A multi-segment flexible spinal structure

Abstract

The utility model discloses a multistage type flexible spine structure, including a plurality of spine section, it is parallel and interval arrangement along vertical direction, still include at least one group of flexible adjusting mechanism, each group includes four flexible adjusting mechanism, even install in the intermediate of adjacent two spine section, be used for the independent flexible adjustment of multistage type spine structure, universal joint, including globular axle and base, globular axle is fixed in the bottom of spine section located above, and base is fixed on the above of spine section located below, and globular axle elasticity installs on base. Through setting up the independent control's flexible adjusting mechanism of each spine section junction of humanoid robot spine structure, and through the winding of connecting line and carry out the regulation and control, replace the original pneumatic control, to make flexible adjusting mechanism can independently carry out flexible motion adjustment to each spine section, improve the rate of regulation and control simultaneously, and then improve the motion stability of flexible spine of humanoid robot.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a multi-segment flexible spinal structure. Background Technology

[0002] Most existing humanoid robots use rigid mechanical connections for their spines. However, rigid mechanical connections have drawbacks such as instability and slow movement speed during motion, and also have significant limitations during movement.

[0003] Existing humanoid robot multi-segment flexible spine structures (application number 202020125025.5, a biomimetic flexible spine structure for multi-legged robots) achieve flexible movement by setting freely rotating universal joints at the joints between adjacent spinal segments and installing corresponding pneumatic muscles on each segment. However, the pneumatic muscles in this flexible structure mostly control the entire spinal column, resulting in a lag in overall control during movement. When the bending angle of the spinal segments exceeds 30 degrees, the pressure generated at the universal joint joints is too high to be buffered, thus affecting the stability of the humanoid robot's multi-segment flexible spine. Utility Model Content

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide a multi-segment flexible spinal structure to solve the technical problem that the existing multi-segment flexible spinal structures have a lag in overall control during the movement of the spinal segments, and when the bending angle of the spinal segments exceeds 30 degrees, the pressure generated at the universal joint connection is large and cannot be buffered and relieved, thus affecting the movement stability of the multi-segment flexible spine of the humanoid robot.

[0005] According to the technical solution provided in the embodiments of this application, a multi-segment flexible spinal structure includes several spinal segments, which are arranged side by side and spaced apart along the vertical direction; It also includes at least one set of flexible adjustment mechanisms, each set including four of the flexible adjustment mechanisms, which are evenly installed between two adjacent vertebral segments for individual flexible adjustment of the multi-segment spinal structure; A universal joint includes a ball joint and a base, the ball joint being fixed to the bottom of the upper spinal segment, and the base being fixed to the upper part of the lower spinal segment, the ball joint being elastically mounted on the base.

[0006] Furthermore, the flexible adjustment mechanism includes a servo motor, a take-up roller, a connecting line, and a limiting plate. The bottom of the limiting plate is connected to the connecting line, and the tail end of the connecting line is wound around the take-up roller. The take-up roller is fixedly connected to the output end of the servo motor, so that the servo motor can drive the take-up roller to wind up the connecting line.

[0007] Furthermore, a spring is also provided on the outside of the connecting line.

[0008] Furthermore, a retractable protective shell is installed on the outside of the spring.

[0009] Furthermore, the outer side of the spherical shaft is wrapped with an elastic block.

[0010] Furthermore, the base is provided with a connecting groove that is compatible with the spherical shaft structure.

[0011] Furthermore, the connecting wire is made of carbon fiber.

[0012] In summary, the beneficial effects of this application are as follows: 1. By setting independently controllable flexible adjustment mechanisms at the connection points of each spinal segment in the humanoid robot's spinal structure, and adjusting them by winding the connecting lines, the original pneumatic control is replaced. This allows the flexible adjustment mechanisms to adjust the flexible movement of each spinal segment individually, while increasing the speed of adjustment, thereby improving the motion stability of the humanoid robot's flexible spine. Second, by wrapping elastic blocks around the outer side of the universal joint ball shaft installed in the middle of each spinal segment, the elastic blocks relieve the pressure on the base of the universal joint after the multi-segment spine bends more than 30 degrees, thereby preventing wear and tear on the multi-segment spine and improving the stability of the multi-segment flexible spinal structure. Attached Figure Description

[0013] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the overall structure of the flexible spine of this utility model; Figure 2 This is a schematic diagram of the forward-facing flexible spinal structure of this utility model; Figure 3 This is a schematic diagram of the anterior end structure of the spinal segment of this utility model; Figure 4 This is a schematic diagram of the rear end structure of the spinal segment of this utility model; Figure 5 This is a schematic diagram of the cross-sectional structure of the universal joint of this utility model.

[0014] The following components are labeled in the diagram: spinal segment 100, flexible adjustment mechanism 200, servo motor 210, winding roller 220, connecting line 230, limit plate 240, universal joint 300, ball shaft 310, elastic block 311, base 320, protective shell 400, and spring 500. Detailed Implementation

[0015] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the relevant utility model and not intended to limit the scope of the utility model. Furthermore, it should be noted that, for ease of description, only the parts relevant to the utility model are shown in the accompanying drawings.

[0016] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0017] like Figure 1 As shown in Figure 2, a multi-segment flexible spinal structure includes several spinal segments 100, which are arranged side by side and spaced apart along the vertical direction. At least one flexible adjustment mechanism 200 is installed between two adjacent spinal segments 100, and four flexible adjustment mechanisms 200 are fixed to the four corners of the spinal segments 100 by screws to form a rectangular layout. The flexible adjustment mechanisms 200 are driven independently, thereby improving the motion stability of the humanoid robot's spine.

[0018] like Figure 3 and Figure 4 As shown, the flexible adjustment mechanism 200 includes a servo motor 210, a take-up roller 220, a connecting line 230, and a limiting plate 240. The bottom of the limiting plate 240 is connected to the connecting line 230, and the limiting plate 240 is mounted on the upper spinal segment 100. The tail end of the connecting line 230 is wound around the take-up roller 220, and the take-up roller 220 is fixedly connected to the output end of the servo motor 210, so that the servo motor 210 is activated according to the humanoid robot's control program, thereby driving the take-up roller 220 to wind up the connecting line 230, thereby driving each spinal segment 100 to perform flexible movement.

[0019] like Figure 3 As shown, a spring 500 is also provided on the outside of the connecting wire 230, and a retractable protective shell 400 is installed on the outside of the spring 500. The protective shell 400 is a corrugated tube design that folds as the spring 400 extends and retracts, so that the protective shell 400 provides safe protection for the spring 500 and the connecting wire 230 and prevents dust from entering. Furthermore, the connecting wire 230 is made of carbon fiber, with a tensile strength of up to 5000MPa, and is lightweight, enabling rapid response and precise winding control, thereby improving the motion stability of the flexible spinal structure.

[0020] like Figure 3 and Figure 4 As shown, the universal joint 300 is installed at the midpoint of the connection between two adjacent spinal segments 100.

[0021] like Figure 5As shown, the universal joint 300 includes a ball shaft 310 and a base 320. The ball shaft 310 is fixed to the bottom of the upper spinal segment 100, while the base 320 is fixed to the upper part of the lower spinal segment 100. The ball shaft 310 is elastically mounted in a matching connecting groove on the base 320, and an elastic block 311 is wrapped around the outside of the ball shaft 310. The elastic block 311 is made of silicone material with a Shore hardness of 50A, which provides cushioning between the ball shaft 310 and the base 320. This allows the elastic block 311 to relieve the pressure on the universal joint 300 caused by excessive angle adjustment of the multi-segment spinal segment, thereby preventing wear of the multi-segment spinal segment and improving the stability of the multi-segment flexible spinal structure.

[0022] like Figure 1 and Figure 2 As shown, when the spinal segment 100 bends by 30 degrees, the servo motor 210 rewinds the connecting cable 230 and shortens it by 5mm, the spring 500 is compressed to provide a restoring force, and the elastic block 311 of the universal joint 300 is compressed by 2mm to buffer the pressure.

[0023] The working principle of this multi-segment flexible spinal structure is as follows: By setting independently controllable flexible adjustment mechanisms 200 at the connection points of each spinal segment 100 in the multi-segment flexible spinal structure of the humanoid robot, the servo motor 210 on the flexible adjustment mechanism 200 drives the carbon fiber connecting wire 230 wound on the fixedly connected take-up roller 220 to perform take-up and unwinding, thereby adjusting the motion of the upper connected spinal segment 100. A corresponding spring 500 is installed on the outside of the connecting wire 230 so that the spring 500 deforms when the spinal segment 100 undergoes flexible movement. A corresponding protective shell 400 is installed on the outside of the spring 500 so that the protective shell 400 adjusts according to the deformation of the spring 500. The telescopic and folding mechanism protects the spring 500 and connecting wire 230 from dust intrusion. The flexible adjustment mechanism 200 can individually adjust the flexible movement of each spinal segment 100, thereby improving the motion stability of the humanoid robot's spine. A universal joint 300 is installed between each pair of adjacent spinal segments 100, and an elastic block 311 is wrapped around the outer side of the ball shaft of the universal joint 300. This allows the elastic block 311 to relieve the pressure of the multi-segment spine on the universal joint 300 base 320 after the spinal segment 100 deviates by more than 30 degrees, thereby preventing wear of the multi-segment spine and improving the motion stability of the multi-segment flexible spinal structure.

[0024] The above description is merely a preferred embodiment of this application and an explanation of the technical principles and solutions employed. Furthermore, the scope of the utility model involved in this application is not limited to the specific combination of the above-described technical features, but should also cover other technical solutions formed by any combination of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A multi-segment flexible spinal structure, comprising a plurality of spinal segments (100) arranged side-by-side and spaced apart along a vertical direction, characterized in that: It also includes at least one set of flexible adjustment mechanisms (200), each set including four of the flexible adjustment mechanisms (200), which are evenly installed between two adjacent spinal segments (100) for individual flexible adjustment of the multi-segment spinal structure; Universal joint (300) includes a ball joint (310) and a base (320), the ball joint (310) being fixed to the bottom of the upper spinal segment (100) and the base (320) being fixed to the upper part of the lower spinal segment (100), and the ball joint (310) being elastically mounted on the base (320).

2. The multi-segment flexible spinal structure according to claim 1, characterized in that: The flexible adjustment mechanism (200) includes a servo motor (210), a take-up roller (220), a connecting line (230), and a limiting plate (240). The bottom of the limiting plate (240) is connected to the connecting line (230), and the tail end of the connecting line (230) is wound around the take-up roller (220). The take-up roller (220) is fixedly connected to the output end of the servo motor (210) so that the servo motor (210) can drive the take-up roller (220) to take up the connecting line (230).

3. The multi-segment flexible spinal structure according to claim 2, characterized in that: Furthermore, a spring (500) is provided on the outside of the connecting line (230).

4. The multi-segment flexible spinal structure according to claim 3, characterized in that: A retractable protective shell (400) is installed on the outside of the spring (500).

5. The multi-segment flexible spinal structure according to claim 1, characterized in that: The spherical shaft (310) is wrapped with an elastic block (311) on the outside.

6. The multi-segment flexible spinal structure according to claim 1, characterized in that: The base (320) is provided with a connecting groove that is compatible with the structure of the spherical shaft (310).

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