A bionic spine for a space-deformable robot

Abstract

The present invention relates to a bionic spine for a space-deformable robot, belonging to the technical field of robots, wherein the standard unit comprises: a plurality of movable units, each of which comprises a supporting ring body, a connecting ring body and a ball pin assembly, wherein a plurality of supporting protrusions are fixed on the supporting ring body; a plurality of upper connecting rods and a plurality of lower connecting rods are fixed on the connecting ring body; a plurality of upper folding plates are placed in the supporting ring body; and a plurality of lower folding plates are placed in the supporting ring body along the circumference of the supporting ring body. The present invention utilizes a plurality of upper folding plates and a plurality of lower folding plates to form a multi-directional ball pin assembly, since one end of the upper folding plate in the bending direction is fixed on the supporting protrusion and the other end thereof in the bending direction is fixed on the plurality of lower connecting rods of the upper movable unit, and since one end of the lower folding plate in the bending direction is fixed on the supporting protrusion and the other end thereof in the bending direction is fixed on the plurality of upper connecting rods of the lower movable unit, the spherical assembly structure can maximize the deformation of the spine and ensure the bearing capacity of the spine at the same time.

Description

Technical Field

[0001] The invention relates to the technical field of robot accessories, and in particular to a bionic spine for a space-deformable robot. Background Art

[0002] With the continuous improvement of my country's scientific and technological level, humanoid robots have gradually ushered in rapid development due to their huge application potential and broad economic prospects.

[0003] At present, existing humanoid robots generally use a rigid torso. Except for 2-3 degrees of freedom in the lumbar spine, the robot's spine does not have corresponding degrees of freedom and cannot achieve deformation function. At the same time, the rigid spine solution reduces the performance parameters of the humanoid robot's walking energy utilization efficiency, movement flexibility and coordination, hindering the large-scale application and promotion of humanoid robots.

[0004] In order to solve the above technical problems, the market has developed a flexible spine that can improve the overall flexibility and movement coordination of humanoid robots, allowing the robot to naturally complete common human movements such as bending over, turning around, and throwing with the help of waist strength. At the same time, humanoid robots using flexible spine solutions can adjust the center of gravity by deforming the trunk during movement, which improves the robot's walking gait while reducing the torque required for the robot to maintain balance. This is very beneficial for saving energy and improving the endurance of humanoid robots, and also reduces the performance requirements for the robot's drive motor.

[0005] Although spine-mimicking robots designed based on the application scenarios of humanoid robot flexible spines usually adopt a series structure, partially borrowing from the biomechanical characteristics of the human spine, have a high degree of freedom, and can achieve basic bending deformation; however, the driving modes of spine-mimicking robots mainly include hydraulic drive, pneumatic drive, SMA drive, simple wire drive, etc. Among them, hydraulic drive and pneumatic drive are relatively expensive and the working medium is prone to leakage. SMA drive has a slow response speed and high power consumption and is easily affected by ambient temperature. Simple wire drive can only achieve bending deformation and cannot realize the spatial deformation function of spine-mimicking robots. In other words, although the existing spine-mimicking robot solutions can achieve basic bending deformation, there are still problems such as insufficient deformation ability and poor load-bearing capacity between them and the target requirements of the humanoid robot spine.

[0006] That is, the shortcomings of the spine of existing humanoid robots are mainly as follows: ① There are many driving modes but the driving effect is difficult to meet the target requirements. The existing driving solutions have limitations in cost, weight, response speed, deformation ability, etc., and the feasibility is low; ② Torsion and spatial deformation are difficult to achieve. Existing spine-like robots can usually only achieve bending deformation but cannot complete torsional deformation and spatial deformation. The deformation ability cannot meet the needs of the humanoid robot spine; ③ There is a contradiction between load-bearing capacity and flexibility. The rigid structure has weak deformation ability and poor impact absorption ability, and the flexible structure has low load-bearing capacity. The contradiction between the two has not been well resolved.

[0007] Therefore, how to design an artificial spine with good deformation ability, high load-bearing capacity and the ability to meet the functional requirements of the spine of a humanoid robot is an urgent problem that needs to be solved by technical personnel in this field. Summary of the invention

[0008] The invention provides a bionic spine for a space-deformable robot, which solves the technical problems of limited deformation and poor bearing capacity of the flexible spine of the existing humanoid robot.

[0009] The technical solution of the present invention to solve the above technical problems is as follows: a bionic spine for a space-deformable robot, comprising a plurality of movable units distributed sequentially from bottom to top,

[0010] Each of the movable units includes a supporting ring body, a connecting ring body and a ball pin assembly, wherein a plurality of supporting protrusions are fixed at intervals on the inner ring wall of the supporting ring body; the connecting ring body is located above the supporting ring body and a plurality of upper connecting rods and a plurality of lower connecting rods are fixed at intervals on the inner ring wall thereof, the plurality of upper connecting rods and the plurality of lower connecting rods are arranged alternately and the plurality of upper connecting rods all extend upwardly from the connecting ring body, and the plurality of lower connecting rods all extend downwardly from the connecting ring body; the ball pin assembly includes a plurality of upper folding plates and a plurality of lower folding plates, the plurality of upper folding plates are arranged on the supporting ring body along the circumference of the supporting ring body The plurality of lower folding pieces are arranged in the support ring body along the circumference of the support ring body, and the plurality of lower folding pieces are staggered below the plurality of upper folding pieces, and one end of the plurality of lower folding pieces in the bending direction is fixed on the plurality of support protrusions; the plurality of lower connecting rods of the movable unit of the upper layer are respectively fixed to the other end of the plurality of upper folding pieces in the bending direction of the movable unit of the lower layer; the plurality of upper connecting rods of the movable unit of the lower layer are respectively fixed to the other end of the plurality of lower folding pieces in the bending direction of the movable unit of the upper layer.

[0011] The beneficial effect of the present invention is that a ball pin assembly is formed by utilizing multiple upper folding pieces and multiple lower folding pieces, since one end of the upper folding piece in the bending direction is fixed on the supporting protrusion and the other end thereof in the bending direction is fixed on the multiple lower connecting rods of the movable unit of the upper layer, and since one end of the lower folding piece in the bending direction is fixed on the supporting protrusion and the other end thereof in the bending direction is fixed on the multiple upper connecting rods of the movable unit of the lower layer, the spherical assembly structure can maximize the deformation of the spine while ensuring the bearing capacity of the spine.

[0012] Based on the above technical solution, the present invention can also be improved as follows.

[0013] Furthermore, it also includes a base ring, on the inner ring wall of which a plurality of base rods are fixed; the other ends of the plurality of lower folding pieces of the movable unit at the bottom layer in the bending direction are respectively fixed on the plurality of base rods.

[0014] Furthermore, there are nine movable units, and the first to sixth movable units from bottom to top are divided into thoracic-lumbar segments, and the seventh to ninth movable units are divided into cervical segments. Four driving connecting rods are fixed at intervals on the outer ring wall of the connecting ring body, and each of the four driving connecting rods is provided with a driving hole. The four driving holes on the Nth movable unit from bottom to top are An, Bn, Cn and Dn respectively; four base connecting rods are fixed at intervals on the outer ring wall of the base ring, and each of the four base connecting rods is provided with a base hole.

[0015] Furthermore, the extension lines of the folds of the plurality of upper folding pieces and the plurality of lower folding pieces on each of the movable units intersect at one point.

[0016] Furthermore, it also includes motor No. 1, motor No. 2, motor No. 3, motor No. 4, motor No. 5 and motor No. 6.

[0017] Furthermore, it also includes four first bending cables for driving the bending deformation of the thoracic vertebra-lumbar vertebra segment, and the four first bending cables are respectively passed through the four base holes and are respectively arranged according to:

[0018] A1-A2-A3-A4-A5-A6,

[0019] B1-B2-B3-B4-B5-B6,

[0020] C1-C2-C3-C4-C5-C6 and

[0021] D1-D2-D3-D4-D5-D6 are wound and tied to A6, B6, C6 and D6 respectively.

[0022] Furthermore, the four first bending cables that drive the bending deformation of the thoracic and lumbar segments are respectively wound on the wire drums connected to motor No. 1 and motor No. 2, among which the two first bending cables responsible for driving flexion and extension deformation are wound on the wire drum connected to motor No. 1 in opposite directions, and the two first bending cables responsible for driving lateral bending deformation are wound on the wire drum connected to motor No. 2 in opposite directions.

[0023] Furthermore, it also includes four second bending cables for driving the bending deformation of the cervical vertebrae segment, and the four second bending cables are respectively passed through the four base holes and are respectively arranged as follows:

[0024] A1-A2-A3-A4-A5-A6-A7-A8-A9-A8-A7-A6,

[0025] B1-B2-B3-B4-B5-B6-B7-B8-B9-B8-B7-B6,

[0026] C1-C2-C3-C4-C5-C6-C7-C8-C9-C8-C7-C6 and

[0027] D1-D2-D3-D4-D5-D6-D7-D8-D9-D8-D7-D6 are wound and tied to A6, B6, C6 and D6 respectively.

[0028] Furthermore, the four second bending cables driving the bending deformation of the cervical vertebrae are respectively wound on the wire drum connected to motor No. 3 and motor No. 4, among which the two second bending cables responsible for driving flexion and extension deformation are wound on the wire drum connected to motor No. 3 in opposite directions, and the two second bending cables responsible for driving lateral bending deformation are wound on the wire drum connected to motor No. 4 in opposite directions.

[0029] Furthermore, it also includes four first torsion cables for driving the thoracic vertebra-lumbar vertebra segment to undergo positive torsion deformation, wherein the four first torsion cables are passed through the four base holes and are arranged respectively as follows:

[0030] A1-D2-C3-B4-A5-D6,

[0031] B1-A2-D3-C4-B5-A6,

[0032] C1-B2-A3-D4-C5-B6 and

[0033] D1-C2-B3-A4-D5-C6 are wound and tied to A6, B6, C6 and D6 respectively.

[0034] Furthermore, the eight first torsion cables driving the torsional deformation of the thoracic-lumbar segment are respectively wound on the wire reel connected to motor No. 5, among which the four first torsion cables responsible for driving positive torsional deformation and the four first torsion cables responsible for driving negative torsional deformation are wound on the wire reel connected to motor No. 5 in opposite directions.

[0035] Furthermore, it also includes four second torsion cables for driving the negative torsion deformation of the thoracic vertebra-lumbar vertebra segment, and the four second torsion cables are passed through the four base holes and are respectively arranged as follows:

[0036] A1-B2-C3-D4-A5-B6,

[0037] B1-C2-D3-A4-B5-C6,

[0038] C1-D2-A3-B4-C5-D6 and

[0039] D1-A2-B3-C4-D5-A6 are wound and tied to A6, B6, C6 and D6 respectively.

[0040] Furthermore, it also includes four third torsion cables for driving the cervical vertebrae to deform in a positive torsion direction.

[0041] The third torsion cables are passed through the four base holes, respectively according to:

[0042] A1-D2-C3-B4-A5-D6-C7-B8-A9-B8-C7-D6,

[0043] B1-A2-D3-C4-B5-A6-D7-C8-B9-C8-D7-A6,

[0044] C1-B2-A3-D4-C5-B6-A7-D8-C9-D8-A7-B6 and

[0045] D1-C2-B3-A4-D5-C6-B7-A8-D9-A8-B7-C6 are wound and tied to A6, B6, C6 and D6 respectively.

[0046] Furthermore, the eight third torsion cables driving the torsional deformation of the cervical vertebrae are respectively wound on the wire drum connected to motor No. 6, among which the four third torsion cables responsible for driving positive torsional deformation and the four third torsion cables responsible for driving negative torsional deformation are wound on the wire drum connected to motor No. 6 in opposite directions.

[0047] Furthermore, it also includes four fourth torsion cables for driving the negative torsion deformation of the cervical vertebrae segment, and the four fourth reverse deformation cables are passed through the four base holes and are respectively arranged as follows:

[0048] A1-B2-C3-D4-A5-B6-C7-D8-A9-D8-C7-B6,

[0049] B1-C2-D3-A4-B5-C6-D7-A8-B9-A8-D7-C6,

[0050] C1-D2-A3-B4-C5-D6-A7-B8-C9-B8-A7-D6 and

[0051] D1-A2-B3-C4-D5-A6-B7-C8-D9-C8-B7-A6 are wound and tied to A6, B6, C6 and D6 respectively. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 It is a schematic diagram of the three-dimensional structure of a bionic spine for a space-deformable robot according to the present invention;

[0053] Figure 2 It is a schematic diagram of a three-dimensional structure of a support ring body, a ball pin assembly and two connecting ring bodies in a bionic spine for a space-deformable robot of the present invention;

[0054] Figure 3 It is a schematic diagram of a three-dimensional structure of a support ring body, a spherical component and a connecting ring body in a bionic spine for a space-deformable robot of the present invention;

[0055] Figure 4 It is a structural schematic diagram of the connection between the ball pin assembly and the connecting ring body in a bionic spine for a space-deformable robot of the present invention;

[0056] Figure 5 It is a three-dimensional structural schematic diagram of a ball-pin assembly in a bionic spine for a space-deformable robot of the present invention;

[0057] Figure 6 This is a schematic diagram of the three-dimensional structure of a connecting ring body in a bionic spine for a space-deformable robot of the present invention;

[0058] Figure 7 This is a schematic diagram of the three-dimensional structure of a supporting ring body in a bionic spine for a space-deformable robot according to the present invention;

[0059] Figure 8 It is a schematic diagram of the three-dimensional structure of a base of a bionic spine for a space-deformable robot according to the present invention;

[0060] Fig. 9 This is a schematic diagram of a top view of a bionic spine for a space-deformable robot according to the present invention;

[0061] Fig.10It is a structural schematic diagram of a local side view angle 1 of a bionic spine for a space-deformable robot of the present invention;

[0062] Fig.11 It is a structural schematic diagram of a local side view angle 2 of a bionic spine for a space-deformable robot of the present invention.

[0063] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0064] 1. Support ring body, 2. Connecting ring body, 3. Upper folding piece, 4. Lower folding piece, 5. Base ring, 6. Supporting protrusion, 7. Upper connecting rod, 8. Lower connecting rod, 9. Driving connecting rod, 91. Driving hole, 10. Base connecting rod, 101. Base hole, 11. Base rod. DETAILED DESCRIPTION

[0065] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0066] like Figure 1 As shown, a bionic spine for a space-deformable robot includes a plurality of movable units distributed sequentially from bottom to top.

[0067] Each movable unit includes a supporting ring body 1, a connecting ring body 2 and a ball pin assembly. A plurality of supporting protrusions 6 are fixed at intervals on the inner ring wall of the supporting ring body 1; the connecting ring body 2 is located above the supporting ring body 1 and a plurality of upper connecting rods 7 and a plurality of lower connecting rods 8 are fixed at intervals on its inner ring wall. The plurality of upper connecting rods 7 and the plurality of lower connecting rods 8 are arranged alternately and the plurality of upper connecting rods 7 all extend upwardly from the connecting ring body 2, and the plurality of lower connecting rods 8 all extend downwardly from the connecting ring body 2; the ball pin assembly includes a plurality of upper folding pieces 3 and a plurality of lower folding pieces 4, and the plurality of upper folding pieces 3 are arranged along the circumference of the supporting ring body 1. The supporting ring body 1 has one end in the bending direction thereof fixed on a plurality of supporting protrusions 6 respectively; a plurality of lower folding pieces 4 are placed in the supporting ring body 1 along the circumference of the supporting ring body 1, and the plurality of lower folding pieces 4 are staggered below the plurality of upper folding pieces 3, and one end in the bending direction of the plurality of lower folding pieces 4 is fixed on a plurality of supporting protrusions 6; a plurality of lower connecting rods 8 of the movable unit of the upper layer are respectively fixed on the other end in the bending direction of the plurality of upper folding pieces 3 of the movable unit of the lower layer; a plurality of upper connecting rods 7 of the movable unit of the lower layer are respectively fixed on the other end in the bending direction of the plurality of lower folding pieces 4 of the movable unit of the upper layer.

[0068] In some specific embodiments, a base ring 5 may be further included, and a plurality of base rods 11 are fixed on the inner ring wall of the base ring 5; the other ends of the plurality of lower folding pieces 4 of the bottommost movable unit in the bending direction are respectively fixed on the plurality of base rods 11.

[0069] In some specific embodiments, there can be nine movable units. The first to sixth movable units from bottom to top are divided into thoracic-lumbar segments, and the seventh to ninth movable units are divided into cervical segments. Four driving connecting rods 9 are fixed at intervals on the outer ring wall of the connecting ring body 2, and each of the four driving connecting rods 9 is provided with a driving hole 91. The four driving holes 91 on the Nth movable unit from bottom to top are An, Bn, Cn and Dn respectively; four base connecting rods 10 are fixed at intervals on the outer ring wall of the base ring 5, and each of the four base connecting rods 10 is provided with a base hole 101.

[0070] In some specific embodiments, the extended lines of the folds of the multiple upper folding pieces 3 and the multiple lower folding pieces 4 on each movable unit all intersect at one point.

[0071] In some specific embodiments, four first bending cables for driving the bending deformation of the thoracic-lumbar segment are further included. The four first bending cables are respectively passed through the four base holes 101 and are respectively arranged as follows:

[0072] A1-A2-A3-A4-A5-A6,

[0073] B1-B2-B3-B4-B5-B6,

[0074] C1-C2-C3-C4-C5-C6 and

[0075] D1-D2-D3-D4-D5-D6 are wound and tied to A6, B6, C6 and D6 respectively.

[0076] In some specific embodiments, four second bending cables for driving the bending deformation of the cervical vertebrae are further included. The four second bending cables are respectively passed through the four base holes 101 and are respectively arranged as follows:

[0077] A1-A2-A3-A4-A5-A6-A7-A8-A9-A8-A7-A6,

[0078] B1-B2-B3-B4-B5-B6-B7-B8-B9-B8-B7-B6,

[0079] C1-C2-C3-C4-C5-C6-C7-C8-C9-C8-C7-C6 and

[0080] D1-D2-D3-D4-D5-D6-D7-D8-D9-D8-D7-D6 are wound and tied to A6, B6, C6 and D6 respectively.

[0081] In some specific embodiments, four first torsion cables for driving the thoracic-lumbar segment to undergo positive torsion deformation are further included. The four first torsion cables are passed through four base holes 101 and are arranged respectively as follows:

[0082] A1-D2-C3-B4-A5-D6,

[0083] B1-A2-D3-C4-B5-A6,

[0084] C1-B2-A3-D4-C5-B6 and

[0085] D1-C2-B3-A4-D5-C6 are wound and tied to A6, B6, C6 and D6 respectively.

[0086] In some specific embodiments, four second torsion cables for driving the negative torsion deformation of the thoracic-lumbar segment are further included. The four second torsion cables are passed through four base holes 101 and are arranged respectively as follows:

[0087] A1-B2-C3-D4-A5-B6,

[0088] B1-C2-D3-A4-B5-C6,

[0089] C1-D2-A3-B4-C5-D6 and

[0090] D1-A2-B3-C4-D5-A6 are wound and tied to A6, B6, C6 and D6 respectively.

[0091] In some specific embodiments, four third torsion cables for driving the cervical vertebrae to deform in a forward torsion direction are further included. The four third torsion cables are passed through four base holes 101 and are arranged respectively as follows:

[0092] A1-D2-C3-B4-A5-D6-C7-B8-A9-B8-C7-D6,

[0093] B1-A2-D3-C4-B5-A6-D7-C8-B9-C8-D7-A6,

[0094] C1-B2-A3-D4-C5-B6-A7-D8-C9-D8-A7-B6 and

[0095] D1-C2-B3-A4-D5-C6-B7-A8-D9-A8-B7-C6 are wound and tied to A6, B6, C6 and D6 respectively.

[0096] In some specific embodiments, four fourth torsion cables for driving the negative torsion deformation of the cervical vertebrae are further included. The four fourth reverse deformation cables are passed through the four base holes 101 and are arranged respectively as follows:

[0097] A1-B2-C3-D4-A5-B6-C7-D8-A9-D8-C7-B6,

[0098] B1-C2-D3-A4-B5-C6-D7-A8-B9-A8-D7-C6,

[0099] C1-D2-A3-B4-C5-D6-A7-B8-C9-B8-A7-D6 and

[0100] D1-A2-B3-C4-D5-A6-B7-C8-D9-C8-B7-A6 are wound and tied to A6, B6, C6 and D6 respectively.

[0101] like Figure 4 As shown, in some specific embodiments, the driving holes are divided into vertical driving holes (bending cables) and transverse driving holes (torsion cables).

[0102] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A bionic spine for a space-deformable robot, characterized in that: It includes multiple movable units distributed from bottom to top. Each movable unit comprises a supporting ring body (1), a connecting ring body (2) and a ball pin assembly, wherein a plurality of supporting protrusions (6) are fixed at intervals on the inner ring wall of the supporting ring body (1); the connecting ring body (2) is located above the supporting ring body (1) and a plurality of upper connecting rods (7) and a plurality of lower connecting rods (8) are fixed at intervals on the inner ring wall thereof, wherein the plurality of upper connecting rods (7) and the plurality of lower connecting rods (8) are arranged alternately and the plurality of upper connecting rods (7) extend upward from the connecting ring body (2), and the plurality of lower connecting rods (8) extend downward from the connecting ring body (2); the ball pin assembly comprises a plurality of upper folding plates (3) and a plurality of lower folding plates (4), wherein the plurality of upper folding plates (3) are arranged along the circumference of the supporting ring body (1). The plurality of lower folding sheets (4) are arranged in the support ring body (1) along the circumference of the support ring body (1), and the plurality of lower folding sheets (4) are staggered below the plurality of upper folding sheets (3), and one end of the plurality of lower folding sheets (4) in the bending direction is fixed to the plurality of support protrusions (6); the plurality of lower connecting rods (8) of the movable unit of the upper layer are respectively fixed to the other end of the plurality of upper folding sheets (3) of the movable unit of the lower layer in the bending direction; and the plurality of upper connecting rods (7) of the movable unit of the lower layer are respectively fixed to the other end of the plurality of lower folding sheets (4) of the movable unit of the upper layer in the bending direction.

2. The bionic spine for a space-deformable robot according to claim 1, characterized in that: It also comprises a base ring (5), on the inner ring wall of which a plurality of base rods (11) are fixed; the other ends of the plurality of lower folding pieces (4) of the movable unit at the bottom layer in the bending direction are respectively fixed on the plurality of base rods (11).

3. The bionic spine for a space-deformable robot according to claim 2, characterized in that: There are nine movable units, four driving connecting rods (9) are fixed at intervals on the outer ring wall of the connecting ring body (2), and the four driving connecting rods (9) are each provided with a driving hole (91). From bottom to top, the first to sixth movable units are divided into thoracic-lumbar segments, and the seventh to ninth movable units are divided into cervical segments. The four driving holes (91) on the Nth movable unit from bottom to top are An, Bn, Cn and Dn respectively; four base connecting rods (10) are fixed at intervals on the outer ring wall of the base ring (5), and the four base connecting rods (10) are each provided with a base hole (101).

4. The bionic spine for a space-deformable robot according to claim 3, characterized in that: The extended lines of the folds of the plurality of upper folding pieces (3) and the plurality of lower folding pieces (4) on each movable unit intersect at one point.

5. The bionic spine for a space-deformable robot according to claim 4, characterized in that: It also includes four first bending cables for driving the bending deformation of the thoracic vertebra-lumbar vertebra segment, the four first bending cables are respectively passed through the four base holes (101) and are respectively arranged according to: A1-A2-A3-A4-A5-A6, B1-B2-B3-B4-B5-B6, C1-C2-C3-C4-C5-C6 and D1-D2-D3-D4-D5-D6 are wound and tied to A6, B6, C6 and D6 respectively.

6. The bionic spine for a space-deformable robot according to claim 4, characterized in that: It also includes four second bending cables for driving the bending deformation of the cervical vertebrae segment, the four second bending cables are respectively passed through the four base holes (101) and are respectively arranged according to: A1-A2-A3-A4-A5-A6-A7-A8-A9-A8-A7-A6, B1-B2-B3-B4-B5-B6-B7-B8-B9-B8-B7-B6, C1-C2-C3-C4-C5-C6-C7-C8-C9-C8-C7-C6 and D1-D2-D3-D4-D5-D6-D7-D8-D9-D8-D7-D6 are wound and tied to A6, B6, C6 and D6 respectively.

7. The bionic spine for a space-deformable robot according to claim 4, characterized in that: It also includes four first torsion cables for driving the thoracic vertebra-lumbar vertebra segment to undergo positive torsion deformation, the four first torsion cables being passed through the four base holes (101) and arranged respectively as follows: A1-D2-C3-B4-A5-D6, B1-A2-D3-C4-B5-A6, C1-B2-A3-D4-C5-B6 and D1-C2-B3-A4-D5-C6 are wound and tied to A6, B6, C6 and D6 respectively.

8. The bionic spine for a space-deformable robot according to claim 4, characterized in that: It also includes four second torsion cables for driving the negative torsion deformation of the thoracic vertebrae-lumbar vertebrae segment, the four second torsion cables are passed through the four base holes (101) and are respectively arranged as follows: A1-B2-C3-D4-A5-B6, B1-C2-D3-A4-B5-C6, C1-D2-A3-B4-C5-D6 and D1-A2-B3-C4-D5-A6 are wound and tied to A6, B6, C6 and D6 respectively.

9. The bionic spine for a space-deformable robot according to claim 4, characterized in that: It also includes four third torsion cables for driving the cervical vertebrae to deform in a forward torsion direction. The four third torsion cables are passed through the four base holes (101) and are arranged respectively as follows: A1-D2-C3-B4-A5-D6-C7-B8-A9-B8-C7-D6, B1-A2-D3-C4-B5-A6-D7-C8-B9-C8-D7-A6, C1-B2-A3-D4-C5-B6-A7-D8-C9-D8-A7-B6 and D1-C2-B3-A4-D5-C6-B7-A8-D9-A8-B7-C6 are wound and tied to A6, B6, C6 and D6 respectively.

10. The bionic spine for a space-deformable robot according to claim 4, characterized in that: It also includes four fourth torsion cables for driving the negative torsion deformation of the cervical vertebrae segment, the four fourth torsion cables are passed through the four base holes (101) and are respectively arranged as follows: A1-B2-C3-D4-A5-B6-C7-D8-A9-D8-C7-B6, B1-C2-D3-A4-B5-C6-D7-A8-B9-A8-D7-C6, C1-D2-A3-B4-C5-D6-A7-B8-C9-B8-A7-D6 and D1-A2-B3-C4-D5-A6-B7-C8-D9-C8-B7-A6 are wound and tied to A6, B6, C6 and D6 respectively.

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