Bidirectional positive and negative spiral elastic assembly between waist and pelvic cavity of humanoid robot and waist and pelvic cavity structure

Abstract

The invention belongs to the technical field of bionic robots, and provides a bidirectional positive and negative spiral elastic assembly between a waist and a pelvic cavity of a simulated humanoid robot, the bidirectional positive and negative spiral elastic assembly comprises a positive spiral elastic unit and a negative spiral elastic unit, the spiral directions of the positive spiral elastic unit and the negative spiral elastic unit are opposite, and the spiral parameters of the positive spiral elastic unit and the negative spiral elastic unit are the same; an interactive linkage assembly is arranged between the forward spiral elastic unit and the reverse spiral elastic unit; the forward spiral elastic unit and the reverse spiral elastic unit are symmetrically arranged around the connecting center of the hollow bionic lumbar vertebra and the hollow bionic pelvic cavity of the humanoid simulation robot. The positive and negative spiral elastic unit is matched with the interactive linkage assembly to work cooperatively with the motor, the motor provides active driving force, and the mechanism is responsible for managing conversion of kinetic energy and potential energy, so that structural overload is prevented, movement is more smooth and stable, and the load and energy consumption of the driving motor are remarkably reduced.

Description

Technical Field

[0001] This invention belongs to the field of biomimetic robot technology. Specifically, it relates to a bidirectional positive and negative spiral elastic component between the waist and pelvis of a humanoid robot and the structure of the waist and pelvis. Background Technology

[0002] In order to simulate human movement postures, humanoid robots need to have good flexibility, cushioning and recovery capabilities in their waist. In the prior art, the waist movement of robots usually relies entirely on motor drive, which has the following main shortcomings: (1) When the waist bends or twists quickly, rigid impact is easily generated due to inertia, which not only leads to unstable movement, vibration and noise, but may also damage the mechanical structure of the robot; (2) The motor needs to provide all the power to complete the movement and overcome inertia, especially when starting, stopping and changing direction, the load is the largest, resulting in high energy consumption and shortening the life of the motor; (3) Pure motor drive system is difficult to simulate the flexibility of human waist muscles and ligaments, which poses safety hazards when interacting with the environment or people. Summary of the Invention

[0003] The purpose of this invention is to provide a bidirectional positive and negative spiral elastic component between the waist and pelvis of a humanoid robot, so as to solve the technical problems existing in the prior art.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A bidirectional forward and reverse spiral elastic component between the waist and pelvis of a humanoid robot includes a forward spiral elastic unit and a reverse spiral elastic unit. The forward and reverse spiral elastic units have opposite spiral directions and the same spiral parameters, and an interactive linkage component is provided between the forward and reverse spiral elastic units. The forward and reverse spiral elastic units are symmetrically arranged around the connection center of the hollow bionic lumbar spine and the hollow bionic pelvis of the humanoid robot.

[0005] Preferably, the centers of the forward spiral elastic unit and the reverse spiral elastic unit are coaxial, and they are arranged in an alternating layered manner.

[0006] Preferably, the interactive linkage component includes two linkage rods symmetrically arranged on both sides of the forward helical elastic unit and the reverse helical elastic unit, and a movable link assembly that cooperates with the linkage rods; the movable link assembly includes multiple movable links arranged along the axial direction of the linkage rods, one end of the movable link is fixedly connected to the linkage rod, the other end of some of the movable links is movably connected to the forward helical elastic unit, and the other end of another part of the movable links is movably connected to the reverse helical elastic unit.

[0007] Preferably, two movable connecting rods are connected at the same position of the linkage rod, and the two are symmetrically arranged to form a V-shape.

[0008] Preferably, the other end of the movable connecting rod is provided with a collar, which is movably connected to the forward helical elastic unit and the reverse helical elastic unit through the collar.

[0009] To achieve the above objectives, the present invention also provides a hollowed-out structure for the waist and pelvis of a humanoid robot, including a hollowed-out bionic lumbar vertebra and a hollowed-out bionic pelvis that are rotatably connected, and a bidirectional positive and negative spiral elastic component between the waist and pelvis of the humanoid robot as described above, wherein the bidirectional positive and negative spiral elastic component is connected to the hollowed-out bionic lumbar vertebra.

[0010] Preferably, the hollow bionic lumbar vertebra includes multiple bionic vertebrae connected in series by flexible connectors. Each bionic vertebra has two transverse connecting holes spaced apart. The forward spiral elastic unit passes through one of the transverse connecting holes on all the bionic vertebrae in sequence, and the reverse spiral elastic unit passes through the other transverse connecting hole on all the bionic vertebrae in sequence.

[0011] Preferably, the bionic vertebra is hollow inside, and its central part has a through hole through which the flexible connector passes.

[0012] Preferably, the hollow bionic pelvis is provided with a plurality of weight-reduction holes for weight reduction.

[0013] Compared with the prior art, the present invention has the following beneficial effects: (1) The present invention utilizes the cooperation of positive and negative spiral elastic units and interactive linkage components. When the robot's waist bends (e.g., flexes forward), one spiral elastic unit (e.g., the positive unit) is compressed and the other (e.g., the negative unit) is stretched. The compressed unit absorbs and stores energy through its elastic deformation. This process effectively buffers the impact at the end of the bending action, prevents structural overload, and makes the movement smoother and more stable. When the robot's waist recovers from the bent state, the compressed spiral elastic unit releases its stored elastic potential energy and applies a reverse assist through the linkage component, helping the waist to quickly and effortlessly return to the neutral position. This significantly reduces the load and energy consumption of the drive motor, making it particularly suitable for application scenarios that require frequent and rapid changes in posture.

[0014] (2) In this invention, the positive and negative spiral units are symmetrical and coaxially arranged, so that the two units can work together in any direction of bending or torsion. One provides the main buffer / assistance, while the other provides the opposite balancing force, avoiding the problem of eccentric load caused by unilateral force and improving the motion stability and reliability of the entire waist structure.

[0015] (3) This invention does not replace the motor, but works in cooperation with the motor. The motor provides active driving force, while this elastic component is responsible for managing the conversion of kinetic energy and potential energy. This cooperative working mode allows the motor to work in a more optimized load range, resulting in lower overall system energy consumption, faster response, and longer lifespan.

[0016] (4) The present invention integrates a bidirectional helical elastic component into a hollow bionic lumbar spine, mimicking the structure of the vertebral foramen and ligaments of the human spine. It not only achieves functional bionics (buffering and assistance) but also structural bionics (lightweight and multi-segmental flexibility), making the robot's waist movement closer to that of humans, with greater flexibility and adaptability.

[0017] (5) This invention uses a hollow design to mimic the vertebrae and pelvis and sets up weight-reducing holes. Under the premise of ensuring structural strength, it greatly reduces the weight of the waist and reduces the overall rotational inertia of the robot, which is conducive to improving motion agility and further reducing energy consumption. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of the present invention.

[0019] Figure 2 This is a schematic diagram of the structure of Embodiment 2 of the present invention.

[0020] Figure 3 This is a partially enlarged schematic diagram of the interactive linkage component in this invention.

[0021] The component names corresponding to the attached figures are as follows: 1-forward spiral elastic unit, 2-reverse spiral elastic unit, 3-interactive linkage component, 31-linkage rod, 32-movable connecting rod, 33-ring, 4-hollow bionic lumbar vertebra, 41-bionic vertebra, 42-flexible connector, 43-connecting through hole, 5-hollow bionic pelvis, 51-weight reduction hole. Detailed Implementation

[0022] To enable those skilled in the art to have a clearer understanding of the present invention, the present invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described below are merely for illustrative purposes and to facilitate understanding. The technical solutions provided by the present invention are not limited to those provided in the following embodiments, nor should they limit the scope of protection of the present invention.

[0023] Example 1 like Figures 1-3 As shown, this embodiment provides a bidirectional positive and negative spiral elastic component between the waist and pelvis of a simulated humanoid robot, which mainly consists of a positive spiral elastic unit 1, a negative spiral elastic unit 2, and an interactive linkage component 3.

[0024] In this embodiment, the forward helical elastic unit 1 and the reverse helical elastic unit 2 preferably adopt a helical spring or spring-like structure with the same key helical parameters, namely: pitch, diameter, and material. The forward helical elastic unit 1 and the reverse helical elastic unit 2 have opposite helical directions, one is left-handed and the other is right-handed. The central axes of the two units coincide and are arranged in an alternating layer in the axial direction, that is, they are intertwined in space but do not contact each other.

[0025] The interactive linkage component 3 is the key to connecting the two spiral units and transmitting force. It includes two linkage rods 31, which are parallel to the axis of the spiral unit and symmetrically distributed on both sides of the two spiral units. Furthermore, the linkage rods 31 are located inside the spiral unit and their two ends are movable.

[0026] On each linkage rod 31, multiple movable links 32 are connected at intervals along its length. In particular, at the same position point of the linkage rod 31, two movable links 32 are connected, extending from the linkage rod 31 in opposite directions in a "V" shape. The other end of one of the movable links 32 is fitted onto the helical elastic unit through a collar 33 at its end. For example, the other ends of the two movable links 32 are fitted onto the forward helical elastic unit 1 through the collar 33 at their ends, or the other ends of the two movable links 32 are fitted onto the reverse helical elastic unit 2 through the collar 33 at their ends. The collar 33 is movably connected to the helical unit (i.e., clearance fit), allowing the helical unit to move freely relative to the collar 33 during compression or tension, while transmitting force to the movable links 32.

[0027] During operation, when the forward spiral elastic unit 1 is compressed or stretched, it transmits the force to the linkage rod 31 through the connected movable link 32. Then, the linkage rod 31 transmits the force to the reverse spiral elastic unit 2 through the movable link 32 connected to the reverse spiral elastic unit 2, thereby ensuring that the compression or stretching of the forward spiral elastic unit 1 and the reverse spiral elastic unit 2 are synchronized.

[0028] Example 2 like Figure 2 As shown, based on Embodiment 1, this embodiment also provides a waist and pelvic structure for a simulated humanoid robot. The structure includes a hollow bionic lumbar vertebra 4, a hollow bionic pelvis 5, and the aforementioned bidirectional positive and negative spiral elastic components integrated therein.

[0029] In this embodiment, the hollow bionic lumbar vertebra 4 is formed by connecting multiple bionic vertebrae 41 in series with flexible connectors 42 (such as rubber columns, silicone ligaments or springs). Preferably, each bionic vertebra 41 is hollow inside to reduce weight, and has an axial through hole in the middle for the flexible connector 42 to pass through. In addition, each bionic vertebra 41 is also provided with two connecting through holes 43 perpendicular to the lumbar vertebral axis, and these two through holes 43 are spaced a certain distance apart.

[0030] Bidirectional positive and negative spiral elastic components are installed in this lumbar spine structure: the positive spiral elastic unit 1 passes through one of the connecting holes 43 on all the bionic vertebrae 41 in sequence, while the negative spiral elastic unit 2 passes through the other connecting hole 43 in sequence.

[0031] The hollow bionic pelvis 5 is rotatably connected to the lowest bionic vertebra 41 via a bearing or hinge, enabling relative movement between the waist and pelvis. In a further preferred embodiment, the hollow bionic pelvis 5 has several weight-reducing holes 51 to further achieve lightweighting.

[0032] Working principle: When the robot's waist (hollow bionic lumbar vertebra 4) bends under motor drive (such as flexion, extension, or lateral flexion), the deformation of the lumbar vertebra forces the forward spiral elastic unit 1 and the reverse spiral elastic unit 2, which pass through the internal connecting hole 43, to produce relative displacement. Since the two spirals are opposite in direction and coupled through the interactive linkage component 3, in any directional bending motion, one spiral unit will always bear the main axial compression, while the other unit will bear the main axial tension. For example, during flexion, the right-handed forward unit 1 may be compressed and the left-handed reverse unit 2 may be stretched; while during extension, the situation may be exactly the opposite.

[0033] During the bending (energy storage) process, the two helical units undergo elastic deformation simultaneously, converting a portion of the kinetic energy generated by the motor and motion inertia into elastic potential energy for storage. This process effectively buffers the impact at the end of the bending motion, making the movement smooth and gentle, and protecting the mechanical structure. During the recovery (energy release) process, the compressed helical unit seeks to return to its original length and generates thrust, while the stretched helical unit seeks to return to its original length and generates tension. These two restoring forces are coupled through the interactive linkage component 3, forming a powerful assist that helps the waist return to the neutral position. This assist significantly reduces the load and energy consumption required by the drive motor during the recovery phase, achieving efficient operation of the system.

[0034] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A bidirectional positive and negative spiral elastic component between the waist and pelvis of a humanoid robot, characterized in that: It includes a forward spiral elastic unit (1) and a reverse spiral elastic unit (2). The forward spiral elastic unit (1) and the reverse spiral elastic unit (2) have opposite spiral directions and the same key spiral parameters. An interactive linkage component (3) is provided between the forward spiral elastic unit (1) and the reverse spiral elastic unit (2). The forward spiral elastic unit (1) and the reverse spiral elastic unit (2) are arranged around the hollow bionic lumbar spine (4) and hollow bionic pelvis (5) of the simulated humanoid robot.

2. The bidirectional positive and negative spiral elastic component between the waist and pelvis of the simulated humanoid robot according to claim 1, characterized in that: The forward spiral elastic unit (1) and the reverse spiral elastic unit (2) are coaxial in center and are stacked alternately in the axial direction.

3. The bidirectional positive and negative spiral elastic component between the waist and pelvis of the simulated humanoid robot according to claim 2, characterized in that: The interactive linkage component (3) includes two linkage rods (31), which are symmetrically arranged on both sides of the forward spiral elastic unit (1) and the reverse spiral elastic unit (2), respectively. The axial direction of the linkage rod (31) is parallel to the axial direction of the spiral elastic unit. Each linkage rod (31) has multiple movable connecting rods (32) spaced along its axial direction. One end of each movable connecting rod (32) is fixedly connected to the linkage rod (31), the other end of some movable connecting rods (32) is movably connected to the forward spiral elastic unit (1), and the other end of other movable connecting rods (32) is movably connected to the reverse spiral elastic unit (2).

4. The bidirectional positive and negative spiral elastic component between the waist and pelvis of the humanoid robot according to claim 3, characterized in that: Two movable connecting rods (32) are connected at the same position of the linkage rod (31). The two movable connecting rods (32) extend symmetrically from the linkage rod (31) in opposite directions and are respectively movably connected to the forward helical elastic unit (1) or the reverse helical elastic unit (2).

5. The bidirectional positive and negative spiral elastic component between the waist and pelvis of the simulated humanoid robot according to claim 4, characterized in that: The other end of the movable link (32) is provided with a collar (33), and the movable link (32) is movably connected to the forward helical elastic unit (1) or the reverse helical elastic unit (2) through the collar (33).

6. A hollowed-out waist and pelvic cavity structure for a humanoid robot, comprising a hollowed-out bionic lumbar vertebra (4) and a hollowed-out bionic pelvis (5) rotatably connected, characterized in that: It also includes a bidirectional positive and negative spiral elastic component between the waist and pelvis of the simulated humanoid robot as described in any one of claims 1 to 5, wherein the bidirectional positive and negative spiral elastic component is connected to the hollow bionic lumbar vertebra (4).

7. The hollowed-out waist and pelvis structure of the humanoid robot according to claim 6, characterized in that: The hollow bionic lumbar vertebra (4) includes multiple bionic vertebrae (41) connected in series by flexible connectors (42). Each bionic vertebra (41) has two connecting holes (43) spaced apart in a direction perpendicular to the lumbar vertebral axis. The forward spiral elastic unit (1) passes through one of the connecting holes (43) on all the bionic vertebrae (41) in sequence, and the reverse spiral elastic unit (2) passes through the other connecting hole (43) on all the bionic vertebrae (41) in sequence.

8. The hollowed-out waist and pelvis structure of the humanoid robot according to claim 7, characterized in that: The bionic vertebra (41) is hollow inside, and its middle part is provided with an axial through hole for the flexible connector (42) to pass through.

9. The hollowed-out waist and pelvis structure of the humanoid robot according to claim 8, characterized in that: The hollow bionic pelvis (5) is provided with several weight-reducing holes (51) for weight reduction.

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