Bionic spine and robot

Abstract

The bionic spine comprises a supporting base, a flexible spine base body, a connecting base and a plurality of rigid fixing parts, the flexible spine base body is arranged on the supporting base, the end, away from the supporting base, of the flexible spine base body is connected with the connecting base, the flexible spine base body is integrally formed, and the rigid fixing parts are arranged on the connecting base. The rigid fixing parts are arranged at intervals in the length direction of the flexible spine base body. According to the bionic spine and the robot, the problems that an existing mechanical spine is poor in impact resistance and complex in structure are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of bionic mechanisms, in particular to a bionic spine and a robot. Background Art

[0002] The spine design methods currently emerging in the field of humanoid robots are mostly based on rigid mechanisms designed based on mechanical principles, which can achieve basic degrees of freedom of spine movement.

[0003] While rigid spine designs can achieve a certain degree of freedom of movement, they suffer from poor impact resistance, making them more susceptible to damage from unexpected events like falls and collisions. Furthermore, they experience high friction, and over time, the positional accuracy of the spine decreases. Flexible spines designed based on rigid structures typically use components such as ball joints or universal joints to ensure greater flexibility, but these structures are more complex. Utility Model Content

[0004] The main purpose of the utility model is to provide a bionic spine and a robot, aiming to solve the problems of poor impact resistance and complex structure of existing mechanical spines.

[0005] To achieve the above-mentioned purpose, the present invention proposes a bionic spine, including a support seat, a flexible spine base, a connecting seat and multiple rigid fixing parts. The flexible spine base is arranged on the support seat, and one end away from the support seat is connected to the connecting seat. The flexible spine base is integrally formed, and the multiple rigid fixing parts are arranged at intervals along the length direction of the flexible spine base.

[0006] According to some embodiments of the present invention, two adjacent rigid fixing portions are connected via an elastic connecting portion.

[0007] According to some embodiments of the present invention, the rigid fixing portion is connected to elastic connecting portions on both sides of the flexible spinal matrix that are opposite in the radial direction.

[0008] According to some embodiments of the present invention, connection holes are provided on both sides of the rigid fixing part, and the elastic connecting part is an elastic series wire, one end of the elastic series wire passes through and is connected to the connection hole of one of the rigid fixing parts, and the other end passes through and is connected to the connection hole of the adjacent rigid fixing part.

[0009] According to some embodiments of the present invention, the rigid fixing portion is arranged in an annular shape and is sleeved on the flexible spinal base.

[0010] According to some embodiments of the present invention, the rigid fixing portion is formed by splicing two arc-shaped fixing segments.

[0011] According to some embodiments of the present invention, the flexible spinal matrix is ​​provided with a plurality of fixing grooves spaced apart along its length direction, and each of the rigid fixing portions extends into the fixing groove and is fixedly engaged with the groove wall of the fixing groove.

[0012] According to some embodiments of the present invention, each fixing groove is arranged in an annular shape, and the shape of the fixing groove is adapted to the shape of the annular rigid fixing part so that the inner wall of the rigid fixing part fits with the bottom of the fixing groove.

[0013] According to some embodiments of the present invention, the flexible spinal matrix is ​​arranged in an S-shape.

[0014] In addition, the present invention also provides a robot, comprising a robot body and a bionic spine as described in any one of the above items, wherein the hip of the robot body is connected to the support seat, and the neck of the robot body is connected to the connecting seat.

[0015] The utility model has at least the following beneficial effects:

[0016] In the present invention, the flexible spine matrix is ​​arranged on the support seat, and one end away from the support seat is connected to the connecting seat. The flexible spine matrix is ​​integrally formed, and the multiple rigid fixing parts are spaced apart along the length direction of the flexible spine matrix. By improving the spine with a purely rigid structure into a combination of the flexible spine matrix and the rigid fixing parts, the flexible spine matrix is ​​supported and fixed by the multiple rigid fixing parts to ensure the structural strength of the bionic spine. Since the flexible spine matrix is ​​elastic and integrally formed, when the bionic spine is impacted, the flexible spine matrix can transmit the impact force to the support seat and the connecting seat, and the impact force is shared by the entire robot. At the same time, the flexible spine matrix in the present invention is integrally formed. Compared with the segmented flexible spine connected by ball joints, on the one hand, the structure is simpler and the effect of transmitting impact force is better. On the other hand, it avoids the problem of damage to the rigid joints of the segmented flexible spine when it is impacted. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 A schematic structural diagram of a bionic spine provided in an embodiment of the present utility model;

[0019] Figure 2 for Figure 1 a cross-sectional view of the bionic spine in FIG.

[0020] Figure 3 for Figure 1 a structural view of the flexible spine base in FIG.

[0021] Figure 4 for Figure 1 a structural view of the flexible spine base and the rigid fixing part connection in FIG.

[0022] BRIEF DESCRIPTION OF DRAWINGS

[0023] 100-bionic spine; 1-supporting seat; 2-flexible spine base; 21-fixing groove; 3-connection seat; 4-rigid fixing part; 41-connection hole; 5-elastic connection part; 5a-elastic stringing line. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present application will be described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0025] It should be noted that if the present application embodiments involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative positional relationship, movement condition, etc. between the components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the directional indications also change accordingly.

[0026] In addition, if the present application embodiments involve descriptions of "first", "second", etc., the descriptions of "first", "second", etc. are only for description purposes, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features with "first" and "second" can explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel schemes. Taking "A and / or B" as an example, it includes A scheme, or B scheme, or A and B simultaneously satisfying the scheme. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of a person skilled in the art, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the scope of protection required by the present application.

[0027] The present application provides a bionic spine and a robot, Figures 1 to 4This is a specific embodiment of a bionic spine provided by the utility model.

[0028] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a bionic spine 100, comprising a support seat 1, a flexible spine base 2, a connecting seat 3 and a plurality of rigid fixing parts 4, wherein the flexible spine base 2 is arranged on the support seat 1, and one end away from the support seat 1 is connected to the connecting seat 3, the flexible spine base 2 is integrally formed, and the plurality of rigid fixing parts 4 are spaced apart along the length direction of the flexible spine base 2.

[0029] In the present invention, the flexible spine matrix 2 is arranged on the support seat 1, and one end away from the support seat 1 is connected to the connecting seat 3. The flexible spine matrix 2 is integrally formed, and the multiple rigid fixing parts 4 are spaced apart along the length direction of the flexible spine matrix 2. By improving the purely rigid structure of the spine into a combination of the flexible spine matrix 2 and the rigid fixing parts 4, the flexible spine matrix 2 is supported and fixed by the multiple rigid fixing parts 4 to ensure the structural strength of the bionic spine 100. Since the flexible spine matrix 2 is elastic and integrally formed, when the bionic spine 100 is impacted, the flexible spine matrix 2 can transmit the impact force to the support seat 1 and the connecting seat 3, and the impact force is shared by the entire robot. At the same time, the flexible spine matrix 2 in the present invention is integrally formed. Compared with the segmented flexible spine connected by ball joints, on the one hand, it has a simpler structure and better impact force transmission effect, and on the other hand, it avoids the problem of damage to the rigid joints of the segmented flexible spine when it is impacted.

[0030] It should be noted that the flexible spine base 2 is made of flexible TPU material, which has good elasticity, strength, and strong tear resistance. The support base 1, the connecting base 3, and the rigid fixing portion 4 are all made of metal, which enhances the strength of the bionic spine 100 and improves the structural stability of the bionic spine 100.

[0031] In order to prevent the bionic spine 100 from excessively bending and causing the flexible spine matrix 2 to tear, in some embodiments, as Figure 4As shown, two adjacent rigid fixing parts 4 are connected by an elastic connecting part 5. With this arrangement, when the bionic spine 100 bends toward the elastic connecting part 5, the elastic connecting part 5 can contract and deform, pressing against the rigid fixing part 4 to restrict further bending of the bionic spine 100; when the bionic spine 100 bends toward the direction away from the elastic connecting part 5, the elastic connecting part 5 can extend and deform, pulling against the rigid fixing part 4 to restrict further bending of the bionic spine 100.

[0032] Furthermore, in some embodiments, the rigid fixing portion 4 is connected to elastic connecting portions 5 on both radially opposite sides of the flexible spinal matrix 2. When the bionic spine 100 bends, the elastic connecting portion 5 on one side contracts and presses against the rigid fixing portion 4, while the elastic connecting portion 5 on the other side expands and pulls against the rigid fixing portion 4. The two elastic connecting portions 5 cooperate with each other to limit further bending of the bionic spine 100, preventing the bionic spine 100 from overbending and causing the flexible spinal matrix 2 to tear.

[0033] Although the elastic connection portion 5 can generally limit the excessive bending of the bionic spine 100, it can also affect the bending freedom of the bionic spine 100. Therefore, in some embodiments, Figure 4 As shown, connection holes 41 are formed on both sides of the rigid fixing portion 4. The elastic connecting portion 5 is an elastic series wire 5a. One end of the elastic series wire 5a passes through and connects to the connection hole 41 of one of the rigid fixing portions 4, and the other end passes through and connects to the connection hole 41 of the adjacent rigid fixing portion 4. By configuring the elastic connecting portion 5 as the elastic series wire 5a, the elastic series wire 5a provides less restriction on the bionic spine 100 than other conventional connecting components, without affecting the bionic spine 100's degree of freedom of bending. At the same time, the elastic series wire 5a on the side facing away from the bending direction can pull the rigid fixing portion 4 to limit excessive bending of the bionic spine 100.

[0034] In some embodiments, as Figure 1 As shown, the rigid fixing portion 4 is annularly arranged and sleeved on the flexible spine base 2. In this manner, the annularly arranged rigid fixing portion 4 can support various parts of the flexible spine base 2, thereby enhancing the strength of the bionic spine 100 and improving the structural stability of the bionic spine 100.

[0035] The specific structure of the rigid fixing portion 4 is not limited, as long as the rigid fixing portion 4 is arranged in an annular shape. For example, in some embodiments, Figure 2As shown, the rigid fixing portion 4 is formed by splicing two arc-shaped fixing segments. With this arrangement, the inner diameter of the rigid fixing portion 4 can be changed by replacing the connecting piece between the two arc-shaped fixing segments, thereby adapting to the flexible spinal matrix 2 of more sizes.

[0036] The connection method between the rigid fixing portion 4 and the flexible spinal matrix 2 is not limited. For example, in some embodiments, Figure 2 and Figure 3 As shown, the flexible vertebral matrix 2 is provided with a plurality of fixing grooves 21 spaced apart along its length. Each rigid fixing portion 4 extends into a fixing groove 21 and is fixedly engaged with the groove wall of the fixing groove 21. This arrangement allows the rigid fixing portion 4 to be fixed to the flexible vertebral matrix 2 by engaging the groove wall of the fixing groove 21 with the rigid fixing portion 4, without requiring additional connectors. This reduces the production cost of the bionic spine 100 and minimizes interference of the rigid fixing portion 4 with the flexible vertebral matrix 2, thereby preventing any impact on the bending freedom of the flexible vertebral matrix 2.

[0037] Furthermore, in some embodiments, Figure 3 As shown, each fixing groove 21 is annular in shape, and its shape matches the shape of the annular rigid fixing portion 4, so that the inner wall of the rigid fixing portion 4 fits in contact with the bottom of the fixing groove 21. This arrangement reduces the gap between the rigid fixing portion 4 and the flexible vertebral base 2, enhances the support effect of the rigid fixing portion 4, and thus improves the strength and structural stability of the bionic spine 100.

[0038] In some embodiments, as Figure 2 As shown, the flexible spine base 2 is arranged in an S-shape. With this arrangement, the overall shape of the bionic spine 100 highly restores the shape of the human spine, thereby improving the simulation degree of the bionic spine 100.

[0039] In addition, the present invention also provides a robot, including a robot body and the bionic spine 100 , wherein the hip of the robot body is connected to the support seat 1 , and the neck of the robot body is connected to the connecting seat 3 .

[0040] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A bionic spine, characterized in that: It includes a support seat, a flexible spinal base, a connecting seat and multiple rigid fixing parts. The flexible spinal base is arranged on the support seat, and one end away from the support seat is connected to the connecting seat. The flexible spinal base is integrally formed, and the multiple rigid fixing parts are arranged at intervals along the length direction of the flexible spinal base.

2. The bionic spine according to claim 1, wherein: Two adjacent rigid fixing parts are connected via an elastic connecting part.

3. The bionic spine according to claim 2, wherein: The rigid fixing portion is connected to elastic connecting portions on both opposite sides of the flexible spinal matrix in the radial direction.

4. The bionic spine according to claim 3, wherein: Connection holes are provided on both sides of the rigid fixing part, and the elastic connecting part is an elastic series wire. One end of the elastic series wire passes through and is connected to the connection hole of one of the rigid fixing parts, and the other end passes through and is connected to the connection hole of the adjacent rigid fixing part.

5. The bionic spine according to claim 1, wherein: The rigid fixing portion is arranged in an annular shape and is sleeved on the flexible spinal matrix.

6. The bionic spine according to claim 5, characterized in that: The rigid fixing portion is formed by splicing two arc-shaped fixing segments.

7. The bionic spine according to claim 5, wherein: The flexible spinal matrix is ​​provided with a plurality of fixing grooves spaced apart along the length direction thereof, and each of the rigid fixing portions extends into the fixing groove and is fixedly engaged with the groove wall of the fixing groove.

8. The bionic spine according to claim 7, wherein: Each of the fixing grooves is arranged in an annular shape, and the shape of the fixing groove is adapted to the shape of the annular rigid fixing portion, so that the inner wall of the rigid fixing portion fits with the groove bottom of the fixing groove.

9. The bionic spine according to claim 1, wherein: The flexible spine matrix is ​​arranged in an S shape.

10. A robot, characterized in that: The bionic spine comprises a robot body and the bionic spine according to any one of claims 1 to 9, wherein the hip of the robot body is connected to the support seat, and the neck of the robot body is connected to the connection seat.

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