth side, and the inner static sixth side. The inner layer moving first side is correspondingly arranged to the inner layer stationary second side, the inner layer moving second side is correspondingly arranged to the inner layer stationary third side, the inner layer moving third side is correspondingly arranged to the inner layer stationary fourth side, the inner layer moving fourth side is correspondingly arranged to the inner layer stationary fifth side, the inner layer moving fifth side is correspondingly arranged to the inner layer stationary sixth side, and the inner layer moving sixth side is correspondingly arranged to the inner layer stationary first side. The inner ball joint module is disposed on the first surface of the inner moving platform and is close to the inner moving second side, the inner moving fourth side and the inner moving sixth side; The inner Hooke hinge module is disposed on the first surface of the inner static platform and is close to the inner static second side, the inner static fourth side, and the inner static sixth side.

4. The full-gait lumbar dynamic loading robot according to claim 2, characterized in that, The outer ball joint module includes six outer ball joints, which are defined as the first outer ball joint, the second outer ball joint, the third outer ball joint, the fourth outer ball joint, the fifth outer ball joint, and the sixth outer ball joint, respectively. The outer Hooke hinge module includes six outer Hooke hinges, which are defined as the first outer Hooke hinge, the second outer Hooke hinge, the third outer Hooke hinge, the fourth outer Hooke hinge, the fifth outer Hooke hinge, and the sixth outer Hooke hinge, respectively. The first outer ball joint and the sixth outer ball joint are disposed on the first surface of the outer moving platform and are close to the second outer moving side; the third outer ball joint and the second outer ball joint are disposed on the first surface of the outer moving platform and are close to the fourth outer moving side; the fifth outer ball joint and the fourth outer ball joint are disposed on the first surface of the outer moving platform and are close to the sixth outer moving side. The first outer Hooke hinge and the second outer Hooke hinge are disposed on the first surface of the outer stationary platform and close to the second side of the outer stationary platform; the third outer Hooke hinge and the fourth outer Hooke hinge are disposed on the first surface of the outer stationary platform and close to the fourth side of the outer stationary platform; the fifth outer Hooke hinge and the sixth outer Hooke hinge are disposed on the first surface of the outer stationary platform and close to the sixth side of the outer stationary platform. The outer electric cylinder module includes six outer electric cylinders, which are defined as the first outer electric cylinder, the second outer electric cylinder, the third outer electric cylinder, the fourth outer electric cylinder, the fifth outer electric cylinder, and the sixth outer electric cylinder, respectively. The first end of the first outer electric cylinder is connected to the first outer ball joint, and the second end of the first outer electric cylinder is connected to the first outer Hooke joint; the first end of the second outer electric cylinder is connected to the second outer ball joint, and the second end of the second outer electric cylinder is connected to the second outer Hooke joint; the first end of the third outer electric cylinder is connected to the third outer ball joint, and the second end of the third outer electric cylinder is connected to the third outer Hooke joint; the first end of the fourth outer electric cylinder is connected to the fourth outer ball joint, and the second end of the fourth outer electric cylinder is connected to the fourth outer Hooke joint; the first end of the fifth outer electric cylinder is connected to the fifth outer ball joint, and the second end of the fifth outer electric cylinder is connected to the fifth outer Hooke joint; the first end of the sixth outer electric cylinder is connected to the sixth outer ball joint, and the second end of the sixth outer electric cylinder is connected to the sixth outer Hooke joint.

5. The full-gait lumbar dynamic loading robot according to claim 3, characterized in that, The inner ball joint module includes six inner ball joints, which are defined as the first inner ball joint, the second inner ball joint, the third inner ball joint, the fourth inner ball joint, the fifth inner ball joint, and the sixth inner ball joint, respectively. The inner Hooke hinge module includes six inner Hooke hinges, which are defined as the first inner Hooke hinge, the second inner Hooke hinge, the third inner Hooke hinge, the fourth inner Hooke hinge, the fifth inner Hooke hinge, and the sixth inner Hooke hinge, respectively. The first inner ball joint and the sixth inner ball joint are disposed on the first surface of the inner moving platform and are close to the second inner moving side; the third inner ball joint and the second inner ball joint are disposed on the first surface of the inner moving platform and are close to the fourth inner moving side; the fifth inner ball joint and the fourth inner ball joint are disposed on the first surface of the inner moving platform and are close to the sixth inner moving side. The first inner Hooke hinge and the second inner Hooke hinge are disposed on the first surface of the inner stationary platform and close to the second inner stationary side; the third inner Hooke hinge and the fourth inner Hooke hinge are disposed on the first surface of the inner stationary platform and close to the fourth inner stationary side; the fifth inner Hooke hinge and the sixth inner Hooke hinge are disposed on the first surface of the inner stationary platform and close to the sixth inner stationary side. The inner electric cylinder module includes six inner electric cylinders, which are defined as the first inner electric cylinder, the second inner electric cylinder, the third inner electric cylinder, the fourth inner electric cylinder, the fifth inner electric cylinder, and the sixth inner electric cylinder, respectively. The first end of the first inner layer electric cylinder is connected to the first inner layer ball joint, and the second end of the first inner layer electric cylinder is connected to the first inner layer Hooke joint; the first end of the second inner layer electric cylinder is connected to the second inner layer ball joint, and the second end of the second inner layer electric cylinder is connected to the second inner layer Hooke joint; the first end of the third inner layer electric cylinder is connected to the third inner layer ball joint, and the second end of the third inner layer electric cylinder is connected to the third inner layer Hooke joint; the first end of the fourth inner layer electric cylinder is connected to the fourth inner layer ball joint, and the second end of the fourth inner layer electric cylinder is connected to the fourth inner layer Hooke joint; the first end of the fifth inner layer electric cylinder is connected to the fifth inner layer ball joint, and the second end of the fifth inner layer electric cylinder is connected to the fifth inner layer Hooke joint; the first end of the sixth inner layer electric cylinder is connected to the sixth inner layer ball joint, and the second end of the sixth inner layer electric cylinder is connected to the sixth inner layer Hooke joint.

6. The full-gait lumbar dynamic loading robot according to claim 3, characterized in that, The connector module includes three connectors, which are defined as the first connector, the second connector, and the third connector, respectively. The outer inclined surface of the first connector is fixedly connected to the first surface of the outer static platform near the first edge of the outer static platform, and the inner inclined surface of the first connector is fixedly connected to the first surface of the inner static platform near the first edge of the inner static platform. The outer inclined surface of the second connector is fixedly connected to the first surface of the outer static platform near the third side of the outer static platform, and the inner inclined surface of the second connector is fixedly connected to the first surface of the inner static platform near the third side of the inner static platform. The outer inclined surface of the third connector is fixedly connected to the first surface of the outer static platform near the fifth side of the outer static platform, and the inner inclined surface of the third connector is fixedly connected to the first surface of the inner static platform near the fifth side of the inner static platform.

7. The full-gait lumbar dynamic loading robot according to claim 4, characterized in that, Electromagnetic locking is provided on the first outer electric cylinder, the second outer electric cylinder, the third outer electric cylinder, the fourth outer electric cylinder, the fifth outer electric cylinder, and the sixth outer electric cylinder.

8. The full-gait lumbar dynamic loading robot according to claim 5, characterized in that, Electromagnetic locking is provided on the first inner electric cylinder, the second inner electric cylinder, the third inner electric cylinder, the fourth inner electric cylinder, the fifth inner electric cylinder, and the sixth inner electric cylinder.

9. The full-gait lumbar dynamic loading robot according to claim 4, characterized in that, An outer first protrusion is provided on the first surface of the outer static platform and near the second side of the outer static platform; an outer second protrusion is provided on the first surface of the outer static platform and near the fourth side of the outer static platform; an outer third protrusion is provided on the first surface of the outer static platform and near the sixth side of the outer static platform. The first outer Hooke hinge and the second outer Hooke hinge are disposed on the first outer protrusion, the third outer Hooke hinge and the fourth outer Hooke hinge are disposed on the second outer protrusion, and the fifth outer Hooke hinge and the sixth outer Hooke hinge are disposed on the third outer protrusion.

10. The full-gait lumbar dynamic loading robot according to claim 5, characterized in that, An inner layer first protrusion is provided on the first surface of the inner layer static platform and near the second side of the inner layer static platform; an inner layer second protrusion is provided on the first surface of the inner layer static platform and near the fourth side of the inner layer static platform; an inner layer third protrusion is provided on the first surface of the inner layer static platform and near the sixth side of the inner layer static platform. The first inner Hooke hinge and the second inner Hooke hinge are disposed on the first inner protrusion, the third inner Hooke hinge and the fourth inner Hooke hinge are disposed on the second inner protrusion, and the fifth inner Hooke hinge and the sixth inner Hooke hinge are disposed on the third inner protrusion.

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