Modularized combined type human spine simulating device with energy storage and explosive power and control method

Abstract

The invention provides a modular combined type energy storage and explosive power humanoid spine device and a control method, and belongs to the field of humanoid spines. The problems that an existing humanoid spine structure is insufficient in load and impact resistance, difficult to simulate the real spine curvature of human, lack of kinetic energy explosion device design and single in function and form are solved. According to the invention, three motions of pitching, lateral deviation and explosive force propulsion can be realized, the three motions are respectively controlled by a network formed by connecting a main control computer and three single-axis or integrated four-axis servo drive and control units through an industrial Ethernet, and S-shaped and random bending motion and forward or upward explosive force propulsion motion of the spine are realized; different combination modes, large load, strong impact resistance, high rigidity and accurate movement capability are realized; in addition, the humanoid spine device based on the structure and a device formed by combining the humanoid spine device in different combination modes can also be used as a trunk spine of a humanoid robot, a flexible arm and a snake-shaped robot.

Description

Technical Field

[0001] The present invention relates to the technical field of humanoid spine, and in particular to a modular combined humanoid spine device with both energy storage and explosive power and a control method. Background Art

[0002] The humanoid spine device is characterized by its modular connection structure, including cervical, thoracic and lumbar vertebrae, to achieve multi-directional bending. Common control methods include PID control, model predictive control (MPC), adaptive control, etc.

[0003] According to literature search, the Chinese utility model patent with announcement number CN108044637B and patent number 201711437189.0 proposes a human-like spine with a chain-type connection structure, which achieves bending in different directions through the chain-type connection structure of the upper spine segment, the middle connecting seat and the lower spine segment. The main problems are insufficient waist freedom and the lack of thoracic and cervical bionic structures. In addition, the overall structural appearance is quite different from the human body, and the range of motion of the lumbar joints is also far beyond the tolerance of the human physiological structure, resulting in the movement posture of the spine being far from that of humans.

[0004] According to literature search, the Chinese invention patent application with announcement number CN111168654A and application number 202010091133.X proposes a bionic spine mechanism including multiple imitation spine rigid bodies and elastic pads, with elastic pads sandwiched between adjacent imitation spine rigid bodies, the elastic pads and the imitation spine rigid bodies are fixedly connected, and the elastic pads can be squeezed or stretched by adjacent imitation spine rigid bodies. Each imitation spine rigid body is provided with a hook and a slot, and the hook can be embedded in the slot on the adjacent imitation spine rigid body. This design enables the bionic robot spine mechanism to be installed on the bionic robot, improving the robot's movement flexibility and buffering and energy-saving performance. However, considering the deformation problem of the elastic pad under high pressure, the degree to which the bionic spine can maintain its movement function and flexibility under certain load-bearing conditions is questionable.

[0005] According to literature search, the Chinese invention patent application with announcement number CN114274138A and application number 202210027051.8 proposes a hydraulically controlled humanoid spine device, including a flexible shell, a mandrel, an end cap and a base. The flexible shell includes a first body, a second body and a third body extending along an axis. The second body is divided into a number of first units whose radius increases linearly first and then decreases linearly; the first body runs through the second body; the third body divides the space between the first body and the second body into a number of channels with fan-shaped cross-sections and intersecting both ends of the flexible shell in the circumferential direction of the flexible shell. When the liquid pressure in any channel of the flexible shell increases, the part of the second body of the flexible shell corresponding to the channel expands, and the part of the second body extends along the axial direction of the flexible shell and bends by compressing the opposite channel. This design solves the technical problem of the soft robot realizing the bending in different directions in space and the function of axial non-retractability, and has the advantages of rapidity, accuracy and high stability. However, due to the main use of flexible structures, the impact resistance of the spine is insufficient during actual work, and the load-bearing capacity is also questionable.

[0006] In view of the problems existing in the humanoid spine devices in the above-mentioned invention patents, such as insufficient load capacity and impact resistance, difficulty in more realistically imitating the curvature of the human spine, lack of kinetic energy explosion device design, single function and form, rigidity, and accuracy of spinal bending movement, the present invention proposes a modular combination humanoid spine device and control method with both energy storage and explosive power. Summary of the invention

[0007] The technical problems to be solved by the present invention are:

[0008] In order to solve the problems that the existing anthropomorphic spine structure has insufficient load and impact resistance, is difficult to imitate the real human spinal curvature, lacks kinetic energy explosion device design, and has a single function and form.

[0009] The present invention adopts the following technical solutions to solve the above technical problems:

[0010] The present invention provides a modular combined humanoid spine device with both energy storage and explosive force, including a humanoid spine device mechanical body, a total drive system and a servo drive and control system, wherein the total drive system includes a spine explosive propulsion unit and a rope-driven spine bending drive unit, wherein the rope-driven spine bending drive unit includes a spine bending drive unit integrated motor and a guide fixed pulley device,

[0011] The mechanical body of the humanoid spine device includes a whole humanoid spine composed of multiple vertebral segment units that can achieve pitch and lateral deviation. Each vertebral segment unit includes an intervertebral plate arranged in sequence from top to bottom, a convex spherical vertebral segment with a dovetail slide rail on one side, a symmetrical double concave spherical vertebral segment with a dovetail groove slide rail on both sides, a convex spherical vertebral segment with a dovetail slide rail on one side, and an intervertebral plate. The intervertebral plate is a hollow plate-like structure. The flat end of the convex spherical vertebral segment is connected to the intervertebral plate. The dovetail slide rail of the convex spherical vertebral segment The ends are engaged with the dovetail groove slides on the symmetrical double concave spherical vertebrae. The symmetrical double concave spherical vertebrae are plate-like structures. The upper and lower ends of the symmetrical double concave spherical vertebrae are provided with dovetail groove slides that match the dovetail slides on the convex spherical vertebrae. The dovetail groove slides at the upper and lower ends of the symmetrical double concave spherical vertebrae are arranged vertically or in the same direction. The lower part of the symmetrical double concave spherical vertebrae is engaged with another convex spherical vertebrae through the dovetail slide and the dovetail groove slide. The lower convex spherical vertebrae is connected to another intervertebral plate; the intervertebral plates of two adjacent vertebral segment units are fixedly connected.

[0012] The end segment unit of the entire humanoid spine is connected to the guide fixed pulley device and the integrated motor of the spine bending drive unit. The segment unit of the end of the humanoid spine is connected to the lumbar coccyx segment, and the lumbar coccyx segment is connected to the guide fixed pulley device.

[0013] The guide fixed pulley device includes a spinal rope driving bracket, a spinal driving guide rope pulley frame, a spinal driving guide rope pulley, a spinal driving guide rope pulley frame seat, a spinal bending driving unit main rope pulley and a steel wire rope, a plurality of spinal driving guide rope pulley frame seats are evenly distributed and circumferentially arranged on the lumbar coccyx segment, the spinal driving guide rope pulley frame seat includes an arc cross plate and an arc side plate below the arc plate, each arc side plate is provided with a plurality of spinal driving guide rope pulley frames, and a spinal driving guide rope pulley is provided at the end of each spinal driving guide rope pulley frame, and the spinal driving guide rope pulley is used to drive the steel wire rope The spine is guided by the spine drive guide rope wheel frame, and the spine rope drive bracket is provided on two adjacent spine drive guide rope wheel frames, and each spine rope drive bracket is connected to a spine bending drive unit integrated motor, and each spine bending drive unit integrated motor is provided with a spine bending drive unit main rope wheel, and each spine bending drive unit main rope wheel is provided with a steel wire rope, and each steel wire rope is wound on the spine bending drive unit main rope wheel, and the two ends of the steel wire rope are guided by multiple spine drive guide rope wheels, and then pass through non-adjacent preset rope holes of the lumbar coccyx segment and are connected to the humanoid spine;

[0014] The integrated motor of the spinal bending drive unit includes an integrated motor for spinal pitch drive and an integrated motor for spinal lateral deviation drive, and the integrated motor for spinal pitch drive and the integrated motor for spinal lateral deviation drive are both arranged vertically with the spinal rope drive bracket;

[0015] The spinal explosive propulsion unit comprises a lumbar coccygeal segment, a disc spring seat tube, a sliding spiral mechanism, a lumbar support, a disc spring, an electromagnetic clutch, a spinal explosive propulsion unit integrated motor, a spinal explosive propulsion unit shell and a spinal explosive propulsion unit motor shell, the sliding spiral mechanism comprises a screw and a nut, the nut's shoulder is clamped at the position where the inner diameter of the hollow of the lumbar coccygeal segment becomes smaller, the nut is sleeved on one end of the screw, and the other end of the screw is connected to the spinal explosive propulsion unit integrated motor through an electromagnetic clutch, the spinal explosive propulsion unit integrated motor is provided with a spinal explosive propulsion unit shell and a spinal explosive propulsion unit motor shell from top to bottom in sequence on the outside, the inside of the lumbar coccygeal segment and on the outer wall of the nut are sleeved with a disc spring seat tube, a disc spring is arranged in the disc spring seat tube, in the initial state, one end of the disc spring is in contact with the inner top cover of the disc spring seat tube, and the other end of the disc spring is in contact with the lumbar support member arranged in the disc spring seat tube, and the lumbar support member is sleeved outside the nut and connected to the spinal explosive propulsion unit shell;

[0016] The servo drive and control system includes a servo drive and control unit and a main control computer, which is used to plan the motion morphology instructions and motion task parameters of the humanoid spine mechanism through the main control computer, and transmit the above signals to the spinal bending drive unit integrated motor of the rope-driven spinal bending drive unit and the spinal burst propulsion unit integrated motor of the spinal burst propulsion unit for driving.

[0017] Furthermore, the entire anthropomorphic spine includes eight vertebral segment units, and the number of the vertebral drive guide pulley frames is four.

[0018] Furthermore, the lumbar coccyx segment is slidably matched with the spinal explosive propulsion unit housing, the lumbar support component is slidably matched with the disc spring seat tube and the nut respectively, and the lumbar support component, the spinal explosive propulsion unit housing and the spinal explosive propulsion unit motor housing are connected in sequence.

[0019] Furthermore, a plurality of guide rods are arranged on the lumbar coccyx segment, one end of each guide rod is fixed on the lumbar coccyx segment by a pin, and the other end of each guide rod passes through the shoulder of the spinal explosive propulsion unit housing.

[0020] Furthermore, a vertebral segment spring seat tube is provided at four corners on opposite sides of the upper and lower intervertebral plates of each vertebral segment unit, and a vertebral segment spring is provided between the two vertebral segment spring seat tubes, and a through hole is provided on the intervertebral plate corresponding to the central position of the vertebral segment spring, and the two ends of the steel wire rope passing through the rope hole on the lumbar coccyx segment respectively pass through the through holes in the central part of the vertebral segment springs on multiple vertebral segment units of the entire humanoid spine, and are fixed to the intervertebral plate above the last vertebral segment unit, each end of the steel wire rope passes through multiple vertebral segment units on the axis, and the two ends of the steel wire rope respectively pass through the through holes at the center of the diagonally arranged vertebral segment springs, so as to realize control of the entire humanoid spine.

[0021] A modular combined humanoid spine component with both energy storage and explosive force, including a plurality of humanoid spine devices connected by a spine device intermediate connector, wherein the spine device intermediate connector is used to connect the spinal explosive propulsion unit motor housing of the upper spine device and the intervertebral plate at the head end of the next spine device.

[0022] Furthermore, it also includes a secondary spinal rope transmission unit, which includes a guide wheel group and a passive rope pulley. The number of the anthropomorphic spine devices is two. The two spinal bending drive unit integrated motors of the secondary spine located above the middle connecting piece of the spinal devices in the two sets of anthropomorphic spines are arranged on the spinal rope drive bracket of the basic-level spine below, and the passive rope pulley is arranged on the spinal rope drive bracket of the secondary spine. The guide wheel group includes two rows of parallel and right-angled guide wheels, one end of each row of guide wheels is arranged on the intervertebral plates on the same axis, and the guide wheels of each row are evenly arranged, and one end of the two guide wheels in each row is arranged on a corner of the same intervertebral plate. The steel wire ropes on the two sets of anthropomorphic spine devices are guided to the through holes on each vertebral unit of the secondary anthropomorphic spine device until they are fixed to the last intervertebral plate of the last vertebral segment unit of the secondary spine.

[0023] Furthermore, after both ends of the steel wire rope wound on the main rope pulley of the spinal bending drive unit on the output shaft of the spinal pitch drive integrated motor and the spinal lateral drive integrated motor below pass through the guide wheel group, one end passes around the passive rope pulley, and successively passes through the steel wire rope of the rope hole on the lumbar coccyx segment, the through hole of the central part of the vertebral segment spring on multiple vertebral segment units of the entire humanoid spine, and is fixed on the intervertebral plate above the last vertebral segment unit; the other end of the steel wire rope passes around the spinal drive guide rope pulley frame and is guided to the through hole of the central part of the vertebral segment spring on each vertebral segment unit on the secondary vertebra until the secondary vertebra The last vertebral segment unit is fixedly connected with it; both ends of the steel wire rope wound on the main rope pulley of the vertebral bending drive unit on the output shaft of the integrated motor of the vertebral bending drive unit on the basic-level spine pass through the guide wheel group, and then pass through the rope hole on the lumbar coccyx segment; the two ends of the steel wire rope respectively pass through the through holes in the central part of the vertebral segment springs on multiple vertebral segment units of the entire basic-level spine, and are fixed on the intervertebral plate above the last vertebral segment unit of the basic-level spine, each end of the steel wire rope passes through multiple vertebral segment units on the axis, and the two ends of the steel wire rope respectively pass through the through holes at the center of the diagonally arranged vertebral segment springs.

[0024] A control method for a modular combined humanoid spine device with both energy storage and explosive power, comprising the following steps:

[0025] Position or speed sensors are respectively arranged in the integrated motor of the spinal bending drive unit of the rope-driven spinal bending drive unit and the integrated motor of the spinal burst propulsion unit, and are used to feedback the actual angular displacement and angular velocity of the integrated motor of the spinal bending drive unit and the integrated motor of the spinal burst propulsion unit when the main control computer performs position and speed feedback control on the movement of the humanoid spinal device;

[0026] When the spine explosive propulsion unit is controlled, the humanoid spine motion task planner in the main control computer plans the motion morphology instructions and motion task parameters of the humanoid spine mechanism according to the requirements of the humanoid spine explosive force release task. The humanoid spine motion task planner sends the planned humanoid spine mechanism motion morphology instructions and motion task parameters to the humanoid spine explosive force release controller. The humanoid spine explosive force release controller sends the generated operation quantity value and control instruction to the servo drive and control unit of the spine explosive propulsion unit integrated motor on the spine explosive propulsion unit. The spine explosive propulsion unit generates current or voltage as the operation quantity and steering instructions to control and drive the spinal explosive propulsion unit integrated motor to operate, and transmits motion and power to the spiral transmission mechanism through the electromagnetic clutch. After the disc spring is compressed to store energy, the electromagnetic clutch is disengaged, the disc spring releases energy, and the explosive force propels the humanoid spine forward or upward. If the disc spring is already in an energy storage state beforehand, the humanoid spine explosive force release controller controls the electromagnetic clutch to disengage, thereby releasing the explosive force.

[0027] Furthermore, when controlling the rope-driven spinal bending drive unit, the anthropomorphic spine motion task planner in the main control computer performs motion planning for a given anthropomorphic spine motion task. After obtaining the motion morphology instructions and motion parameters of the anthropomorphic spine mechanism given by the anthropomorphic spine motion task planner, the motion task controller in the main control computer calculates the control quantity of the spinal bending drive unit integrated motor of the rope-driven spinal bending drive unit and sends it to the drive and control unit of the rope-driven spinal bending drive unit. The drive and control unit of the rope-driven spinal bending drive unit calculates the motor control signal and generates the operation quantity to be applied to the integrated motor of the spinal bending drive unit to execute the motion, so as to realize the target motion state of the anthropomorphic spine device.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] The present invention proposes a modular combined humanoid spine device and control method with both energy storage and explosive power, which comprises a modular unit combined humanoid spine mechanism of intervertebral plates, convex spherical vertebral segments with slide rails, symmetrical double concave spherical vertebral segments with slideways, and spine and lumbar intervertebral plates. The convex spherical surfaces of the convex spherical vertebral segments with slide rails and the concave spherical vertebral segments with slideways are matched with each other, and the slideways are embedded with each other, that is, the embedded structure between the dovetail groove slideway and the dovetail slideway greatly improves the connection strength, rigidity, movement accuracy, impact resistance and load-bearing capacity between each humanoid spine segment; the springs on the corners of each vertebral segment can also play a role in keeping the spine in the zero position of the humanoid spine in a vertically extended state;

[0030] The present invention uses a steel wire rope transmission to realize the bending of the spine and has the ability to mitigate impact. At the same time, the energy storage and explosive force device at the tail of the humanoid spine realizes the explosive force release and the energy storage of the disc spring through the clutch of the integrated motor through the electromagnetic clutch, giving the humanoid spine mechanism the ability to store energy and release explosive force. The vertebral segment uses a concave and convex spherical slide rail to imitate the relative rotation of adjacent bone segments. Different from the existing similar bionic mechanisms, it can imitate the normal bending state of the human spine while ensuring the rigidity of the mechanical body of the humanoid spine device. The present invention uses a rigid structure to achieve the goal of imitating the flexible movement of the human spine. It is a device suitable for the design of the actual humanoid robot trunk and realizes posture adjustment while completing the complex operation of the humanoid robot trunk under a large load. In addition, the humanoid spine mechanism of the present invention can also use different modular combinations to use the basic humanoid spine as a large unit module to realize such a large unit module. Two sections, multiple sections are connected in series to form a flexible arm, a snake-like robot, etc. to realize the flexible arm to surround and grasp the target object, the snake-like robot to move in a winding manner, and other expansive motion operation functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural diagram of the humanoid spine device and the humanoid spine mechanical body in the embodiment of the present invention;

[0032] Figure 2 It is a schematic diagram of the structure of a vertebral segment in an embodiment of the present invention;

[0033] Figure 3 It is a structural schematic diagram of a guide fixed pulley device in an embodiment of the present invention;

[0034] Figure 4 It is a layout diagram of the transmission rope and the rope wheel of the output shaft of the integrated motor for pitch motion driving in an embodiment of the present invention;

[0035] Figure 5 It is a layout diagram of the transmission rope and the rope wheel of the output shaft of the integrated motor for yaw motion driving in an embodiment of the present invention;

[0036] Figure 6 It is a layout diagram of the transmission rope and the rope wheel of the output shaft of the integrated motor for pitch and yaw driving in an embodiment of the present invention;

[0037] Figure 7 It is a structural diagram of the energy storage and explosive force release driving unit of the humanoid spine device in an embodiment of the present invention;

[0038] Figure 8 It is a structural diagram of the planar motion mechanism of the human-like spine mechanism in an embodiment of the present invention;

[0039] Fig. 9 A structural diagram of two or more humanoid spine devices connected in series in an embodiment of the present invention;

[0040] Fig.10 The structure of two humanoid spine devices connected in series to form a flexible arm and a snake-like robot in the embodiment of the present invention Figure 1 ;

[0041] Fig.11 The structure of two humanoid spine devices connected in series to form a flexible arm and a snake-like robot in the embodiment of the present invention Figure 2 .

[0042] Description of reference numerals:

[0043] 1. Mechanical body of humanoid spine device; 2. Overall drive system; 3. Servo drive and control system; 1-1. Vertebral segment unit; 1-2. Intermediate connector of the spinal device; 1-3 Vertebral intersegment elastic connector; 1-1-1. Vertebral intervertebral plate; 1-1-2. Convex spherical vertebral segment; 1-1-3. Symmetrical double concave spherical vertebral segment; 1-1-4. Lumbar intervertebral plate; 1-3-1. Vertebral segment spring; 1-3-2. Vertebral segment spring seat cylinder; 2-1. Vertebral explosive propulsion unit; 2-2. Vertebral bending drive unit integrated motor; 2-3. Guide fixed pulley device; 2-4. Secondary spinal rope transmission unit; 2-1-1. Pin; 2-1-2. Lumbar coccygeal segment; 2-1-3. Disc spring seat cylinder; 2-1-4. Screw; 2-1-5. Nut; 2-1-6. Lumbar support member; 2-1-7. Disc spring; 2-1 -8, guide rod; 2-1-9, electromagnetic clutch; 2-1-10, integrated motor of spinal explosive propulsion unit; 2-1-11, shell of spinal explosive propulsion unit; 2-1-12, motor shell of spinal explosive propulsion unit; 2-2-1, integrated motor of spinal pitch drive; 2-2-2, integrated motor of spinal lateral drive; 2-3-1, spinal rope drive bracket; 2-3-2, spinal drive guide sheave frame, wherein 2-3-2-1 to 2-3-2-9 are spinal drive guide sheave frames arranged circumferentially in sequence; 2-3-3, spinal drive guide sheave; 2-3-4, spinal drive guide sheave frame seat; 2-3-5, spinal bending drive unit main sheave; 2-3-6, wire rope; 2-4-1, guide wheel group; 2-4-2, passive sheave; 3-1, servo drive and control unit; 3-2, main control computer. DETAILED DESCRIPTION

[0044] In the description of the present invention, it should be noted that the terminology nouns in the various embodiments, such as "up", "down", "front", "back", "left", "right", etc., which indicate directions, are only for simplifying the description of the positional relationship based on the drawings in the specification, and do not mean that the referred elements and devices must be operated according to the specific directions and defined operations and methods and structures in the specification. Such directional nouns do not constitute a limitation on the present invention.

[0045] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0046] Specific implementation plan 1: Combine Figures 1 to 8 As shown, the present invention provides a modular combined humanoid spine device with both energy storage and explosive force, including a humanoid spine device mechanical body 1, a total drive system 2 and a servo drive and control system 3, the total drive system 2 includes a spine explosive propulsion unit 2-1 and a rope-driven spine bending drive unit, the rope-driven spine bending drive unit includes a spine bending drive unit integrated motor 2-2 and a guide fixed pulley device 2-3;

[0047] The mechanical body 1 of the humanoid spine device includes a whole humanoid spine composed of multiple vertebral segment units 1-1 that can achieve pitch and lateral deviation. Each vertebral segment unit 1-1 includes a vertebral interbody plate 1-1-1 arranged in sequence from top to bottom, a convex spherical vertebral segment 1-1-2 with a dovetail slide rail on one side, a symmetrical double concave spherical vertebral segment 1-1-3 with a dovetail groove slide rail on both sides, a convex spherical vertebral segment 1-1-2 with a dovetail slide rail on one side and a vertebral interbody plate 1-1-1, the vertebral interbody plate 1-1-1 is a square or rectangular plate-like structure with a hollow circular or elliptical shape, and the four sides of the vertebral interbody plate 1-1-1 are all concave inwardly in an arc shape, the convex spherical vertebral segment 1-1-2 is a part of a sphere (less than or equal to a hemisphere), the plane end of the convex spherical vertebral segment 1-1-2 is connected to the vertebral interbody plate 1-1-1 by a thread, and the convex spherical vertebral segment 1-1-2 is connected to the vertebral interbody plate 1-1-1 by a thread. The dovetail slide rail end of the vertebral segment 1-1-2 is engaged with the dovetail groove slide rail on the symmetrical double concave spherical vertebral segment 1-1-3. The symmetrical double concave spherical vertebral segment 1-1-3 is a square or rectangular plate-shaped structure, and the four sides of the symmetrical double concave spherical vertebral segment 1-1-3 are all concave inwardly in an arc shape. The upper and lower ends of the symmetrical double concave spherical vertebral segment 1-1-3 are provided with dovetails matching the dovetail slide rail on the convex spherical vertebral segment 1-1-2. The dovetail groove slides at the upper and lower ends of the symmetrical double concave spherical vertebral segment 1-1-3 are arranged vertically or in the same direction. The lower part of the symmetrical double concave spherical vertebral segment 1-1-3 is engaged with another convex spherical vertebral segment 1-1-2 through a dovetail slide and a dovetail groove slide. The lower convex spherical vertebral segment 1-1-2 is connected to another intervertebral plate 1-1-1 through a threaded connection. The intervertebral plates 1-1-1 of two adjacent vertebral segment units 1-1 are connected through a threaded connection.

[0048] By engaging the dovetail rail and the dovetail groove slideway, and connecting the convex spherical surface and the concave spherical surface together as mentioned above, a part of the lateral deviation and part of the pitching movement of a vertebral segment unit 1-1 can be realized. At this time, the dovetail groove slideways at the upper and lower ends of the symmetrical double concave spherical vertebral segment 1-1-3 are vertically arranged; during assembly, the dovetail rail and the dovetail groove slideway are embedded from the end along the arc surface of the slideway to slide and assemble together, and at the same time, the convex spherical surface and the concave spherical surface are engaged together and slide relatively, thereby realizing high load capacity, high strength, high rigidity, and precise relative movement, and then realizing relative rotation between the vertebral segment units 1-1 around the dovetail slideway axis where the sphere center is located, that is, realizing sliding within the vertebral segment unit 1-1;

[0049] The entire humanoid spine can be composed of eight vertebral segments 1-1, wherein the sixth vertebral segment 1-1 and the seventh vertebral segment 1-1 are connected by a lumbar intervertebral plate 1-1-4, wherein the lumbar intervertebral plate 1-1-4 is used to distinguish the thoracic vertebrae from the lumbar vertebrae, and the lumbar intervertebral plate 1-1-4 has the same structure as the vertebral intervertebral plate 1-1-1; more segments of humanoid spine can also be combined, such as 7 cervical vertebrae, 12 thoracic vertebrae, and 5 lumbar vertebrae of the human spine, for a total of 24 segments of humanoid spine;

[0050] The cable-driven spinal bending drive unit comprises a guide fixed pulley device 2-3 connected to the terminal spinal segment unit 1-1 of the entire human-like spine and a spinal bending drive unit integrated motor 2-2.

[0051] The vertebral segment unit 1-1 at the end of the human-like vertebra is connected to the lumbar coccyx segment 2-1-2. The lumbar coccyx segment 2-1-2 is an inverted and hollow truncated cone structure. The upper truncated cone with a larger diameter of the lumbar coccyx segment 2-1-2 is connected to the vertebral segment unit 1-1 at the end of the human-like vertebra, and the lower part of the upper truncated cone with a larger diameter is connected to the guide fixed pulley device 2-3.

[0052] The guide fixed pulley device 2-3 comprises a spinal rope drive bracket 2-3-1, a spinal drive guide rope pulley frame 2-3-2, a spinal drive guide rope pulley 2-3-3, a spinal drive guide rope pulley frame seat 2-3-4, a spinal bending drive unit main rope pulley 2-3-5 and a steel wire rope 2-3-6. A plurality of spinal drive guide rope pulley frames 2-3-4 are evenly distributed and circumferentially arranged below the upper end truncated cone with a larger diameter of the lumbar coccygeal segment 2-1-2. The number of spinal drive guide rope pulley frames 2-3-4 is preferably 2. The spinal drive guide rope pulley frame seat 2-3-4 and the spinal rope drive bracket 2-3-1 are connected to each other. -3-1, two each, and are evenly arranged in an alternating manner in the order of 2-3-1, 2-3-4, 2-3-1, and 2-3-4. The vertebral drive guide rope pulley frame seat 2-3-4 includes an arc cross plate that fits the lower end surface of the upper end frustum with a larger diameter and an arc side plate below the arc plate. Each arc side plate is provided with a plurality of vertebral drive guide rope pulley frames 2-3-2. The end of each vertebral drive guide rope pulley frame 2-3-2 is connected to a vertebral drive guide rope pulley 2-3-3 through a bearing. The guide directions of the plurality of vertebral drive guide rope pulleys 2-3-3 located on the same arc side plate are arranged according to Figures 4 to 6 The guiding process of the steel wire rope 2-3-6 is designed to be in the corresponding direction. A spine rope driving bracket 2-3-1 is provided on two adjacent spine driving guide rope pulley frames 2-3-4. Each spine rope driving bracket 2-3-1 is connected to a spine bending driving unit integrated motor 2-2 through a thread. Each spine bending driving unit integrated motor 2-2 is provided with a spine bending driving unit main rope pulley 2-3-5. Each spine bending driving unit main rope pulley 2-3-5 is provided with a steel wire rope 2-3-6. Each steel wire rope 2-3-6 is fixedly wound on the spine bending driving unit main rope pulley 2-3-5, and both ends pass through a plurality of spine driving After being guided by the moving guide rope wheel 2-3-3, it passes through the non-adjacent preset rope holes of the lumbar coccyx segment 2-1-2 and is connected to the humanoid spine. Each end of the steel wire rope 2-3-6 passes through the lumbar coccyx segment 2-1-2 and each vertebral segment unit 1-1 of the entire humanoid spine in turn, and is fixed on the topmost vertebral segment unit 1-1, so as to realize the connection between the guide fixed pulley device 2-3 and the entire humanoid spine. The lumbar coccyx segment 2-1-2 is evenly provided with a total of four rope holes, and the non-adjacent rope holes are combined in pairs, that is, two diagonal rope holes are grouped together, and the two ends of the steel wire rope 2-3-6 for controlling the pitch and yaw of the mechanical body 1 of the humanoid spine device are respectively passed through here;

[0053] The spinal bending drive unit integrated motor 2-2 includes a spinal pitch drive integrated motor 2-2-1 and a spinal lateral drive integrated motor 2-2-2, wherein the spinal pitch drive integrated motor 2-2-1 and the spinal lateral drive integrated motor 2-2-2 have the same orientation and are both vertically arranged with the spinal rope drive bracket 2-3-1;

[0054] The spinal explosive propulsion unit 2-1 includes a pin 2-1-1, a lumbar coccygeal segment 2-1-2, a disc spring seat tube 2-1-3, a sliding spiral mechanism or a rolling spiral mechanism, a lumbar support 2-1-6, a disc spring 2-1-7, a guide rod 2-1-8, an electromagnetic clutch 2-1-9, a spinal explosive propulsion unit integrated motor 2-1-10, a spinal explosive propulsion unit housing 2-1-11 and a spinal explosive propulsion unit motor housing 2-1-12, and the sliding spiral mechanism includes a screw 2-1-4 and The nut 2-1-5, the rolling screw mechanism includes a ball, the shoulder of the nut 2-1-5 is clamped at the position where the inner diameter of the hollow lumbar coccyx segment 2-1-2 becomes smaller, the nut 2-1-5 is sleeved on one end of the screw 2-1-4, the other end of the screw 2-1-4 is connected to the spinal burst propulsion unit integrated motor 2-1-10 through an electromagnetic clutch 2-1-9, and the outside of the spinal burst propulsion unit integrated motor 2-1-10 is provided with a spinal burst propulsion unit housing 2-1 in sequence from top to bottom. -11 and the motor housing 2-1-12 of the spinal explosive propulsion unit, the inner part of the lumbar coccyx segment 2-1-2 and the outer wall of the nut 2-1-5 are sleeved with a disc spring seat tube 2-1-3, and a disc spring 2-1-7 is arranged in the disc spring seat tube 2-1-3. In the initial state, one end of the disc spring 2-1-7 is in contact with the inner top cover of the disc spring seat tube 2-1-3, and the other end of the disc spring 2-1-7 is in contact with the lumbar support 2-1-6 arranged in the disc spring seat tube 2-1-3. The lumbar support 2-1-6 is sleeved outside the nut 2-1-5 and connected to the spinal explosive propulsion unit housing 2-1-11; the lumbar coccyx segment 2-1-2 is slidably matched with the spinal explosive propulsion unit housing 2-1-11, and the lumbar support 2-1-6 is slidably matched with the disc spring seat tube 2-1-3 and the nut 2-1-5 respectively. The lumbar support 2-1-6, the spinal explosive propulsion unit housing 2-1-11 and the spinal explosive propulsion unit motor housing 2-1-12 are connected in sequence by threads.

[0055] A plurality of guide rods 2-1-8 are arranged on the upper circular platform with a larger diameter of the lumbar coccyx segment 2-1-2, one end of each guide rod 2-1-8 is fixed to the lumbar coccyx segment 2-1-2 by a pin 2-1-1, and the other end of each guide rod 2-1-8 passes through the shoulder of the spinal explosive propulsion unit shell 2-1-11, and a distance is left with the end of the spinal explosive propulsion unit shell 2-1-11, without contact; preferably, the number of guide rods 2-1-8 is 4, and they are evenly distributed;

[0056] In the energy storage stage, the integrated motor 2-1-10 of the spine explosive propulsion unit drives the screw 2-1-4 to rotate, thereby driving the nut 2-1-5, the disc spring seat tube 2-1-3 and the lumbar coccyx segment 2-1-2 sleeved on the screw 2-1-4 to move downward, compressing the disc spring 2-1-7 to achieve energy storage; in the explosive propulsion stage, the electromagnetic clutch 2-1-9 is powered off, releasing the restriction of the integrated motor 2-1-10 of the spine explosive propulsion unit on the screw 2-1-4, that is, releasing the restriction on the compression of the disc spring 2-1-7, and the disc spring 2-1-7 returns to its initial state, driving the nut 2-1-5, the disc spring seat tube 2-1-3 and the lumbar coccyx segment 2-1-2 to move upward to achieve energy release. At this time, the screw 2-1-4 is in a rotating state;

[0057] The servo drive and control system includes a servo drive and control unit 3-1 and a main control computer 3-2. The servo drive and control system includes three single-axis servo drives and control units 3-1 with industrial Ethernet bus interfaces or an integrated four-axis servo drive and control unit 3-1 and a power supply. The spinal bending drive unit integrated motor 2-2 and the spinal explosive propulsion unit integrated motor 2-1-10 are servo motors with integrated position / speed sensors (such as photoelectric encoders, etc.), reducers and even electromagnetic brakes.

[0058] The four corners of the two vertebral intervertebral plates 1-1-1 on the upper and lower sides of each vertebral segment unit 1-1 are provided with vertebral segment spring seat tubes 1-3-2, and a vertebral segment spring 1-3-1 is provided between the two vertebral segment spring seat tubes 1-3-2. A through hole is provided on the vertebral intervertebral plate 1-1-1 corresponding to the central position of the vertebral segment spring, and the steel wire rope 2-3-6 for traction can pass through the through hole of the central part of the vertebral segment spring 1-3-1 to realize the control of the entire humanoid spine. The steel wire rope 2-3-6 is fixedly coiled around the main rope pulley 2-3-5 of the vertebral bending drive unit of the guide fixed pulley device 2-3, and the two ends respectively pass through the relative rope holes of the lumbar coccygeal segment 2-1-2, and then pass through the through holes on the vertebral intervertebral plates 1-1-1 of the two rows of vertebral segment units 1-1 on the opposite side, and finally connected with the vertebral intervertebral plate 1-1-1 at the highest position of the end vertebral segment unit 1-1 of the humanoid spine. There are two steel wire ropes 2-3-6 connected in this way, corresponding to two sets of guide fixed pulley devices 2-3 for realizing the lateral and pitch freedom of the simulated human spine.

[0059] Combination Figures 3 to 6As shown, in the human-like spine lateral deviation and pitch motion drive system, in the transmission of the wire rope 2-3-6, the wire rope 2-3-6 fixed and wound on a point on the main rope pulley 2-3-5 of the spine bending drive unit fixedly connected to the output shaft of the spine pitch drive integrated motor 2-2-1 is guided into the through holes on each of the 8 segments (the total number of segments can also be less than 8 or more) of the spine segment unit 1-1 through the fixed pulley groups 2-3-2-1, 2-3-2-2, 2-3-2-3, 2-3-2-4 and 2-3-2-5 installed in different directions and passes through until it is fixed to the last segment unit 1-1. The reversing transmission on the spine drive guide rope pulley 2-3-3, combined with Figure 6 As shown, one end of the steel wire rope 2-3-6 led out from the main rope wheel 2-3-5 of the spine bending drive unit is directly guided to the spine drive guide rope wheel 2-3-3 on the spine drive guide rope wheel frame 2-3-2-6 and 2-3-2-8 and connected to the humanoid spine. Figure 4 As shown, the other end of the steel wire rope 2-3-6 pulled by the spine pitch drive integrated motor 2-2-1 passes through the spine drive guide rope pulley frames 2-3-2-1, 2-3-2-2, 2-3-2-3, 2-3-2-4 and 2-3-2-5 respectively to enter the opposite side of the spine drive guide rope pulley frame 2-3-2-6 and connect with the humanoid spine; Figure 5 As shown, the other end of the steel wire rope 2-3-6 pulled by the integrated motor 2-2-2 for driving scoliosis is guided by the spine drive guide rope pulley frames 2-3-2-7, 2-3-2-1, 2-3-2-2 and 2-3-2-9 and then connected to the humanoid spine.

[0060] Specific implementation plan 2: Combined Fig. 9 and Fig.10 As shown, the present invention provides a modular combined humanoid spine component with both energy storage and explosive force, including multiple humanoid spine devices connected by a spine device intermediate connector 1-2, wherein the spine device intermediate connector 1-2 is a hollow disc-shaped structure, and the spine device intermediate connector 1-2 is used to connect the spine explosive propulsion unit motor housing 2-1-12 of the previous spine device and the vertebral intervertebral plate 1-1-1 at the head end of the next spine device. In this embodiment, two or more of the aforementioned humanoid spine devices can be connected in series, which can be used as a mechanical simulation of the human spine, or as a flexible arm or snake-like robot.

[0061] The other combinations and connection relationships of this embodiment are the same as those of the first embodiment.

[0062] Specific implementation plan three: Combined Fig.11As shown, different from the specific implementation scheme two, it also includes a secondary spinal rope transmission unit 2-4, and the secondary spinal rope transmission unit 2-4 includes a guide wheel group 2-4-1 and a passive rope pulley 2-4-2. The two spinal bending drive unit integrated motors 2-2 of the upper secondary spine originally located on the middle connecting piece 1-2 of the spinal device in the two sets of anthropomorphic spines are moved to the spinal rope drive bracket 2-3-1 of the lower basic level spine, and a passive rope pulley 2-4-2 is arranged at the position of the spinal drive spinal rope drive bracket 2-3-1 of the secondary spine. The guide wheel group 2-4-1 includes two rows of parallel and right-angled guide wheels, one end of each row of guide wheels is arranged on the spinal interosseous plate 1-1-1 on the same axis, and the guide wheels of each row are evenly arranged, one end of the two guide wheels of each row are arranged on a corner of the same spinal interosseous plate 1-1-1, and the two rows of guide wheel groups 2-4-1 and the spinal rope drive bracket 2-3-1 of the secondary anthropomorphic spine device are respectively at the same corner. During the implementation process, the integrated motors for the lateral and pitch bending drive units originally located on the secondary spine (including two integrated motors for lateral and pitch bending drive) are placed below the integrated motors for the lateral and pitch bending drive units originally located in the basic-level anthropomorphic spine device, and the two integrated motors for the spinal bending drive units 2-2 are directly guided by the guide wheel group 2-4-1 in the secondary spine rope transmission unit 2-4 to directly guide the steel wire rope 2-3-6 into the through holes on each vertebral segment unit 1-1 of the secondary anthropomorphic spine device until they are fixed to the topmost vertebral segment unit 1-1 of the secondary spine. In this case, the wire rope 2-3-6 wound on the main rope pulley 2-3-5 of the spinal bending drive unit on the output shaft of the integrated motor 2-2 of the spinal bending drive unit driving the secondary spinal device is directly passed through the guide wheel group 2-4-1 at both ends, and one end is passed around the passive rope pulley 2-4-2 installed on the output shaft of the integrated motor 2-2 of the spinal bending drive unit originally used to drive the basic spinal bending, similar to the basic spinal mechanism, and after being guided by the guide fixed pulley device 2-3, it is connected to the mechanical body 1 of the humanoid spinal device of the secondary spine in accordance with the basic The other end of the steel wire rope 2-3-6 is also the same as the basic-level humanoid spine device mechanical body 1, and after bypassing the spine drive guide rope pulley frame 2-3-2-6, it is guided to the through holes of each vertebral segment unit 1-1 on the secondary humanoid spine device until it reaches the last vertebral interosseous plate 1-1-1 of the last vertebral segment unit 1-1 of the secondary humanoid spine and is fixedly connected thereto; the spinal bending drive unit integrated motor 2-2 on the basic-level spine is the same as that of a single spinal device, realizing the control of the pitch and lateral deviation of the basic-level spine.

[0063] The other combinations and connection relationships of this embodiment are the same as those of the second embodiment.

[0064] Specific embodiment 3: A control method of a modular combined humanoid spine device with both energy storage and explosive power according to the present invention comprises the following steps:

[0065] The position / speed sensors are respectively arranged in the spinal bending drive unit integrated motor 2-2 of the rope-driven spinal bending drive unit and the spinal burst propulsion unit integrated motor 2-1-10 of the spinal burst propulsion unit 2-1, and are used for feeding back the actual angular displacement and angular velocity of the spinal bending drive unit integrated motor 2-2 and the spinal burst propulsion unit integrated motor 2-1-10 when the main control computer 3-2 (i.e., the main controller) performs position and speed feedback control on the humanoid spinal movement;

[0066] When controlling the spine explosive propulsion unit 2-1, the humanoid spine motion task planner in the main control computer 3-2 plans the motion morphology instructions (such as arched torso shape) and motion task parameters of the humanoid spine mechanism according to the requirements of the humanoid spine explosive force release task. The humanoid spine motion task planner sends the planned humanoid spine mechanism motion morphology instructions and motion task parameters to the humanoid spine explosive force release controller, and the humanoid spine explosive force release controller sends the generated operation value and control instruction to the servo drive and control unit of the spine explosive propulsion unit integrated motor 2-1-10 on the spine explosive propulsion unit. Element 3-1, the current or voltage as the operating quantity and the steering command generated by the spine explosive propulsion unit control and drive the operation of the spine explosive propulsion unit integrated motor 2-1-10, and the movement and power are transmitted to the spiral transmission mechanism through the electromagnetic clutch 2-1-9. After the disc spring 2-1-7 is compressed and stored with energy, the electromagnetic clutch 2-1-9 is disengaged, and the disc spring 2-1-7 releases energy, and the explosive force propels the humanoid spine forward or upward; if the disc spring 2-1-7 is already in an energy storage state beforehand, the humanoid spine explosive force release controller controls the electromagnetic clutch 2-1-9 to disengage, and the explosive force can be released;

[0067] When controlling the rope-driven spinal bending drive unit, the humanoid spine motion task planner in the main control computer 3-2 performs motion planning for a given humanoid spine motion task (S-shaped bending motion, trunk or spine arching to release explosive force, and encircling and grabbing when used as a flexible arm). After obtaining the motion morphology instructions and motion parameters of the humanoid spine mechanism given by the humanoid spine motion task planner, the motion task controller in the main control computer 3-2 calculates the control quantity of the spinal bending drive unit integrated motor 2-2 of the rope-driven spinal bending drive unit and sends it to the servo drive and control unit 3-1 of the rope-driven spinal bending drive unit. The servo drive and control unit 3-1 of the rope-driven spinal bending drive unit calculates the motor control signal and generates an operating quantity (current or voltage) which is applied to the spinal bending drive unit integrated motor 2-2 to execute motion, so as to achieve the target motion state of the humanoid spine device.

[0068] Driven by the integrated motor 2-2-1 for spine pitch drive and the integrated motor 2-2-2 for spine lateral drive, the main rope pulley 2-3-5 of the spine bending drive unit drives the steel wire rope 2-3-6, and after being adjusted by the spine drive guide rope pulley 2-3-3, the steel wire rope 2-3-6 can pass through the entire humanoid spine; under the traction of the steel wire rope 2-3-6, the humanoid spine can be bent in the direction of the steel wire rope 2-3-6; when the integrated motor 2-2 of the spine bending drive unit rotates in the reverse direction, the other side of the humanoid spine is subjected to the tension of the steel wire rope 2-3-6 at the other end, thereby moving in the reverse direction together with the integrated motor 2-2 of the spine bending drive unit.

[0069] Combination Figure 8 As shown, the aforementioned humanoid spine device is regarded as a two-dimensional mechanism. At this time, only one integrated motor 2-2 of the spinal bending drive unit needs to be considered. At the same time, the mechanism of the aforementioned humanoid spine device can be kept unchanged, but the integrated motor 2-2 of the spinal bending drive unit that drives one of the two movements of pitch or lateral deviation in the drive system of the aforementioned humanoid spine device needs to be in a torque-stopped state (this can be achieved by the main control computer 3-2 and the servo drive and control unit 3-1 sending a stop command with a holding torque); in addition, the dovetail groove slides of all symmetrical double concave spherical vertebrae 1-1-3 and the dovetail slides on the convex spherical vertebrae 1-1-2 can also be installed in the same direction, that is, it evolves into a planar spinal mechanism with consistent bending directions of all spinal segment units 1-1, so that all spinal segment units 1-1 can rotate simultaneously corresponding to one of the pitch or lateral deviation of the spine to achieve higher flexibility.

[0070] The other combinations and connection relationships of this embodiment are the same as those of the specific embodiment one or two.

[0071] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A modular combined humanoid spine device with both energy storage and explosive power, characterized in that: The invention comprises a humanoid spine device mechanical body (1), a total drive system (2) and a servo drive and control system (3), wherein the total drive system (2) comprises a spine explosive propulsion unit (2-1) and a rope-driven spine bending drive unit, wherein the rope-driven spine bending drive unit comprises a spine bending drive unit integrated motor (2-2) and a guide fixed pulley device (2-3), The mechanical body (1) of the humanoid spine device comprises a whole humanoid spine which is composed of a plurality of vertebral segment units (1-1) and can realize pitch and lateral deviation. Each vertebral segment unit (1-1) comprises a vertebral interbody plate (1-1-1) arranged in sequence from top to bottom, a convex spherical vertebral segment (1-1-2) with a dovetail slide rail on one side, a symmetrical double concave spherical vertebral segment (1-1-3) with a dovetail groove slide rail on both sides, a convex spherical vertebral segment (1-1-2) with a dovetail slide rail on one side, and a vertebral interbody plate (1-1-1). The vertebral interbody plate (1-1-1) is a hollow plate-like structure. The plane end of the convex spherical vertebral segment (1-1-2) is connected to the vertebral interbody plate (1-1-1). The dovetail slide rail of the convex spherical vertebral segment (1-1-2) is connected to the plane end of the vertebral interbody plate (1-1-1). The ends of the symmetrical biconcave spherical vertebrae (1-1-3) are engaged with the dovetail groove slide on the symmetrical biconcave spherical vertebrae (1-1-3), the symmetrical biconcave spherical vertebrae (1-1-3) is a plate-like structure, and the upper and lower ends of the symmetrical biconcave spherical vertebrae (1-1-3) are provided with dovetail groove slides matching the dovetail slide on the convex spherical vertebrae (1-1-2), the dovetail groove slides at the upper and lower ends of the symmetrical biconcave spherical vertebrae (1-1-3) are arranged vertically or in the same direction, the lower part of the symmetrical biconcave spherical vertebrae (1-1-3) is engaged with another convex spherical vertebrae (1-1-2) through the dovetail slide and the dovetail groove slide, and the lower convex spherical vertebrae (1-1-2) is connected to another intervertebral plate (1-1-1); the intervertebral plates (1-1-1) of two adjacent vertebral segment units (1-1) are fixedly connected, The entire humanoid spine terminal segment unit (1-1) is connected to a guide fixed pulley device (2-3) and a spinal bending drive unit integrated motor (2-2); the humanoid spine terminal segment unit (1-1) is connected to a lumbar coccyx segment (2-1-2); the lumbar coccyx segment (2-1-2) is connected to a guide fixed pulley device (2-3); The guide fixed pulley device (2-3) comprises a spinal rope drive bracket (2-3-1), a spinal drive guide rope pulley frame (2-3-2), a spinal drive guide rope pulley (2-3-3), a spinal drive guide rope pulley frame seat (2-3-4), a spinal bending drive unit main rope pulley (2-3-5) and a steel wire rope (2-3-6); a plurality of spinal drive guide rope pulley frame seats (2-3-4) are evenly distributed and circumferentially arranged on the lumbar coccygeal segment (2-1-2); the spinal drive guide rope pulley frame seat (2-3-4) comprises an arc cross plate and an arc side plate below the arc plate; each arc side plate is provided with a plurality of spinal drive guide rope pulley frames (2-3-2); a spinal drive guide rope pulley (2-3-3) is provided at the end of each spinal drive guide rope pulley frame (2-3-2); the spinal drive guide rope pulley (2-3-3) is used to control the steel wire rope (2-3-6) for guidance, two adjacent spine drive guide rope pulley frames (2-3-4) are provided with spine rope drive brackets (2-3-1), each spine rope drive bracket (2-3-1) is connected to a spine bending drive unit integrated motor (2-2), each spine bending drive unit integrated motor (2-2) is provided with a spine bending drive unit main rope pulley (2-3-5), each spine bending drive unit main rope pulley (2-3-5) is provided with a steel wire rope (2-3-6), each steel wire rope (2-3-6) is wound around the spine bending drive unit main rope pulley (2-3-5), and both ends of the steel wire rope (2-3-6) are guided by multiple spine drive guide rope pulleys (2-3-3), and then pass through non-adjacent preset rope holes of the lumbar coccyx segment (2-1-2) and are connected to the humanoid spine; The spinal bending drive unit integrated motor (2-2) comprises a spinal pitch drive integrated motor (2-2-1) and a spinal lateral deviation drive integrated motor (2-2-2), and the spinal pitch drive integrated motor (2-2-1) and the spinal lateral deviation drive integrated motor (2-2-2) are both arranged vertically with the spinal rope drive bracket (2-3-1); The spinal explosive propulsion unit (2-1) comprises a lumbar coccygeal segment (2-1-2), a disc spring seat tube (2-1-3), a sliding spiral mechanism, a lumbar support member (2-1-6), a disc spring (2-1-7), an electromagnetic clutch (2-1-9), a spinal explosive propulsion unit integrated motor (2-1-10), a spinal explosive propulsion unit housing (2-1-11) and a spinal explosive propulsion unit motor housing (2-1-12); the sliding spiral mechanism comprises a screw rod (2-1-4) and a nut (2-1-5); the nut (2-1-5) has a shoulder connected to a position where the inner diameter of the hollow of the lumbar coccygeal segment (2-1-2) becomes smaller; the nut (2-1-5) is sleeved on one end of the screw rod (2-1-4); the other end of the screw rod (2-1-4) is connected to the spinal explosive propulsion unit integrated motor (2-1-10) through an electromagnetic clutch (2-1-9). The spinal explosive propulsion unit integrated motor (2-1-10) is connected, the outside of which is provided with a spinal explosive propulsion unit housing (2-1-11) and a spinal explosive propulsion unit motor housing (2-1-12) in sequence from top to bottom; a disc spring seat tube (2-1-3) is sleeved on the inner part of the lumbar coccyx segment (2-1-2) and located on the outer wall of the nut (2-1-5); a disc spring (2-1-7) is arranged in the disc spring seat tube (2-1-3); in an initial state, one end of the disc spring (2-1-7) contacts with the inner top cover of the disc spring seat tube (2-1-3); the other end of the disc spring (2-1-7) contacts with a lumbar support member (2-1-6) arranged in the disc spring seat tube (2-1-3); the lumbar support member (2-1-6) is sleeved outside the nut (2-1-5) and connected to the spinal explosive propulsion unit housing (2-1-11); The servo drive and control system comprises a servo drive and control unit (3-1) and a main control computer (3-2), which is used to plan the motion form instructions and motion task parameters of the humanoid spine mechanism through the main control computer (3-2), and transmit the above signals to the spine bending drive unit integrated motor (2-2) of the rope-driven spine bending drive unit and the spine burst propulsion unit integrated motor (2-1-10) of the spine burst propulsion unit (2-1) for driving.

2. According to claim 1, a modular combined humanoid spine device with both energy storage and explosive power, characterized in that: The entire humanoid spine comprises eight vertebral segment units (1-1), and the number of the vertebral drive guide rope pulley frames (2-3-4) is four.

3. According to claim 1, a modular combined humanoid spine device with both energy storage and explosive power, characterized in that: The lumbar coccyx segment (2-1-2) is slidably matched with the spinal explosive propulsion unit housing (2-1-11), the lumbar support member (2-1-6) is slidably matched with the disc spring seat tube (2-1-3) and the nut (2-1-5), respectively, and the lumbar support member (2-1-6), the spinal explosive propulsion unit housing (2-1-11) and the spinal explosive propulsion unit motor housing (2-1-12) are connected in sequence.

4. According to claim 3, a modular combined humanoid spine device with both energy storage and explosive power is characterized by: A plurality of guide rods (2-1-8) are provided on the lumbar coccygeal segment (2-1-2), one end of each guide rod (2-1-8) is fixed to the lumbar coccygeal segment (2-1-2) via a pin (2-1-1), and the other end of each guide rod (2-1-8) passes through the shoulder of the spinal explosive propulsion unit housing (2-1-11).

5. According to claim 4, a modular combined humanoid spine device with both energy storage and explosive power, characterized in that: The four corners of the two opposite sides of the upper and lower intervertebral plates (1-1-1) of each vertebral segment unit (1-1) are provided with vertebral segment spring seat cylinders (1-3-2), and a vertebral segment spring (1-3-1) is provided between the two vertebral segment spring seat cylinders (1-3-2). A through hole is provided at the center position of the intervertebral plate (1-1-1) corresponding to the vertebral segment spring (1-3-1), and the two ends of the steel wire rope (2-3-6) passing through the rope hole on the lumbar coccyx segment (2-1-2) respectively pass through the entire anthropomorphic After passing through the through hole in the center of the vertebral segment spring (1-3-1) on the multiple vertebral segment units (1-1) of the spine, it is fixed on the intervertebral plate (1-1-1) above the last vertebral segment unit (1-1), each end of the steel wire rope (2-3-6) passes through the multiple vertebral segment units (1-1) on the axis, and the two ends of the steel wire rope (2-3-6) respectively pass through the through hole at the center of the diagonally arranged vertebral segment spring (1-3-1), so as to realize the control of the entire humanoid spine.

6. A modular combined humanoid spine component with both energy storage and explosive power, characterized in that: The present invention comprises a plurality of humanoid spinal devices as described in any one of claims 1 to 5 connected via a spinal device intermediate connector (1-2), wherein the spinal device intermediate connector (1-2) is used to connect a spinal explosive propulsion unit motor housing (2-12) of an upper spinal device and a spinal intervertebral plate (1-1-1) at the head end of a lower spinal device.

7. The modular combined humanoid spine component with both energy storage and explosive power according to claim 6, characterized in that: It also includes a secondary spine rope transmission unit (2-4), the secondary spine rope transmission unit (2-4) includes a guide wheel group (2-4-1) and a passive rope wheel (2-4-2), the number of the humanoid spine devices is two, the two spine bending drive unit integrated motors (2-2) of the secondary spine located above the spine device intermediate connector (1-2) in the two sets of humanoid spines are arranged on the spine rope drive bracket (2-3-1) of the basic level spine below, and the passive rope wheel (2-4-2) is arranged on the spine rope drive bracket (2-3-1) of the secondary spine, The guide wheel group (2-4-1) comprises two parallel rows of guide wheels which are arranged at right angles, one end of each row of guide wheels is arranged on a vertebral intervertebral plate (1-1-1) on the same axis, and the guide wheels in each row are evenly arranged, one end of the two guide wheels in each row is arranged on a corner of the same vertebral intervertebral plate (1-1-1), and the steel wire ropes (2-3-6) on the two sets of humanoid spine devices are guided to the through holes on each vertebral unit of the secondary humanoid spine device until they are fixed to the end vertebral intervertebral plate (1-1-1) of the end vertebral unit (1-1) of the secondary spine.

8. The modular combined humanoid spine component with both energy storage and explosive power according to claim 6, characterized in that: After both ends of the steel wire rope (2-3-6) wound on the main rope pulley (2-3-5) of the spinal bending drive unit located on the output shaft of the spinal pitch drive integrated motor (2-2-1) and the spinal lateral drive integrated motor (2-2-2) pass through the guide wheel group (2-4-1), one end of the steel wire rope (2-3-6) passes through the passive rope pulley (2-4-2), passes through the rope hole of the lumbar coccyx segment (2-1-2) in sequence, and passes through the through hole of the central part of the spinal segment spring (1-3-1) on the multiple spinal segment units (1-1) of the entire human-like spine, and is fixed on the spinal intervertebral plate (1-1-1) above the last spinal segment unit (1-1); the other end of the steel wire rope (2-3-6) passes through the spinal drive guide rope pulley frame (2-3-2) and is guided to the through hole of the central part of the spinal segment spring (1-3-1) on each spinal segment unit (1-1) on the secondary spine until it passes through the spinal drive guide rope pulley frame (2-3-2) until it passes through the spinal drive guide rope pulley frame (2-3-2) and passes through the spinal segment spring (1-3-1) on each spinal segment unit (1-1) on the secondary spine until it passes through the spinal drive guide rope pulley frame (2-3-2) in the spinal drive guide rope pulley frame (2-3-2). The invention relates to a method for providing a plurality of vertebral segments (1-1) at the end of the basic spine and fixedly connected thereto; the two ends of the steel wire rope (2-3-6) wound on the main rope pulley (2-3-5) of the vertebral bending drive unit on the output shaft of the integrated motor (2-2) of the vertebral bending drive unit on the basic spine are passed through the guide wheel group (2-4-1), and then passed through the rope hole on the lumbar coccyx segment (2-1-2); the two ends of the steel wire rope (2-3-6) are passed through the through holes in the central part of the vertebral segment springs (1-3-1) on the multiple vertebral segments (1-1) of the entire basic spine, and then fixed on the intervertebral plate (1-1-1) above the vertebral segment unit (1-1) at the end of the basic spine, each end of the steel wire rope (2-3-6) passes through the multiple vertebral segment units (1-1) on the axis, and the two ends of the steel wire rope (2-3-6) are passed through the through holes at the center of the diagonally arranged vertebral segment springs (1-3-1).

9. A control method for a modular combined humanoid spine device with both energy storage and explosive power, characterized in that: The following steps are involved: Position or speed sensors are respectively arranged in the spinal bending drive unit integrated motor (2-2) of the rope-driven spinal bending drive unit and the spinal burst propulsion unit integrated motor (2-1-10) of the spinal burst propulsion unit (2-1), and are used to feed back the actual angular displacement and angular velocity of the spinal bending drive unit integrated motor (2-2) and the spinal burst propulsion unit integrated motor (2-1-10) when the main control computer (3-2) performs position and speed feedback control on the movement of the humanoid spinal device; When the spine explosive propulsion unit (2-1) is controlled, the humanoid spine motion task planner in the main control computer (3-2) plans the motion morphology instructions and motion task parameters of the humanoid spine mechanism according to the requirements of the humanoid spine explosive force release task. The humanoid spine motion task planner sends the planned motion morphology instructions and motion task parameters of the humanoid spine mechanism to the humanoid spine explosive force release controller. The humanoid spine explosive force release controller sends the generated operation value and control instruction to the servo drive and control unit (3-1) of the spine explosive propulsion unit integrated motor (2-1-10) on the spine explosive propulsion unit (2-1). The vertebral explosive propulsion unit (2-1) generates a current or voltage as an operating quantity and a steering command to control and drive the integrated motor (2-1-10) of the vertebral explosive propulsion unit to operate, and transmits motion and power to the spiral transmission mechanism through the electromagnetic clutch (2-1-9). After the disc spring (2-1-7) is compressed and stores energy, the electromagnetic clutch (2-1-9) is disengaged, the disc spring (2-1-7) releases energy, and the explosive force propels the humanoid spine to move forward or upward; if the disc spring (2-1-7) is already in an energy storage state beforehand, the humanoid spine explosive force release controller controls the electromagnetic clutch (2-1-9) to disengage, thereby releasing the explosive force.

10. The control method of the modular combined humanoid spine device with both energy storage and explosive power according to claim 9, characterized in that: When controlling the rope-driven spinal bending drive unit, the humanoid spine motion task planner in the main control computer (3-2) performs motion planning for a given humanoid spine motion task. After obtaining the motion morphology instruction and motion parameters of the humanoid spine mechanism given by the humanoid spine motion task planner, the motion task controller in the main control computer (3-2) calculates the control quantity of the spinal bending drive unit integrated motor (2-2) of the rope-driven spinal bending drive unit and sends it to the driving and control unit of the rope-driven spinal bending drive unit. The driving and control unit of the rope-driven spinal bending drive unit calculates the motor control signal and generates the operation quantity, which is applied to the spinal bending drive unit integrated motor (2-2) to execute the motion, so as to realize the target motion state of the humanoid spine device.

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