CN202878315U - Flexible spine provided with omnibearing angle feedback - Google Patents
Flexible spine provided with omnibearing angle feedback Download PDFInfo
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- CN202878315U CN202878315U CN 201220505551 CN201220505551U CN202878315U CN 202878315 U CN202878315 U CN 202878315U CN 201220505551 CN201220505551 CN 201220505551 CN 201220505551 U CN201220505551 U CN 201220505551U CN 202878315 U CN202878315 U CN 202878315U
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Abstract
The utility model discloses a flexible spine provided with omnibearing angle feedback. The flexible spine provided with omnibearing angle feedback mainly comprises a spine, a base seat, and multiple driving feedback units. The spine part comprises a flexible spine body, spine loops, a top part flange, and bottom part flange, wherein a top part flange is fixed to an end of the flexible spine body; a bottom part flange is fixed to the other end of the flexible spine body; the bottom flange is fixed on the base seat; and the driving feedback units consisting of displacement sensors, tensioning devices and SMA yarns are uniformly arranged on the base seat. One ends of the SMA yarns are fixed on the tensioning devices; and the SMA yarns and displacement lines are fixed on the top part flange after orderly running through peripheral holes of the bottom part flange, the spine loops, and the top part flange. By adjusting tightness of the tensioning device, an initial angle scope and a controllable angle scope of the flexible spine body can be adjusted. Because SMA yarns are adopted for driving the flexible spine in the flexible spine provided with omnibearing angle feedback, the flexible spine provided with omnibearing angle feedback is advantaged by lowered cost, saved spaced, improved omnibearing movement flexibility of a robot, and improved environment adaptability of the robot.
Description
Technical field
The utility model belongs to the Robotics field, relates in particular to a kind of flexible vertebra with omnibearing angel feedback.
Background technology
In recent years, the bio-robot technology has obtained rapidly development, and Chinese scholars has been developed a collection of stem-winding bio-robot by physiology and the movement mechanism thereof of simulating nature circle biology." BigDog " that can run fast and " Cheetah " quadruped robot from the development of boston, u.s.a utility companies, but " Petman " biped anthropomorphic robot to the fast and stable walking, " large trunk " from the development of German FESTO company, to " the Smart Bird " that can freely circle in the air etc., these bionics techniques are applied to improve in the robot robot motion's flexibility and pliability, improved the adaptability of robot reform of nature circle environment, also so that the efficient of motion has obtained significantly lifting.
Vertebra is the pith of animal physiological structure, and vertebra has not only been protected the central nervous system of animal, has also strengthened flexibility and the compliance of animal movement.Such as, dog and leopard need to be realized running fast by bending and the stretching, extension of vertebra; Gecko need to rely on vertebra to realize turning to flexibly planar; The human needs relies on vertebra to realize various actions and attitude, also has simultaneously the effect that keeps balance.In addition, vertebra can also play the effect of extenuating vibrations in animal activity.Therefore, how spinal application has been become an important research topic in robot.
So far, the vertebra that Tokyo Univ Japan has developed has been applied on the anthropomorphic robot, the vertebrae of this vertebra is comprised of the ball-joint of a series of Three Degree Of Freedoms, make the cone dish by elastic silica gel between the adjacent ridge vertebra, and with tension spring simulation " ligament ", and be furnished with a plurality of tension pick-ups, finally drive this vertebra by 40 motors.Although this design has improved robot motion's flexibility, enlarged the range of movement of robot, also strengthened the mutual security of machine person to person, a large amount of motors and sensor have been adopted in global design, have increased the cost and risk of exploitation.In addition, the Karl Frederick Leeser of MIT by simulation analysis the kinetic characteristic of vertebra at quadruped robot, Utku Culha and Uluc Saranlip are with the vertebra characteristic in quadruped robot is run that has been simplified to a rigidity rotation joint analysis.At present, even domestic research blank to the robot vertebra.
Summary of the invention
The purpose of this utility model is for the deficiencies in the prior art, a kind of flexible vertebra with omnibearing angel feedback is provided, the utility model replaces traditional motor-driven by memory alloy material SMA, to reduce the requirement of design cost and design space, improve the flexibility of robot omnibearing motion, improve robot to the adaptability of environment.
The utility model is to address the above problem the technical scheme that adopts to be: a kind of flexible vertebra with omnibearing angel feedback, and it mainly comprises vertebra, base and some drive feedback unit; Wherein, base portion comprises base plate and is fixed on the pedestal etc. at base plate center, vertebra partly comprises flexible vertebral body, vertebra ring, top flange and flange in the bottom etc., one end fixed top flange of flexible vertebral body, other end solid bottom flange, flange in the bottom is fixed on the centre bore of pedestal, and flexible vertebral body excircle is along the evenly fixing some vertebra rings of axis direction; The drive feedback unit is arranged on the base along even circumferential, and each drive feedback unit comprises a displacement transducer, a strainer and a SMA silk; Displacement transducer is fixed on the base plate, and its displacement line passes the centre bore that enters pedestal behind the unthreaded hole of pedestal side; Strainer is fixed on the pedestal, SMA silk one end is fixed on the strainer, enters the centre bore of pedestal by the unthreaded hole of pedestal side, and winding is passed flange in the bottom successively with displacement line after pressing end screw, after the circumferential apertures of vertebra ring and top flange, be fixed on the top flange.
The beneficial effects of the utility model are, adopted the driving of marmem alloy SMA silk as vertebra in the utility model, this material can compress and stretch, the deformation amplitude is up to 8%, energising can change its form, and can produce very large restoring force, than traditional driving, this drives volume, and little its special nature makes it possess larger potentiality in the robot field and succinct, along the SMA silk of even circumferential layout so that flexible vertebral body has possessed omnibearing locomitivity, by drawing the displacement line of displacement transducer, can detect in real time and control the angle that flexible vertebral body rotates, in addition, flexible vertebral body has been selected flexible material, and be processed into hollow-core construction, so that under the SMA silk drives, flexible vertebral body can comprehensive compound motion, and makes things convenient for the cabling of SMA silk power supply; Fixedly the strainer of SMA silk not only can be regulated the initial angle of flexible vertebral body, and can change by the tightness of regulating the SMA silk rotational angle range of whole flexible vertebral body.The SMA wire material that the utility model adopts makes robot possess compliance as the driving of robot, and structure is compacter, designs more flexibly, has changed driving Design Mode in the past, is fit to be applied to the robot field.
Description of drawings
Fig. 1 is the stereogram of flexible vertebra of the present utility model;
Fig. 2 is the top installation diagram of flexible vertebra of the present utility model;
Fig. 3 is the bottom installation diagram of flexible vertebra of the present utility model;
Fig. 4 is strainer schematic diagram of the present utility model;
Among the figure, flexible vertebral body 1, vertebra ring 2, SMA silk 3, displacement line 4, the screw 5 that bears down on one, the screw 6 that bears down on one, top flange 7, flange in the bottom 8, pedestal 9, screw 10, base plate 11, displacement transducer 12, screw 13, strainer 14, adjusting knob 15, turning cylinder 16, screw 17, pressure end screw 18.
The specific embodiment
Further specify the utility model below in conjunction with accompanying drawing, it is more obvious that the purpose of this utility model and effect will become.
As Figure 1-3, a kind of flexible vertebra with omnibearing angel feedback of the utility model, it mainly comprises vertebra, base and some drive feedback unit; Wherein, base portion comprises base plate 11 and is fixed on the pedestal 9 etc. at base plate center, vertebra partly comprises flexible vertebral body 1, vertebra ring 2, top flange 7 and flange in the bottom 8 etc., one end fixed top flange 7 of flexible vertebral body 1, other end solid bottom flange 8, flange in the bottom 8 is fixed on the centre bore of pedestal 9 by screw 10, flexible vertebral body 1 is selected flexible material, and be processed into hollow form, so that under the pulling force effect, can realize omnibearing compound motion, flexible vertebral body 1 excircle evenly is fixed with some vertebra rings 2 along axis direction; The drive feedback unit is arranged on the base along even circumferential, and each drive feedback unit comprises a displacement transducer 12, a strainer 14 and a SMA silk 3; Displacement transducer 12 is fixed on the base plate by screw 13, and its displacement line 4 passes the centre bore that enters pedestal 9 behind the unthreaded hole of pedestal 9 sides; Strainer 14 is fixed on the pedestal 11 by screw 17, strainer 14 comprises adjusting knob 15 and turning cylinder 16, by adjusting knob 15, turning cylinder 16 is rotated, SMA silk 3 one ends are fixed on the strainer 14, enter the centre bore of pedestal 9 by the unthreaded hole of pedestal 9 sides, pass successively flange in the bottom 8 with displacement line 4 after twining pressure end screw 18, after the circumferential apertures of vertebra ring 2 and top flange 7, be fixed on the top flange 7 by bear down on one screw 6 and screw 5 respectively, SMA silk 3 is all parallel with the central axis of flexible vertebral body with displacement line 4.
Claims (1)
1. the flexible vertebra with omnibearing angel feedback is characterized in that, it comprises vertebra, base and some drive feedback unit; Wherein, described base portion comprises base plate (11) and is fixed on the pedestal (9) at base plate center, vertebra partly comprises flexible vertebral body (1), vertebra ring (2), top flange (7) and flange in the bottom (8), one end fixed top flange (7) of flexible vertebral body (1), other end solid bottom flange (8), flange in the bottom (8) is fixed on the centre bore of pedestal (9), and flexible vertebral body (1) excircle is along the evenly fixing some vertebra rings (2) of axis direction; The drive feedback unit is arranged on the base along even circumferential, and each drive feedback unit comprises a displacement transducer (12), a strainer (14) and a SMA silk (3); Displacement transducer (12) is fixed on the base plate, and its displacement line (4) passes the centre bore that enters pedestal (9) behind the unthreaded hole of pedestal (9) side; Strainer (14) is fixed on the pedestal (11), SMA silk (3) one ends are fixed on the strainer (14), enter the centre bore of pedestal (9) by the unthreaded hole of pedestal (9) side, pass successively flange in the bottom (8) with displacement line (4) after twining pressure end screw (18), after the circumferential apertures of vertebra ring (2) and top flange (7), be fixed on the top flange (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220505551 CN202878315U (en) | 2012-09-27 | 2012-09-27 | Flexible spine provided with omnibearing angle feedback |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220505551 CN202878315U (en) | 2012-09-27 | 2012-09-27 | Flexible spine provided with omnibearing angle feedback |
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| Publication Number | Publication Date |
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| CN202878315U true CN202878315U (en) | 2013-04-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220505551 Withdrawn - After Issue CN202878315U (en) | 2012-09-27 | 2012-09-27 | Flexible spine provided with omnibearing angle feedback |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102896633A (en) * | 2012-09-27 | 2013-01-30 | 浙江大学 | Flexible spine with omni-directional angle feedback |
| CN105538338A (en) * | 2016-02-05 | 2016-05-04 | 东南大学 | Bionic spine mechanism applied to quadruped robot and robot |
| CN106272531A (en) * | 2016-10-16 | 2017-01-04 | 福州幻科机电科技有限公司 | A kind of joint of vertebral column assembly of artificial intelligence robot |
| CN109070337A (en) * | 2015-12-24 | 2018-12-21 | 赛峰电子与防务公司 | Back portion for ectoskeleton structure |
| CN109363772A (en) * | 2018-11-02 | 2019-02-22 | 北京邮电大学 | A kind of flexibility single hole micro-wound operation robot |
-
2012
- 2012-09-27 CN CN 201220505551 patent/CN202878315U/en not_active Withdrawn - After Issue
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102896633A (en) * | 2012-09-27 | 2013-01-30 | 浙江大学 | Flexible spine with omni-directional angle feedback |
| CN102896633B (en) * | 2012-09-27 | 2015-05-27 | 浙江大学 | Flexible spine with omni-directional angle feedback |
| CN109070337A (en) * | 2015-12-24 | 2018-12-21 | 赛峰电子与防务公司 | Back portion for ectoskeleton structure |
| CN109070337B (en) * | 2015-12-24 | 2020-04-24 | 赛峰电子与防务公司 | Back portion for exoskeleton structure |
| CN105538338A (en) * | 2016-02-05 | 2016-05-04 | 东南大学 | Bionic spine mechanism applied to quadruped robot and robot |
| CN106272531A (en) * | 2016-10-16 | 2017-01-04 | 福州幻科机电科技有限公司 | A kind of joint of vertebral column assembly of artificial intelligence robot |
| CN106272531B (en) * | 2016-10-16 | 2018-07-10 | 福州幻科机电科技有限公司 | A kind of joint of vertebral column assembly of artificial intelligence robot |
| CN109363772A (en) * | 2018-11-02 | 2019-02-22 | 北京邮电大学 | A kind of flexibility single hole micro-wound operation robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130417 Effective date of abandoning: 20150527 |
|
| RGAV | Abandon patent right to avoid regrant |