Modular combined energy storage and explosive power humanoid spinal device and control method

Abstract

The application provides a modular combined human-like spine device with energy storage and explosive force and a control method, and belongs to the field of human-like spine. In order to solve the problems of insufficient load, impact resistance, difficulty in simulating the real spine curvature of human beings, lack of design of kinetic energy explosion device, and single function and shape of the existing human-like spine structure, the application can realize three movements of pitching, yawing and explosive force propulsion, which are respectively controlled by a master computer, three single-axis or an integrated four-axis servo drive and control unit through industrial Ethernet connection to realize S-shaped, arbitrary bending movement and forward or upward explosive force propulsion movement of the spine, and have different combination modes, large load, strong impact resistance, high stiffness and precise movement ability; in addition, the human-like spine device based on the above structure and the device combined by different combination modes of the human-like spine device can be used as the spine of the trunk of a human-like robot and a flexible arm, a snake robot, respectively.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of humanoid spine, in particular to a modular combined humanoid spine device with energy storage and explosive force and a control method. BACKGROUND

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

[0003] According to literature retrieval, the Chinese invention patent application with patent number 201711437189.0 and publication number CN108044637B proposes a chain type connection structure of humanoid spine, which realizes bending in different directions through the chain type connection structure of the upper spine segment, the intermediate connecting seat and the lower spine segment. The main problems are the lack of lumbar freedom and the absence of thoracic and cervical spine bionic structure. Moreover, the overall structure appearance is quite different from the human body appearance, and the joint activity range of the lumbar vertebrae is also greatly beyond the bearing capacity of human physiological structure, resulting in a great difference between the motion posture of the spine and that of human beings.

[0004] According to literature retrieval, the Chinese invention patent application with publication number CN111168654A and application number 202010091133.X proposes a bionic spine mechanism including a plurality of imitation spine rigid bodies and elastic pads, the elastic pads are clamped between adjacent imitation spine rigid bodies, the elastic pads are fixedly connected with the imitation spine rigid bodies, and the elastic pads can be extruded 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 into 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 motion flexibility and energy-saving performance of the robot. However, considering the deformation problem of the elastic pad under high pressure, the motion function and flexibility of the bionic spine under certain bearing conditions are questionable.

[0005] According to literature retrieval, the Chinese invention patent application with publication number CN114274138A and application number 202210027051.8 proposes a liquid-controlled humanoid spine device, which comprises a flexible shell, a mandrel, an end cap and a base. The flexible shell comprises a first body, a second body and a third body extending along an axis. The second body is divided into a plurality of first units with a first linear increase in radius and then a second linear decrease. The first body penetrates the second body. The third body divides the space between the first body and the second body into a plurality of channels in the circumferential direction of the flexible shell, and the two ends of the flexible shell are connected. When the hydraulic pressure in any channel of the flexible shell increases, the part of the second body corresponding to the channel expands, and the part of the second body extends along the axis of the flexible shell and bends by compressing the opposite channel. This design solves the technical problem of realizing bending in different directions in space and the function of being non-extendable in the axial direction of the soft robot, and has the advantages of rapidity, accuracy and stability. However, due to the use of flexible structure, the impact resistance of the spine is insufficient in actual work, and the load capacity is also questionable.

[0006] In view of the problems of the humanoid spine device in the above-mentioned invention patent, such as insufficient load capacity and impact resistance, difficulty in simulating the real curvature of human spine, lack of kinetic energy explosion device design, single function and form, and problems of stiffness and accuracy of spine bending movement, the present invention provides a modular combined humanoid spine device with energy storage and explosive force and a control method. SUMMARY

[0007] The technical problem to be solved by the present invention is:

[0008] In order to solve the problems of insufficient load capacity, impact resistance, difficulty in simulating the real curvature of human spine, lack of kinetic energy explosion device design, single function and form of the existing humanoid spine structure.

[0009] The technical solution adopted by the present invention to solve the above technical problems is:

[0010] The present invention provides a modular combined humanoid spine device with energy storage and explosive force, which comprises a humanoid spine device mechanical body, a total driving system and a servo driving and control system. The total driving system comprises a spine explosion propulsion unit and a rope transmission spine bending driving unit. The rope transmission spine bending driving unit comprises a spine bending driving unit integrated motor and a guide fixed pulley device,

[0011] The mechanical body of the human-like spine device includes a whole human-like spine composed of multiple spine segment units capable of pitching and yawing, each spine segment unit includes a spine intervertebral plate, a convex spherical spine segment with a dovetail sliding rail on one side, a symmetric double concave spherical spine segment with a dovetail groove sliding way on both sides, a convex spherical spine segment with a dovetail sliding rail on one side and a spine intervertebral plate arranged in sequence from top to bottom, the spine intervertebral plate is a hollow plate structure, the plane end of the convex spherical spine segment is connected with the spine intervertebral plate, the dovetail sliding rail end of the convex spherical spine segment is embedded with the dovetail groove sliding way on the symmetric double concave spherical spine segment, the symmetric double concave spherical spine segment is a plate structure, the upper and lower ends of the symmetric double concave spherical spine segment are provided with dovetail groove sliding ways matched with the upper dovetail sliding rail of the convex spherical spine segment, the dovetail groove sliding ways on the upper and lower ends of the symmetric double concave spherical spine segment are vertically or homodirectionally arranged, the lower symmetric double concave spherical spine segment is embedded with another convex spherical spine segment through the dovetail sliding rail and the dovetail groove sliding way, and the lower convex spherical spine segment is connected with another spine intervertebral plate; the spine intervertebral plates of two adjacent spine segment units are fixedly connected,

[0012] The end spine segment unit of the whole human-like spine is connected with a guide fixed pulley device and a spine bending driving unit through an integrated motor, the end spine segment unit of the human-like spine is connected with a lumbar coccygeal segment, and the lumbar coccygeal segment is connected with the guide fixed pulley device,

[0013] The guide fixed pulley device includes a spine rope driving support, a spine driving guide sheave frame, a spine driving guide sheave, a spine driving guide sheave frame seat, a spine bending driving unit main sheave and a steel wire rope, a plurality of spine driving guide sheave frame seats are circumferentially arranged on the lumbar coccygeal segment, the spine driving guide sheave frame seat includes a circular arc transverse plate and a circular arc side plate below the circular arc plate, a plurality of spine driving guide sheave frames are arranged on each circular arc side plate, a spine driving guide sheave is arranged at the end of each spine driving guide sheave frame, the spine driving guide sheave is used for guiding the steel wire rope, a spine rope driving support is arranged on each adjacent spine driving guide sheave frame seat, each spine rope driving support is connected with a spine bending driving unit integrated motor, a spine bending driving unit main sheave is arranged on each spine bending driving unit integrated motor, one steel wire rope is arranged on each spine bending driving unit main sheave, each steel wire rope is wound on the spine bending driving unit main sheave, and the two ends of the steel wire rope pass through the non-adjacent preset rope holes of the lumbar coccygeal segment after being guided by the plurality of spine driving guide sheaves and are connected with the human-like spine;

[0014] The spine bending driving unit integrated motor includes a spine pitching driving integrated motor and a spine yawing driving integrated motor, and the spine pitching driving integrated motor and the spine yawing driving integrated motor are vertically arranged with the spine rope driving support.

[0015] The spine burst propulsion unit comprises a lumbar coccyx segment, a disc spring seat cylinder, a sliding screw mechanism, a lumbar support, a disc spring, an electromagnetic clutch, a spine burst propulsion unit integrated motor, a spine burst propulsion unit shell and a spine burst propulsion unit motor shell, the sliding screw mechanism comprises a screw rod and a nut, the shaft shoulder of the nut is clamped at the position where the inner diameter of the lumbar coccyx segment hollow part becomes smaller, the nut is sleeved on one end of the screw rod, the other end of the screw rod is connected with the spine burst propulsion unit integrated motor through the electromagnetic clutch, the outside of the spine burst propulsion unit integrated motor is sequentially provided with the spine burst propulsion unit shell and the spine burst propulsion unit motor shell from top to bottom, the disc spring seat cylinder is sleeved on the outer wall of the nut in the inside of the lumbar coccyx segment, the disc spring seat cylinder is provided with the disc spring, in the initial state, one end of the disc spring is in contact with the inside top cover of the disc spring seat cylinder, the other end of the disc spring is in contact with the lumbar support arranged in the disc spring seat cylinder, the lumbar support is sleeved outside the nut and connected with the spine burst propulsion unit shell.

[0016] The servo drive and control system comprises a servo drive and control unit and a host computer, is used for planning the motion form instruction and motion task parameters of the human-like spine mechanism through the host computer, and transmitting the above signals to the spine bending drive unit integrated motor of the rope transmission spine bending drive unit and the spine burst propulsion unit integrated motor of the spine burst propulsion unit for driving.

[0017] Further, the whole human-like spine bone comprises eight spine segment units, and the number of the spine drive guide rope wheel frame seats is four.

[0018] Further, the lumbar coccyx segment is sleeved with the spine burst propulsion unit shell, the lumbar support is sleeved with the disc spring seat cylinder and the nut respectively, and the lumbar support, the spine burst propulsion unit shell and the spine burst propulsion unit motor shell are sequentially connected.

[0019] Further, 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 through a pin, and the other end of each guide rod penetrates the shoulder of the spine burst propulsion unit shell.

[0020] Further, four corners of the opposite sides of the two intervertebral plates of each vertebral segment unit are provided with vertebral segment spring seat cylinders, and a vertebral segment spring is arranged between the two vertebral segment spring seat cylinders, a through hole is arranged on the intervertebral plate corresponding to the center of the vertebral segment spring, and the two ends of the steel wire rope passing through the caudal vertebra segment upper rope hole pass through the through hole of the center of the vertebral segment spring on the entire artificial vertebral bone, and are fixed on the intervertebral plate above the last vertebral segment unit, the steel wire rope passes through the multiple vertebral segment units on the axis, and the two ends of the steel wire rope pass through the through hole at the center of the diagonally arranged vertebral segment spring, so as to realize the control of the entire artificial vertebral bone.

[0021] A modular combined energy storage and explosive force artificial spine component, comprising a plurality of artificial spine devices connected through a spine device intermediate connector, the spine device intermediate connector is used to connect the spine explosive propulsion unit motor housing of the previous spine device and the first end of the intervertebral plate of the next spine device.

[0022] Further, it further comprises a secondary spine rope transmission unit, the secondary spine rope transmission unit comprises a guide wheel set and a passive rope wheel, the number of the artificial spine device is two, the two spine bending drive unit integrated motors of the secondary spine above the spine device intermediate connector of the two sets of artificial spine are arranged on the lower basic level spine vertebral rope drive support, the passive rope wheel is arranged on the vertebral rope drive support of the secondary spine, the guide wheel set comprises two rows of parallel and right angle distributed guide wheels, one end of each row of guide wheels is arranged on the intervertebral plate on the same axis, and the guide wheels of each row are uniformly arranged, one end of the two guide wheels of each row is arranged on a corner of the same intervertebral plate, and the steel wire ropes on the two sets of artificial spine devices are guided into the through holes on the vertebral segment units of the secondary artificial spine device until they are fixed with the last end intervertebral plate of the last vertebral segment unit of the secondary spine.

[0023] Further, the two ends of the steel wire rope wound on the spine bending drive unit main rope wheel on the output shaft of the lower spine tilting drive integrated motor and the spine lateral deviation drive integrated motor pass through the guide wheel set, one end passes through the passive rope wheel, and then passes through the steel wire rope of the lumbar coccygeal joint upper rope hole and the through hole of the center part of the spine spring of each spine unit on the entire artificial spine, and is fixed on the upper intervertebral disc of the last spine unit; the other end of the steel wire rope passes through the spine drive guide rope wheel frame and is guided into the through hole of the center part of the spine spring of each spine unit on the secondary spine until the last spine unit and is fixed thereon; the two ends of the steel wire rope wound on the spine bending drive unit main rope wheel on the output shaft of the spine bending drive unit integrated motor on the base level spine pass through the guide wheel set, and the two ends of the steel wire rope pass through the through hole of the center part of the spine spring of each spine unit on the entire base level spine, and are fixed on the upper intervertebral disc of the last spine unit of the base level spine; the steel wire rope passes through a plurality of spine units on the axis, and the two ends of the steel wire rope pass through the through holes of the diagonally arranged center parts of the spine springs.

[0024] A control method of a modular combined artificial spine device with energy storage and explosive force, comprising the following steps:

[0025] Position or speed sensors are arranged in the spine bending drive unit integrated motor of the rope transmission spine bending drive unit and the spine explosive propulsion unit integrated motor of the spine explosive propulsion unit, respectively, for the actual angular displacement and angular velocity of the rotation of the spine bending drive unit integrated motor and the spine explosive propulsion unit integrated motor to be fed back to the main control computer for position and speed feedback control of the movement of the artificial spine device;

[0026] In the control of the vertebral burst propulsion unit, the anthropomorphic vertebral motion task planner in the host computer plans the anthropomorphic vertebral mechanism motion form instruction and motion task parameters according to the anthropomorphic vertebral burst force release task requirement, the anthropomorphic vertebral motion task planner sends the planned anthropomorphic vertebral mechanism motion form instruction and motion task parameters to the anthropomorphic vertebral burst force release controller, the anthropomorphic vertebral burst force release controller sends the generated operation quantity value and control instruction to the servo drive and control unit of the vertebral burst propulsion unit integrated motor, the vertebral burst propulsion unit generates the current or voltage as the operation quantity and the steering instruction control and drives the vertebral burst propulsion unit integrated motor to operate, the motion and power are transmitted to the screw transmission mechanism through the electromagnetic clutch, the electromagnetic clutch is disconnected after the compression disc spring stores energy, the disc spring releases energy, the anthropomorphic vertebral burst force propulsion moves forward or upward; if the disc spring has been in the energy storage state in advance, the anthropomorphic vertebral burst force release controller controls the electromagnetic clutch to be disconnected, and the burst force can be released.

[0027] Further, in the control of the rope transmission vertebral bending drive unit, the anthropomorphic vertebral motion task planner in the host computer plans the motion for the given anthropomorphic vertebral motion task, after the motion task controller in the host computer obtains the anthropomorphic vertebral mechanism motion form instruction and motion parameters given by the anthropomorphic vertebral motion task planner, the motion task controller calculates the control quantity of the vertebral bending drive unit integrated motor of the rope transmission vertebral bending drive unit and sends it to the drive and control unit of the rope transmission vertebral bending drive unit, the drive and control unit of the rope transmission vertebral bending drive unit calculates the motor control signal and generates the operation quantity to apply to the vertebral bending drive unit integrated motor to execute the motion, so as to realize the target motion state of the anthropomorphic vertebral device.

[0028] Compared with the prior art, the present application has the following advantages:

[0029] The present application provides a modular combined anthropomorphic vertebral device with energy storage and burst force, which is composed of a vertebral interplate, a convex spherical vertebral segment with a sliding rail, a symmetric double concave spherical vertebral segment with a sliding channel, and a modular unit of the vertebral and lumbar interplate. The convex spherical surface of the convex spherical vertebral segment with a sliding rail is matched with the concave spherical surface of the concave spherical vertebral segment with a sliding channel, and the sliding rail is embedded in the sliding channel, which greatly improves the connection strength, stiffness, motion accuracy, impact resistance and load carrying capacity between the anthropomorphic vertebral segments. The springs on the edges of the vertebral segments can also keep the anthropomorphic vertebral in a zero position when it is vertically stretched.

[0030] The application adopts steel wire rope transmission to realize the bending of the spine with impact alleviating capability, and the energy storage and explosive force device of the human spine tail part is integrated with the electromagnetic clutch of the motor to respectively realize the release of the explosive force and the compression of the disc spring through the spiral transmission to store energy, so as to endow the human spine mechanism with the capability of energy storage and explosive force release. The spine section uses the concave-convex spherical surface slide rail to imitate the relative rotation of the adjacent bone sections, which is different from the existing similar bionic mechanism, and can imitate the normal bending state of the human spine while ensuring the rigidity of the mechanical body part of the human spine device. The application realizes the target of imitating the flexible movement of the human spine by using the rigid structure, and is a device suitable for the design and realization of the posture adjustment of the actual human robot trunk part, and can complete the complex operation of the human robot trunk under large load. In addition, the human spine mechanism can also realize the flexible arm surrounding and grabbing the target object, the serpentine movement of the serpentine robot and other extended motion functions by combining the basic human spine as a large unit module in different modular combination ways, and realizing the flexible arm, the serpentine robot and other devices by connecting two or more human spine devices in series. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 The figure is the structure diagram of the human spine device and the mechanical body structure of the human spine in the embodiment of the application.

[0032] Figure 2 The figure is the structure diagram of the spine section in the embodiment of the application.

[0033] Figure 3 The figure is the structure diagram of the guide fixed pulley device in the embodiment of the application.

[0034] Figure 4 The figure is the arrangement diagram of the transmission rope and the rope wheel of the output shaft of the integrated motor for the pitch motion drive in the embodiment of the application.

[0035] Figure 5 The figure is the arrangement diagram of the transmission rope and the rope wheel of the output shaft of the integrated motor for the yaw motion drive in the embodiment of the application.

[0036] Figure 6 The figure is the arrangement diagram of the transmission rope and the rope wheel of the output shaft of the integrated motor for the pitch and yaw drive in the embodiment of the application.

[0037] Figure 7 The figure is the structure diagram of the energy storage and explosive force release drive unit of the human spine device in the embodiment of the application.

[0038] Figure 8 The figure is the structure diagram of the planar motion mechanism of the human spine mechanism in the embodiment of the application.

[0039] Figure 9 The figure is the structure diagram of the series connection of two or more human spine devices in the embodiment of the application.

[0040] Figure 10 Structure of two human-like vertebral devices in series as a flexible arm, snake robot in embodiments of the present application Figure 1 ;

[0041] Figure 11 Structure of two human-like vertebral devices in series as a flexible arm, snake robot in embodiments of the present application Figure 2 .

[0042] BRIEF DESCRIPTION OF DRAWINGS

[0043] 1, human-like vertebral device mechanical body; 2, total driving system; 3, servo drive and control system; 1-1, vertebral segment unit; 1-2, intermediate connecting piece of vertebral device; 1-3, elastic connecting piece between vertebral segments; 1-1-1, intervertebral plate; 1-1-2, convex spherical vertebral segment; 1-1-3, symmetric 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 burst propulsion unit; 2-2, integrated motor of vertebral bending drive unit; 2-3, guide fixed pulley device; 2-4, secondary vertebral rope transmission unit; 2-1-1, pin; 2-1-2, lumbar coccygeal segment; 2-1-3, disc spring seat cylinder; 2-1-4, screw rod; 2-1-5, nut; 2-1-6, lumbar support; 2-1-7, disc spring; 2-1-8, guide rod; 2-1-9, electromagnetic clutch; 2-1-10, integrated motor of vertebral burst propulsion unit; 2-1-11, vertebral burst propulsion unit housing; 2-1-12, motor housing of vertebral burst propulsion unit; 2-2-1, integrated motor of vertebral pitch drive; 2-2-2, integrated motor of vertebral lateral bending drive; 2-3-1, vertebral rope drive support; 2-3-2, vertebral drive guide sheave carrier, wherein 2-3-2-1 to 2-3-2-9 are sequentially circumferentially arranged vertebral drive guide sheave carriers; 2-3-3, vertebral drive guide sheave; 2-3-4, vertebral drive guide sheave carrier seat; 2-3-5, main sheave of vertebral bending drive unit; 2-3-6, steel wire rope; 2-4-1, guide wheel set; 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 application, it should be explained that the terms such as "upper", "lower", "front", "rear", "left", "right" and other words indicating the orientation in each embodiment only indicate the positional relationship based on the drawings of the specification for the purpose of simplifying the description, and do not represent that the elements and devices referred to must be operated according to the specific orientation and limited operation and method, structure in the specification, and such orientation terms do not constitute a limitation on the present application.

[0045] In order to make the above-mentioned objectives, features and advantages of the present application more apparent, a specific embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0046] Specific embodiment one: combination Figures 1 to 8 As shown in the drawings, the present application provides a modular combined human-like spine device with energy storage and explosive power, which comprises a human-like spine device mechanical body 1, a total driving system 2 and a servo driving and control system 3, the total driving system 2 comprises a spine explosive propulsion unit 2-1 and a rope transmission spine bending driving unit, the rope transmission spine bending driving unit comprises a spine bending driving unit integrated motor 2-2 and a guide fixed pulley device 2-3;

[0047] The human-like spine device mechanical body 1 comprises a plurality of spine segment units 1-1 which can realize the entire human-like spine bone bending and tilting, each spine segment unit 1-1 comprises a spine intervertebral plate 1-1-1, a convex spherical spine segment 1-1-2 with a dovetail slide rail on one side, a symmetric double concave spherical spine segment 1-1-3 with a dovetail groove slide on both sides, a convex spherical spine segment 1-1-2 with a dovetail slide rail on one side and a spine intervertebral plate 1-1-1 arranged from top to bottom, the spine intervertebral plate 1-1-1 is a hollow square or rectangular plate structure with a circular or elliptical shape, and the four sides of the spine intervertebral plate 1-1-1 are concave inward in an arc shape, the convex spherical spine segment 1-1-2 is part of a spherical surface (less than or equal to half a spherical surface), the plane end of the convex spherical spine segment 1-1-2 is connected to the spine intervertebral plate 1-1-1 through threads, the dovetail slide rail end of the convex spherical spine segment 1-1-2 is embedded with the dovetail groove slide on the symmetric double concave spherical spine segment 1-1-3, the symmetric double concave spherical spine segment 1-1-3 is a square or rectangular plate structure, and the four sides of the symmetric double concave spherical spine segment 1-1-3 are concave inward in an arc shape, the upper and lower ends of the symmetric double concave spherical spine segment 1-1-3 are provided with dovetail groove slides matched with the dovetail slide rail on the convex spherical spine segment 1-1-2, the dovetail groove slides on the upper and lower ends of the symmetric double concave spherical spine segment 1-1-3 are arranged vertically or in the same direction, the lower convex spherical spine segment 1-1-2 is embedded with another convex spherical spine segment 1-1-2 through the dovetail slide rail and the dovetail groove slide, and the lower convex spherical spine segment 1-1-2 is connected to another spine intervertebral plate 1-1-1 through threads; the spine intervertebral plates 1-1-1 of two adjacent spine segment units 1-1 are connected through threads,

[0048] The part of the vertebral unit 1-1 is laterally deviated and the part of the vertebral unit 1-1 is tilted after the dovetail slide rail and the dovetail slide groove are fitted together, the convex spherical surface and the concave spherical surface are connected together, the dovetail slide rail and the dovetail slide groove are vertically arranged at the upper and lower ends of the symmetrical double concave spherical surface of the vertebral unit 1-1-3, the dovetail slide rail and the dovetail slide groove are embedded and fitted together from the end along the slide groove arc surface, the convex spherical surface and the concave spherical surface are connected together and slide relative to each other, the high load capacity, high strength, high rigidity and accurate relative movement are realized, and the relative rotation between the vertebral units 1-1 around the axis of the dovetail slide rail is realized, that is, the sliding in the vertebral unit 1-1 is realized.

[0049] The whole artificial human spine is composed of eight vertebral units 1-1, wherein the sixth vertebral unit 1-1 and the seventh vertebral unit 1-1 are connected by a lumbar intervertebral disc 1-1-4, the lumbar intervertebral disc 1-1-4 is used to distinguish the thoracic vertebrae and the lumbar vertebrae, and the lumbar intervertebral disc 1-1-4 has the same structure as the vertebral disc 1-1-1; more artificial human spines can be combined, such as seven cervical vertebrae, twelve thoracic vertebrae and five lumbar vertebrae in a human spine, that is, a total of 24 artificial human spines.

[0050] The rope transmission vertebral bending driving unit comprises a guide fixed pulley device 2-3 connected with the end vertebral unit 1-1 of the whole artificial human spine and a vertebral bending driving unit integrated motor 2-2,

[0051] The end vertebral unit 1-1 of the artificial human spine is connected with a coccyx 2-1-2, the coccyx 2-1-2 is an inverted and hollow circular table structure, the upper end circular table with a larger diameter of the coccyx 2-1-2 is connected with the end vertebral unit 1-1 of the artificial human spine, and the lower end circular table with a larger diameter of the coccyx 2-1-2 is connected with the guide fixed pulley device 2-3,

[0052] The guiding sheave device 2-3 includes a spinal cord rope driving support 2-3-1, a spinal cord driving guide rope wheel support 2-3-2, a spinal cord driving guide rope wheel 2-3-3, a spinal cord driving guide rope wheel support seat 2-3-4, a spinal cord bending driving unit main rope wheel 2-3-5, and a steel wire rope 2-3-6. The plurality of spinal cord driving guide rope wheel supports 2-3-4 are evenly distributed and circumferentially arranged below the upper end circular table with a larger diameter of the lumbar coccygeal segment 2-1-2. The number of the spinal cord driving guide rope wheel supports 2-3-4 is preferably 2. The spinal cord driving guide rope wheel supports 2-3-4 and the spinal cord rope driving supports 2-3-1 are two each, and are arranged in an alternating and uniform manner in the order of 2-3-1, 2-3-4, 2-3-1, 2-3-4. The spinal cord driving guide rope wheel support 2-3-4 includes a circular arc horizontal plate attached to the lower end surface of the upper end circular table with a larger diameter, and a circular arc side plate below the circular arc plate. Each circular arc side plate is provided with a plurality of spinal cord driving guide rope wheel supports 2-3-2. The end of each spinal cord driving guide rope wheel support 2-3-2 is connected to a spinal cord driving guide rope wheel 2-3-3 through a bearing. The guide directions of the plurality of spinal cord driving guide rope wheels 2-3-3 located on the same circular arc side plate are designed to be in the corresponding direction. Figures 4 to 6 The steel wire rope 2-3-6 is designed to be guided in the corresponding direction. The spinal cord rope driving supports 2-3-1 are arranged on the adjacent two spinal cord driving guide rope wheel supports 2-3-4. Each spinal cord rope driving support 2-3-1 is connected to a spinal cord bending driving unit integrated motor 2-2 through a thread. Each spinal cord bending driving unit integrated motor 2-2 is provided with a spinal cord bending driving unit main rope wheel 2-3-5. Each spinal cord bending driving unit main rope wheel 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 spinal cord bending driving unit main rope wheel 2-3-5, and after being guided by the plurality of spinal cord driving guide rope wheels 2-3-3, it passes through the non-adjacent pre-set rope holes of the lumbar coccygeal segment 2-1-2, and is connected to the artificial spinal cord. Each end of the steel wire rope 2-3-6 is fixed on the topmost spinal cord segment unit 1-1 after passing through the lumbar coccygeal segment 2-1-2 and sequentially passing through each spinal cord segment unit 1-1 of the entire artificial spinal cord, thereby realizing the connection between the guiding sheave device 2-3 and the entire artificial spinal cord. The lumbar coccygeal segment 2-1-2 is evenly provided with four rope holes. The non-adjacent rope holes are combined in pairs, i.e., the diagonally opposite two rope holes form a group, 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 artificial spinal cord device pass through the rope holes.

[0053] The spinal cord bending driving unit integrated motor 2-2 includes a spinal cord pitch driving integrated motor 2-2-1 and a spinal cord lateral deviation driving integrated motor 2-2-2. The spinal cord pitch driving integrated motor 2-2-1 and the spinal cord lateral deviation driving integrated motor 2-2-2 are oriented in the same direction and are arranged perpendicularly to the spinal cord rope driving support 2-3-1.

[0054] The spine burst propulsion unit 2-1 includes a pin 2-1-1, a lumbar coccygeal segment 2-1-2, a disc spring seat cylinder 2-1-3, a sliding screw mechanism or a rolling screw 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 spine burst propulsion unit integrated motor 2-1-10, a spine burst propulsion unit shell 2-1-11, and a spine burst propulsion unit motor shell 2-1-12. The sliding screw mechanism includes a screw rod 2-1-4 and a nut 2-1-5. The rolling screw mechanism includes a ball. The shaft shoulder of the nut 2-1-5 is clamped in the position where the inner diameter 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 with the spine burst propulsion unit integrated motor 2-1-10 through the electromagnetic clutch 2-1-9. The outside of the spine burst propulsion unit integrated motor 2-1-10 is sequentially provided from top to bottom with the spine burst propulsion unit shell 2-1-11 and the spine burst propulsion unit motor shell 2-1-12. The inside of the lumbar coccygeal segment 2-1-2 and on the outer wall of the nut 2-1-5 is sleeved with the disc spring seat cylinder 2-1-3. The disc spring seat cylinder 2-1-3 is provided with the disc spring 2-1-7. In the initial state, one end of the disc spring 2-1-7 is in contact with the internal top cover of the disc spring seat cylinder 2-1-3. The other end of the disc spring 2-1-7 is in contact with the lumbar support 2-1-6 provided in the disc spring seat cylinder 2-1-3. The lumbar support 2-1-6 is sleeved outside the nut 2-1-5 and connected with the spine burst propulsion unit shell 2-1-11. The lumbar coccygeal segment 2-1-2 is slidingly fitted with the spine burst propulsion unit shell 2-1-11. The lumbar support 2-1-6 is slidingly fitted with the disc spring seat cylinder 2-1-3 and the nut 2-1-5, respectively. The lumbar support 2-1-6, the spine burst propulsion unit shell 2-1-11, and the spine burst propulsion unit motor shell 2-1-12 are sequentially connected through threads,

[0055] A plurality of guide rods 2-1-8 are provided on the larger-diameter upper end circular platform of 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 through the pin 2-1-1. The other end of each guide rod 2-1-8 penetrates the shoulder of the spine burst propulsion unit shell 2-1-11 and is spaced a distance from the end of the spine burst propulsion unit shell 2-1-11 without being in contact. Preferably, the number of guide rods 2-1-8 is four, and they are evenly distributed.

[0056] In the energy storage phase, the integrated motor 2-1-10 of the spine burst propulsion unit drives the screw rod 2-1-4 to rotate, and then drives the nut 2-1-5, the disc spring seat cylinder 2-1-3 and the lumbar coccygeal segment 2-1-2 sleeved on the screw rod 2-1-4 to move downward, compresses the disc spring 2-1-7, and realizes energy storage; in the burst propulsion phase, the electromagnetic clutch 2-1-9 is powered off, the restriction of the integrated motor 2-1-10 of the spine burst propulsion unit on the screw rod 2-1-4 is released, that is, the restriction of the compression of the disc spring 2-1-7 is released, the disc spring 2-1-7 returns to the initial state, drives the nut 2-1-5, the disc spring seat cylinder 2-1-3 and the lumbar coccygeal segment 2-1-2 to move upward, and realizes energy release, at this time the screw rod 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 host computer 3-2, the servo drive and control system includes three single-axis servo drive and control units 3-1 with industrial Ethernet bus interface or integrated four-axis servo drive and control unit 3-1 and power supply, the integrated motor 2-2 of the spine bending drive unit and the integrated motor 2-1-10 of the spine burst propulsion unit are servo motors integrated with position / speed sensors (such as optical encoders, etc.), reducers and even electromagnetic brakes.

[0058] Each of the two upper and lower intervertebral plates 1-1-1 of each spine segment unit 1-1 is provided with a spine segment spring seat cylinder 1-3-2 at four corners of the opposite sides, and a spine segment spring 1-3-1 is arranged between the two spine segment spring seat cylinders 1-3-2, a through hole is arranged on the intervertebral plate 1-1-1 corresponding to the center position of the spine segment spring, and a steel wire rope 2-3-6 for traction can pass through the through hole at the center part of the spine segment spring 1-3-1, so as to realize control of the entire artificial spine. The steel wire rope 2-3-6 is fixed and wound on the spine bending drive unit main rope wheel 2-3-5 of the guide fixed pulley device 2-3, passes through the opposite rope holes of the lumbar coccygeal segment 2-1-2, penetrates through the through holes on the two rows of intervertebral plates 1-1-1 of the opposite sides of the spine segment unit 1-1, and finally is connected with the intervertebral plate 1-1-1 at the highest position of the last spine segment unit 1-1 of the artificial spine. There are two steel wire ropes 2-3-6 connected in this way, which correspond to two sets of guide fixed pulley devices 2-3 for realizing the freedom degrees of lateral deviation and pitch of the artificial spine.

[0059] In combination with Figures 3 to 6As shown, in the human-like vertebral lateral bending and pitching movement driving system, the steel wire rope 2-3-6 is fixed and wound on a point of the main rope wheel 2-3-5 of the vertebral bending driving unit fixed on the output shaft of the vertebral pitching driving integrated motor 2-2-1, and is guided into the through holes of the eight vertebral segment units 1-1 (the total number of segments can also be less than 8 or more) through the fixed pulley sets 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 is connected to the last segment vertebral segment unit 1-1. The reversing transmission on the vertebral driving guide pulley 2-3-3, combined with Figure 6 As shown, one end of the steel wire rope 2-3-6 led out of the vertebral bending driving unit main rope wheel 2-3-5 is directly guided into the human-like vertebral bone through the vertebral driving guide pulleys 2-3-3 on the vertebral driving guide pulley frames 2-3-2-6 and 2-3-2-8. Combined with Figure 4 As shown, the other end of the steel wire rope 2-3-6 pulled by the vertebral pitching driving integrated motor 2-2-1 enters the opposite side of the vertebral driving guide pulley frame 2-3-2-6 and is connected to the human-like vertebral bone through the vertebral driving guide pulley frames 2-3-2-1, 2-3-2-2, 2-3-2-3, 2-3-2-4 and 2-3-2-5. Figure 5 As shown, the other end of the steel wire rope 2-3-6 pulled by the vertebral pitching driving integrated motor 2-2-1 enters the opposite side of the vertebral driving guide pulley frame 2-3-2-6 and is connected to the human-like vertebral bone through the vertebral driving guide pulley frames 2-3-2-1, 2-3-2-2, 2-3-2-3, 2-3-2-4 and 2-3-2-5.

[0060] Specific implementation scheme two: combined with Figure 9 And Figure 10 As shown, the present application provides a modular combined human-like vertebral component with energy storage and explosive power, which comprises a plurality of human-like vertebral devices connected through vertebral device intermediate connectors 1-2. The vertebral device intermediate connector 1-2 is a hollow disc-shaped structure, and is used to connect the vertebral explosive propulsion unit motor shell 2-1-12 of the previous vertebral device and the vertebral interplate 1-1-1 at the leading end of the next vertebral device. In this embodiment, two or more human-like vertebral devices can be connected in series, which can be used as a mechanism simulation of human spine, or as a flexible arm or snake robot.

[0061] The other combination and connection relationship of the present embodiment is the same as that of the specific implementation scheme one.

[0062] Specific implementation scheme three: combined with Figure 11As shown, unlike the second embodiment, it also includes a secondary spinal cord rope transmission unit 2-4, which includes a guide wheel set 2-4-1 and a passive rope wheel 2-4-2. The two spinal cord bending drive unit integrated motors 2-2 originally located on the upper secondary spinal cord intermediate connecting piece 1-2 in the two sets of humanoid spinal cord are moved to the spinal cord rope drive support 2-3-1 as the lower basic level spinal cord. The passive rope wheel 2-4-2 is arranged at the position of the spinal cord drive spinal cord rope drive support 2-3-1 of the secondary spinal cord. The guide wheel set 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 intervertebral plate 1-1-1 on the same axis, and the guide wheels of each row are uniformly arranged. One end of the two guide wheels of each row is arranged on a corner of the same intervertebral plate 1-1-1, and the two guide wheel sets 2-4-1 and the spinal cord rope drive support 2-3-1 of the secondary humanoid spinal cord device are respectively at the same corner. In the implementation process, the lateral deviation and pitch bending drive unit integrated motor (including two integrated motors for lateral deviation and pitch bending drive) originally located on the secondary spinal cord is placed below the lateral deviation and pitch bending drive unit integrated motor in the basic level humanoid spinal cord device, and the two spinal cord bending drive unit integrated motors 2-2 are directly guided through the guide wheel set 2-4-1 in the secondary spinal cord rope transmission unit 2-4 to introduce the steel wire rope 2-3-6 into the through hole of each spinal cord segment unit 1-1 of the secondary humanoid spinal cord device until the top spinal cord segment unit 1-1 of the secondary spinal cord is fixed. In this case, the two ends of the steel wire rope 2-3-6 wound on the spinal cord bending drive unit main rope wheel 2-3-5 on the output shaft of the spinal cord bending drive unit integrated motor 2-2 driving the secondary spinal cord device are passed through the guide wheel set 2-4-1, and one end is wound around the passive rope wheel 2-4-2 originally used to drive the basic level spinal cord bending. After being guided through the guide fixed pulley device 2-3, the secondary spinal cord device mechanical body 1 is connected to the basic level spinal cord in the same way. The other end of the steel wire rope 2-3-6 is also wound around the spinal cord drive guide rope wheel frame 2-3-2-6 after being guided into the through hole of each spinal cord segment unit 1-1 of the secondary humanoid spinal cord device until the last intervertebral plate 1-1-1 of the last spinal cord segment unit 1-1 of the secondary humanoid spinal cord and is fixedly connected thereto. The spinal cord bending drive unit integrated motor 2-2 on the basic level spinal cord is the same as the single spinal cord device, which realizes the control of the basic level spinal cord pitch and lateral deviation.

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

[0064] Specific embodiment three: the control method of the modular combined human-like spinal device with energy storage and explosive force, comprising the following steps:

[0065] The position / speed sensor is arranged in the spinal bending drive unit integrated motor 2-2 of the rope transmission spinal bending drive unit and the spinal explosive propulsion unit integrated motor 2-1-10 of the spinal explosive propulsion unit 2-1, which is used for the actual angular displacement and angular velocity of the rotation of the spinal bending drive unit integrated motor 2-2 and the spinal explosive propulsion unit integrated motor 2-1-10 fed back to the human-like spinal motion position and speed feedback control by the host computer 3-2 (i.e. host controller);

[0066] In the control of the spinal explosive propulsion unit 2-1, the human-like spinal explosive force release task planner in the host computer 3-2 plans the human-like spinal mechanism motion form instruction (such as arch-shaped trunk form) and motion task parameters according to the human-like spinal explosive force release task requirement, the human-like spinal explosive force release controller sends the generated operation quantity value and control instruction to the servo drive and control unit 3-1 of the spinal explosive propulsion unit integrated motor 2-1-10 on the spinal explosive propulsion unit, and the spinal explosive propulsion unit generates current or voltage as operation quantity and steering instruction control and drives the spinal explosive propulsion unit integrated motor 2-1-10 to operate, through the electromagnetic clutch 2-1-9, the motion and power are transmitted to the screw transmission mechanism, after the compression disc spring 2-1-7 stores energy, the electromagnetic clutch 2-1-9 is disconnected, the disc spring 2-1-7 releases energy, and the explosive force propels the human-like spine to move forward or upward; if the disc spring 2-1-7 has been in the energy storage state in advance, the human-like spinal explosive force release controller controls the electromagnetic clutch 2-1-9 to disconnect, i.e. the explosive force can be released;

[0067] In the control of the rope transmission spine bending driving unit, the given anthropomorphic spine motion task (S-shaped bending motion, trunk, i.e. spine arch release explosive force, surround grasp when used as a flexible arm) is motion planned by the anthropomorphic spine motion task planner in the host computer 3-2, and after the motion task controller in the host computer 3-2 obtains the anthropomorphic spine mechanism motion form instruction and motion parameters given by the anthropomorphic spine motion task planner, the motion task controller calculates the control amount of the spine bending driving unit integrated motor 2-2 of the rope transmission spine bending driving unit and sends it to the servo drive and control unit 3-1 of the rope transmission spine bending driving unit. The servo drive and control unit 3-1 of the rope transmission spine bending driving unit calculates the motor control signal and generates the operating amount (current or voltage) to apply to the spine bending driving unit integrated motor 2-2 to execute the motion, so as to realize the target motion state of the anthropomorphic spine device.

[0068] Under the drive of the spine tilt driving integrated motor 2-2-1 and the spine lateral driving integrated motor 2-2-2, the spine bending driving unit main pulley 2-3-5 drives the steel wire rope 2-3-6, which is adjusted through the spine driving guide pulley 2-3-3, so that the steel wire rope 2-3-6 can pass through the entire anthropomorphic spine bone; under the traction of the steel wire rope 2-3-6, the bending of the anthropomorphic spine bone in the direction of the steel wire rope 2-3-6 can be realized; when the spine bending driving unit integrated motor 2-2 reverses rotation, the other side of the anthropomorphic spine bone is subjected to the tension of the other end steel wire rope 2-3-6, so as to follow the reverse motion of the spine bending driving unit integrated motor 2-2.

[0069] In combination Figure 8 As shown in the foregoing, the anthropomorphic spine device is regarded as a two-dimensional mechanism, at this time only one spine bending driving unit integrated motor 2-2 needs to be considered, at the same time the mechanism device of the foregoing anthropomorphic spine device can be kept unchanged but the spine bending driving unit integrated motor 2-2 driving one of the tilt or lateral motion in the driving system of the foregoing anthropomorphic spine device needs to be in a torque stopping state (this can be realized by the host computer 3-2, the servo drive and control unit 3-1 sending a stopping instruction with a holding torque); in addition, the dovetail groove slide of all symmetrical double concave spherical spine bone segments 1-1-3 and the dovetail slide rail on the convex spherical spine bone segment 1-1-2 can be installed towards the same orientation, i.e. evolved into a planar spine mechanism with all spine segment units 1-1 bending in the same direction, so that all spine segment units 1-1 rotate simultaneously corresponding to one of the tilt or lateral of the spine, to realize higher flexibility.

[0070] The other combinations and connection relationships of the present embodiment are the same as those of the first or second specific embodiment.

[0071] Although the present application has been disclosed with reference to the above embodiments, the scope of the present application is not limited to the above. Various changes and modifications can be made to the present application without departing from the spirit and scope of the present application, and such changes and modifications are intended to fall within the scope of the present application.

Claims

1. A modular combined energy storage and explosive power human-like spinal device, characterized in that: The human-like spine device mechanical body (1) includes a plurality of spine segment units (1-1) that can realize the entire human-like spine bone that can realize pitching and yawing, each spine segment unit (1-1) includes a spine interplate (1-1-1) arranged from top to bottom, a convex spherical spine segment (1-1-2) with a dovetail slide rail on one side, a symmetric double concave spherical spine segment (1-1-3) with a dovetail groove slide on both sides, a convex spherical spine segment (1-1-2) with a dovetail slide rail on one side and a spine interplate (1-1-1), the spine interplate (1-1-1) is a hollow plate structure, the plane end of the convex spherical spine segment (1-1-2) is connected with the spine interplate (1-1-1), the dovetail slide rail end of the convex spherical spine segment (1-1-2) is embedded with the dovetail groove slide on the symmetric double concave spherical spine segment (1-1-3), the symmetric double concave spherical spine segment (1-1-3) is a plate structure, the upper and lower ends of the symmetric double concave spherical spine segment (1-1-3) are provided with dovetail groove slides matched with the dovetail slide rail of the convex spherical spine segment (1-1-2), the dovetail groove slides at the upper and lower ends of the symmetric double concave spherical spine segment (1-1-3) are vertically or homodirectionally arranged, the lower symmetric double concave spherical spine segment (1-1-3) is embedded with another convex spherical spine segment (1-1-2) through the dovetail slide rail and the dovetail groove slide, the lower convex spherical spine segment (1-1-2) is connected with another spine interplate (1-1-1), the spine interplates (1-1-1) of adjacent two spine segment units (1-1) are fixedly connected, the end spine segment unit (1-1) of the entire human-like spine bone is connected with the guide fixed pulley device (2-3) and the spine bending drive unit integrated motor (2-2), the end spine segment unit (1-1) of the human-like spine bone is connected with the lumbar coccyx segment (2-1-2), the lumbar coccyx segment (2-1-2) is connected with the guide fixed pulley device (2-3), ​ The guiding trolley device (2-3) comprises a spinal cord rope driving support (2-3-1), a spinal cord driving guiding rope wheel support (2-3-2), a spinal cord driving guiding rope wheel (2-3-3), a spinal cord driving guiding rope wheel support seat (2-3-4), a spinal cord bending driving unit main rope wheel (2-3-5) and a steel wire rope (2-3-6), a plurality of spinal cord driving guiding rope wheel supports (2-3-4) are evenly distributed and circumferentially arranged on the lumbar coccygeal joint (2-1-2), the spinal cord driving guiding rope wheel support (2-3-4) comprises a circular arc transverse plate and a circular arc side plate below the circular arc plate, a plurality of spinal cord driving guiding rope wheel supports (2-3-2) are arranged on each circular arc side plate, a spinal cord driving guiding rope wheel (2-3-3) is arranged at the end of each spinal cord driving guiding rope wheel support (2-3-2), the spinal cord driving guiding rope wheel (2-3-3) is used for guiding the steel wire rope (2-3-6), a spinal cord rope driving support (2-3-1) is arranged on each of the adjacent two spinal cord driving guiding rope wheel supports (2-3-4), each spinal cord rope driving support (2-3-1) is connected with a spinal cord bending driving unit integrated motor (2-2), a spinal cord bending driving unit main rope wheel (2-3-5) is arranged on each spinal cord bending driving unit integrated motor (2-2), one steel wire rope (2-3-6) is arranged on each spinal cord bending driving unit main rope wheel (2-3-5), each steel wire rope (2-3-6) is wound on the spinal cord bending driving unit main rope wheel (2-3-5), after the two ends of the steel wire rope (2-3-6) are guided through the plurality of spinal cord driving guiding rope wheels (2-3-3), the two ends pass through non-adjacent preset rope holes of the lumbar coccygeal joint (2-1-2) and are connected with the artificial spinal cord bone; The spinal cord bending driving unit integrated motor (2-2) comprises a spinal cord pitching driving integrated motor (2-2-1) and a spinal cord lateral driving integrated motor (2-2-2), and the spinal cord pitching driving integrated motor (2-2-1) and the spinal cord lateral driving integrated motor (2-2-2) are arranged perpendicularly to the spinal cord rope driving support (2-3-1). The spine burst propulsion unit (2-1) includes a lumbar coccygeal segment (2-1-2), a disc spring seat cylinder (2-1-3), a sliding screw mechanism, a lumbar support (2-1-6), a disc spring (2-1-7), an electromagnetic clutch (2-1-9), a spine burst propulsion unit integrated motor (2-1-10), a spine burst propulsion unit housing (2-1-11) and a spine burst propulsion unit motor housing (2-1-12), the sliding screw mechanism includes a screw rod (2-1-4) and a nut (2-1-5), the shaft shoulder of the nut (2-1-5) is clamped in the position where the inner diameter of the lumbar coccygeal segment (2-1-2) is 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 with the spine burst propulsion unit integrated motor (2-1-10) through the electromagnetic clutch (2-1-9), the outside of the spine burst propulsion unit integrated motor (2-1-10) is sequentially provided with the spine burst propulsion unit housing (2-1-11) and the spine burst propulsion unit motor housing (2-1-12) from top to bottom, the disc spring seat cylinder (2-1-3) is sleeved on the outer wall of the nut (2-1-5) in the inside of the lumbar coccygeal segment (2-1-2), the disc spring seat cylinder (2-1-3) is provided with the disc spring (2-1-7), in the initial state, one end of the disc spring (2-1-7) is in contact with the inside top cover of the disc spring seat cylinder (2-1-3), 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 cylinder (2-1-3), the lumbar support (2-1-6) is sleeved outside the nut (2-1-5) and connected with the spine burst propulsion unit housing (2-1-11); The servo drive and control system includes a servo drive and control unit (3-1) and a main control computer (3-2), which is used to plan the human spine mechanism motion form command and motion task parameters through the main control computer (3-2), and transmit the signal to the spine bending drive unit integrated motor (2-2) of the rope transmission 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. The modular combined energy storage and explosive power human-like spinal column device of claim 1, wherein: The whole human spine bone includes eight spine segment units (1-1), the number of the spine drive guide pulley frame seat (2-3-4) is four.

3. The modular combined energy storage and explosive power human-like spinal column device of claim 1, wherein: The lumbar coccygeal segment (2-1-2) is slidably connected with the spine burst propulsion unit housing (2-1-11), the lumbar support (2-1-6) is slidably connected with the disc spring seat cylinder (2-1-3) and the nut (2-1-5) respectively, the lumbar support (2-1-6), the spine burst propulsion unit housing (2-1-11) and the spine burst propulsion unit motor housing (2-1-12) are sequentially connected.

4. The modular combined energy storage and explosive power human-like spinal column device of claim 3, wherein: The lumbar coccygeal segment (2-1-2) is provided with a plurality of guide rods (2-1-8), one end of each guide rod (2-1-8) is fixed on the lumbar coccygeal segment (2-1-2) through a pin (2-1-1), and the other end of each guide rod (2-1-8) penetrates the shoulder of the vertebral burst propulsion unit shell (2-1-11).

5. The modular combined energy storage and explosive power emulating human spine device of claim 4, wherein: Four corners of the opposite sides of the upper and lower intervertebral plates (1-1-1) of each spinal segment unit (1-1) are provided with spinal segment spring seats (1-3-2), and the two spinal segment spring seats (1-3-2) are provided with a spinal segment spring (1-3-1), the intervertebral plate (1-1-1) is provided with a through hole corresponding to the center position of the spinal segment spring (1-3-1), the two ends of the steel wire rope (2-3-6) penetrating the rope hole on the lumbar coccygeal segment (2-1-2) pass through the through hole of the center part of the spinal segment spring (1-3-1) on the plurality of spinal segment units (1-1) of the entire artificial spine, and are fixed on the upper intervertebral plate (1-1-1) of the last spinal segment unit (1-1), each end of the steel wire rope (2-3-6) passes through a plurality of spinal segment units (1-1) on the axis, and the two ends of the steel wire rope (2-3-6) pass through the through holes at the centers of the diagonally arranged spinal segment springs (1-3-1), for controlling the entire artificial spine.

6. A modular, combined humanoid spinal component that combines energy storage and explosive power, characterized in that: The artificial spine device comprises a plurality of artificial spine devices according to any one of claims 1-5, which are connected by a spinal device intermediate connecting piece (1-2), the spinal device intermediate connecting piece (1-2) is used for connecting the spinal burst propulsion unit motor shell (2-1-12) of the previous spinal device and the first end of the intervertebral plate (1-1-1) of the next spinal device.

7. The modular, combined energy storage and explosive power, anthropomorphic spinal unit of claim 6, wherein: It also includes a secondary spinal cord rope transmission unit (2-4), the secondary spinal cord rope transmission unit (2-4) includes a guide wheel set (2-4-1) and a passive rope wheel (2-4-2), the number of the artificial spine device is two, the two spinal cord bending drive unit integrated motors (2-2) of the secondary spinal cord above the spinal device intermediate connecting piece (1-2) of the two sets of artificial spine are arranged on the spinal cord rope drive support (2-3-1) of the underlying basic level spinal cord, the passive rope wheel (2-4-2) is arranged on the spinal cord rope drive support (2-3-1) of the secondary spinal cord, the guide wheel set (2-4-1) includes two rows of parallel and right angle distributed guide wheels, one end of each row of guide wheels is arranged on the intervertebral plate (1-1-1) on the same axis, and the guide wheels of each row are uniformly distributed, one end of the two guide wheels of each row is arranged on a corner of the same intervertebral plate (1-1-1), and the steel wire ropes (2-3-6) on the two sets of artificial spine devices are guided into the through holes on each spinal segment unit of the secondary artificial spine device until they are fixed with the last intervertebral plate (1-1-1) of the last spinal segment unit (1-1) of the secondary spinal cord.

8. The modular, combined energy storage and explosive power, anthropomorphic spinal unit of claim 6, wherein: The steel wire rope (2-3-6) wound on the spine bending drive unit main rope wheel (2-3-5) on the output shaft of the lower spine flexion and extension integrated motor (2-2-1) and the spine lateral bending drive integrated motor (2-2-2) passes through the guide wheel set (2-4-1) at both ends, and one end passes through the passive rope wheel (2-4-2), and then passes through the steel wire rope (2-3-6) of the lumbar coccygeal joint (2-1-2) rope hole, the center part of the spine spring (1-3-1) of the whole artificial spine vertebrae multiple spine unit (1-1), and is fixed on the upper intervertebral plate (1-1-1) of the last spine unit (1-1); the other end of the steel wire rope (2-3-6) passes through the spine drive guide rope wheel frame (2-3-2) and is guided into the through hole of the center part of the spine spring (1-3-1) on each spine unit (1-1) of the secondary spine until the last spine unit (1-1) of the secondary spine and is fixed; the steel wire rope (2-3-6) wound on the spine bending drive unit main rope wheel (2-3-5) on the output shaft of the spine bending drive unit integrated motor (2-2) of the base level spine passes through the guide wheel set (2-4-1) at both ends, and the two ends of the steel wire rope (2-3-6) pass through the through hole of the center part of the spine spring (1-3-1) of the multiple spine units (1-1) of the whole base level spine, and are fixed on the upper intervertebral plate (1-1-1) of the last spine unit (1-1) of the base level spine, and the steel wire rope (2-3-6) passes through the multiple spine units (1-1) on the axis at each end, and the two ends of the steel wire rope (2-3-6) pass through the through hole of the center part of the diagonally arranged spine spring (1-3-1).

9. A method of controlling a modular, combined energy storage and explosive power, anthropomorphic spinal device according to any one of claims 1-5, wherein, The following steps are included: Position or speed sensors are arranged in the spine bending drive unit integrated motor (2-2) of the rope drive spine bending drive unit and the spine burst propulsion unit integrated motor (2-1-10) of the spine burst propulsion unit (2-1), which are used to feed back the actual angular displacement and angular velocity of the rotation of the spine bending drive unit integrated motor (2-2) and the spine burst propulsion unit integrated motor (2-1-10) to the main control computer (3-2) for position and speed feedback control of the motion of the artificial spine device. In the control of the spine burst propulsion unit (2-1), the humanoid spine motion task planner in the main control computer (3-2) plans the humanoid spine mechanism motion form instruction and motion task parameters according to the humanoid spine burst force release task requirements. The humanoid spine motion task planner sends the planned humanoid spine mechanism motion form instruction and motion task parameters to the humanoid spine burst force release controller. The humanoid spine burst force release controller sends the generated operation quantity value and control instruction to the servo drive and control unit (3-1) of the spine burst propulsion unit integrated motor (2-1-10) on the spine burst propulsion unit (2-1). The spine burst propulsion unit (2-1) generates current or voltage as an operation quantity and steering instruction control to drive the spine burst propulsion unit integrated motor (2-1-10) to operate. The electromagnetic clutch (2-1-9) transmits motion and power to the screw transmission mechanism. After the compression disc spring (2-1-7) stores energy, the electromagnetic clutch (2-1-9) is disengaged. The disc spring (2-1-7) releases energy, and the humanoid spine moves forward or upward by the burst force. If the disc spring (2-1-7) is in the energy storage state in advance, the humanoid spine burst force release controller controls the electromagnetic clutch (2-1-9) to disengage, and the burst force is released.

10. The method of claim 9, wherein the method further comprises: In the control of the rope transmission spine bending drive unit, the humanoid spine motion task planner in the main control computer (3-2) plans the motion for the given humanoid spine motion task. After obtaining the humanoid spine mechanism motion form instruction and motion parameters 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 spine bending drive unit integrated motor (2-2) of the rope transmission spine bending drive unit and sends it to the drive and control unit of the rope transmission spine bending drive unit. The drive and control unit of the rope transmission spine bending drive unit calculates the motor control signal and generates the operation quantity to apply to the spine 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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