Leopard-imitating type series-parallel composite flexible spine system

Abstract

The invention provides a hunting simulation type series-parallel composite flexible spine system, relates to the technical field of robots, and aims to solve the problems of insufficient rigidity and poor bearing capacity of an existing series robot spine structure. The device comprises two end plates, a central restraining assembly and at least four driving units, the two end plates are oppositely arranged, and the outer sides of the two end plates are used for being connected with a front machine body and a rear machine body of the robot correspondingly; the central restraining assembly is installed in the middle between the two end plates and used for limiting the relative rotation freedom degree between the two end plates, the four driving units are arranged on the periphery of the central restraining assembly in the circumferential direction, and the two ends of each driving unit are hinged to the two end plates through universal joint connecting assemblies respectively; each driving unit can do telescopic motion independently, the two end plates are driven to do relative bending motion in the front-back direction or the left-right direction by controlling the telescopic amount of the driving units in a coordinated mode, and bending and stretching of the spine are achieved.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a cheetah-inspired serial-parallel composite flexible spine system. Background Technology

[0002] Currently, most lunar exploration robots use wheeled or tracked locomotion mechanisms, which have limited adaptability to complex terrains (such as rock piles, craters, and slopes). While legged robots have better obstacle-crossing capabilities, their motion control is complex and their stability is poor. Especially in the low-gravity environment of the lunar surface, jumping motion, although improving movement efficiency, increases the difficulty of landing control.

[0003] Most existing quadruped robots use a series-type spinal structure. Series-type actively driven spines can be single-segment or multi-segment. A single-segment spine often adds a degree of freedom of bending at the robot's waist, usually controlled by a motor. Multi-segment spines are closer to the spinal structure of organisms in nature, but the structural strength and overall rigidity of series-type structures are poor, which is not conducive to the robot's rapid jumps. Summary of the Invention

[0004] To address the problems of insufficient stiffness and poor load-bearing capacity in existing serial robot spinal structures, this invention proposes a cheetah-inspired serial-parallel composite flexible spinal system.

[0005] The technical solution adopted by the present invention to solve the above problems is as follows: This invention proposes a cheetah-inspired serial-parallel composite flexible spinal system, comprising two end plates, a central constraint assembly, and at least four drive units. The two end plates are arranged opposite each other, with their outer sides respectively used to connect to the front and rear fuselage of a robot. The central constraint assembly is installed in the middle between the two end plates to limit the relative rotational freedom between them. The four drive units are circumferentially arranged around the central constraint assembly, with each drive unit's two ends hinged to the two end plates via universal joints. Each drive unit can independently perform telescopic movements. By coordinating and controlling the telescopic amount of each drive unit, the two end plates are driven to produce relative bending movements in the front-back or left-right directions, thereby achieving bending and extension of the spine.

[0006] Furthermore, the central restraint assembly includes a spinal carbon tube fixation base, a spinal carbon tube, a carbon tube-universal joint connector, and a central spinal universal joint; both ends of the central spinal universal joint are respectively connected to the inner ends of the corresponding spinal carbon tubes via the carbon tube-universal joint connector; the outer ends of each spinal carbon tube are connected to the corresponding end plate via the spinal carbon tube fixation base.

[0007] Furthermore, the four drive units are arranged in a rectangular pattern around the central constraint assembly.

[0008] Furthermore, each of the drive units includes an electric cylinder sleeve, one end of which is connected to the inner wall of the end plate on the corresponding side via a universal joint assembly, and the other end is connected to a hollow shaft motor. A lead screw is fixedly installed inside the hollow shaft motor. One end of a sliding lead screw passes through the lead screw and the hollow shaft motor and is connected to the electric cylinder sleeve. The other end of the sliding lead screw is connected to the inner wall of the end plate on the corresponding side via a universal joint assembly.

[0009] Furthermore, the universal joint connection assembly includes a quick-release universal joint and a connector; the connector is fixed to the inner wall of the end plate, and the quick-release universal joint is connected to the end plate through the connector.

[0010] Furthermore, one end of the electric cylinder sleeve is detachably connected to the quick-release universal joint via a sleeve-universal joint connector; the other end of the electric cylinder sleeve is connected to the hollow shaft motor via a motor-sleeve connector.

[0011] Furthermore, the sliding lead screw is detachably connected to the quick-release universal joint via a lead screw and universal joint connector.

[0012] The beneficial effects of this invention are: 1. In this invention, each drive unit can independently perform telescopic movements. By coordinating and controlling the telescopic amount of each drive unit and adjusting the degree of freedom of the central universal joint, the two end plates can produce relative bending movements in the front-back or left-right directions, thereby realizing the bending and extension of the spine. 2. The present invention uses four driving units to form a parallel support structure, which provides the spine with stiffness and strong active load-bearing capacity to cope with dynamic impact loads. 3. In this invention, each drive unit is connected at both ends by carbon fiber plates, and each drive unit is connected to the end plate by a quick-release universal joint, which facilitates disassembly and maintenance. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the bending limit position in the left and right directions of the present invention; Figure 3 This is a schematic diagram showing the reachable positions of the left and right bends of this invention.

[0014] In the diagram: 1-End plate; 2-Universal joint and carbon plate connector; 3-Quick-release universal joint; 4-Electric cylinder sleeve and universal joint connector; 5-Electric cylinder sleeve; 6-Motor and electric cylinder sleeve connector; 7-Hollow shaft motor; 8-Threaded nut; 9-Sliding lead screw; 10-Lead screw and universal joint connector; 11-Spine carbon tube fixation seat; 12-Spine carbon tube; 13-Carbon tube and universal joint connector; 14-Spine central universal joint. Detailed Implementation

[0015] This embodiment proposes a cheetah-inspired series-parallel composite flexible spinal system, such as... Figure 1 As shown, it includes two end plates 1, a central constraint assembly and at least four drive units. The end plates 1 are made of carbon fiber plates. The two end plates 1 are arranged opposite each other, and the outer sides of the two end plates 1 are respectively used to connect the front and rear bodies of the robot.

[0016] A central constraint assembly, installed in the middle between two end plates 1, limits the relative rotational freedom between the two end plates 1. The central constraint assembly includes a spinal carbon tube fixation base 11, a spinal carbon tube 12, a carbon tube-universal joint connector 13, and a central spinal universal joint 14. Both ends of the central spinal universal joint 14 are connected to the inner ends of the corresponding spinal carbon tubes 12 via the carbon tube-universal joint connector 13 (through shaft holes and locked with pins). The outer ends of each spinal carbon tube 12 are fixedly connected to the corresponding end plate 1 via the spinal carbon tube fixation base 11 using screws. The spinal carbon tube 12 and the spinal carbon tube fixation base 11 are engaged via irregular holes and locked with screws.

[0017] Four drive units are circumferentially arranged around the central restraint assembly, with each drive unit hinged to the two end plates 1 at both ends via universal joints. Each drive unit can independently extend and retract. By coordinating and controlling the extension and retraction of each drive unit, the two end plates 1 are driven to produce relative bending movements in the forward / backward or left / right directions, thereby achieving spinal flexion and extension. Figure 2 and Figure 3 As shown, the bending working range of the two degrees of freedom of the spinal mechanism is not less than ±30°.

[0018] Preferably, the four drive units are arranged in a rectangular shape around the central restraint assembly. The four drive units form a parallel support structure, providing the spine with stiffness and strong active load-bearing capacity to cope with dynamic impact loads.

[0019] In some embodiments, each drive unit includes an electric cylinder sleeve 5, one end of which is connected to the inner wall of the corresponding end plate 1 via a universal joint assembly, and the other end is connected to a hollow shaft motor 7. A lead screw nut 8 is fixedly installed inside the hollow shaft motor 7. One end of a sliding lead screw 9 passes through the lead screw nut 8 and the hollow shaft motor 7 and is connected to the electric cylinder sleeve 5. The other end of the sliding lead screw 9 is connected to the inner wall of the corresponding end plate 1 via a universal joint assembly.

[0020] The hollow shaft motor 7 drives the lead screw nut to rotate, and the lead screw cooperates with the lead screw nut 8 to push the sliding lead screw 9 to achieve extension and retraction. The hollow shaft motor 7 adopts the DM-G6020 and uses a structure in which a large lead screw passes through the hollow shaft inside the motor. The use of a large lead screw can reduce the reduction ratio and back drive force of the drive unit, and facilitate force control through the current loop; the structure in which the lead screw passes through the hollow shaft inside the motor can avoid motor offset and reduce the axial space occupied by the drive unit, which has the advantages of simple structure, easy processing and maintenance, small backlash, and high precision.

[0021] During forward and backward movement: the lead screws of the two front drive units contract synchronously, and the lead screws of the two rear drive units extend synchronously, causing the spine to bend forward as a whole; conversely, it bends backward. During left and right movement: when the lead screws of the two upper drive units contract synchronously and the lead screws of the two lower drive units extend synchronously, the spine bends upward; conversely, it bends downward. The universal joint connection assembly includes a quick-release universal joint 3 and a connector 2; the connector 2 is fixed to the inner wall of the end plate 1, and the quick-release universal joint 3 is connected to the end plate 1 through the connector 2.

[0022] One end of the electric cylinder sleeve 5 is detachably connected to the universal joint 3 via the sleeve-to-universal joint connector 4; the electric cylinder sleeve 5 and the sleeve-to-universal joint connector 4 are engaged through a shaft hole and locked with screws; the sleeve-to-universal joint connector 4 and the quick-release universal joint 3 are engaged through a shaft hole and locked with a pin to achieve quick disassembly and assembly.

[0023] The other end of the electric cylinder sleeve 5 is connected to the hollow shaft motor 7 via the motor-sleeve connector 6. The electric cylinder sleeve 5 and the motor-sleeve connector 6 are fitted with a shaft hole and fixed with screws; the motor-sleeve connector 6 and the hollow shaft motor 7 are fixed with screws.

[0024] The sliding lead screw 9 is detachably connected to the quick-release universal joint 3 via the lead screw and universal joint connector 10; the sliding lead screw 9 and the lead screw and universal joint connector 10 are engaged through a shaft hole and locked with screws; the lead screw and universal joint connector 10 and the quick-release universal joint 3 are engaged through a shaft hole and locked with a pin to achieve quick assembly and disassembly.

[0025] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent substitutions, and improvements made to the above embodiments without departing from the scope of the present invention, based on the technical essence of the present invention and within the spirit and principles of the present invention, shall still fall within the protection scope of the present invention.

Claims

1. A cheetah-inspired series-parallel composite flexible spinal system, characterized in that... The system includes two end plates (1), a central constraint assembly, and at least four drive units. The two end plates (1) are arranged opposite each other, and the outer sides of the two end plates (1) are used to connect the front and rear bodies of the robot, respectively. The central constraint assembly is installed in the middle between the two end plates (1) to limit the relative rotational freedom between the two end plates (1). The four drive units are arranged circumferentially around the central constraint assembly. The two ends of each drive unit are hinged to the two end plates (1) through universal joint connection assemblies. Each drive unit can independently perform telescopic movement. By coordinating and controlling the telescopic amount of each drive unit, the two end plates (1) are driven to produce relative bending movements in the front-back or left-right directions, thereby realizing the bending and extension of the spine.

2. The cheetah-inspired series-parallel composite flexible spinal system according to claim 1, characterized in that... The central restraint assembly includes a spinal carbon tube fixation seat (11), a spinal carbon tube (12), a carbon tube and universal joint connector (13), and a central spinal universal joint (14); the two ends of the central spinal universal joint (14) are respectively connected to the inner ends of the corresponding spinal carbon tubes (12) through the carbon tube and universal joint connector (13); the outer ends of each spinal carbon tube (12) are connected to the corresponding end plate (1) through the spinal carbon tube fixation seat (11).

3. The cheetah-inspired series-parallel composite flexible spinal system according to claim 2, characterized in that... The four drive units are arranged in a rectangular pattern around the central constraint assembly.

4. The cheetah-inspired series-parallel composite flexible spinal system according to claim 3, characterized in that... Each of the drive units includes an electric cylinder sleeve (5), one end of which is connected to the inner wall of the corresponding end plate (1) via a universal joint assembly, and the other end is connected to a hollow shaft motor (7). A lead screw nut (8) is fixedly installed inside the hollow shaft motor (7). One end of a sliding lead screw (9) passes through the lead screw nut (8) and the hollow shaft motor (7) and is connected to the electric cylinder sleeve (5). The other end of the sliding lead screw (9) is connected to the inner wall of the corresponding end plate (1) via a universal joint assembly.

5. The cheetah-inspired series-parallel composite flexible spinal system according to claim 4, characterized in that... The universal joint connection assembly includes a quick-release universal joint (3) and a connector (2); the connector (2) is fixed to the inner wall of the end plate (1), and the quick-release universal joint (3) is connected to the end plate (1) through the connector (2).

6. The cheetah-inspired series-parallel composite flexible spinal system according to claim 5, characterized in that... One end of the electric cylinder sleeve (5) is detachably connected to the quick-release universal joint (3) via the sleeve-to-universal joint connector (4); the other end of the electric cylinder sleeve (5) is connected to the hollow shaft motor (7) via the motor-to-sleeve connector (6).

7. A cheetah-inspired series-parallel composite flexible spinal system according to claim 6, characterized in that... The sliding lead screw (9) is detachably connected to the quick-release universal joint (3) via the lead screw and universal joint connector (10).

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