CN216266062U

CN216266062U - Human-body-simulated spine structure for robot

Info

Publication number: CN216266062U
Application number: CN202122643468.0U
Authority: CN
Inventors: 梁勇智
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-11-01
Filing date: 2021-11-01
Publication date: 2022-04-12
Anticipated expiration: 2031-11-01

Abstract

The utility model discloses a human body-imitated spinal structure for a robot, which comprises a spine A, a plurality of spines B in the middle section and a spine C at the top end, wherein the spines A, the spines B in the middle section and the spine C are sequentially and adjacently connected from bottom to top; and the top centers of the spine A, the spines B and the spines C are respectively provided with a ball head positioning rod for corresponding positioning connection with hemispherical positioning grooves respectively arranged at the bottom centers of the spines B and the spines C; the bottom surface of the backbone A is connected with a torsion driving mechanism for driving the backbone structure to twist and swing, threading clamps for threading and pulling wires are respectively arranged on the backbone A, the backbone B and the backbone C, and the forward bending, left-right lateral bending and straightening movement of the backbone structure can be realized by pulling the pulling wires; the mechanism adopts the adjacent spines which are positioned and connected through a spherical surface so as to be convenient for controlling the left and right lateral bending and twisting and swinging actions of the spine, and can realize various complex work tasks by combining a combined structure provided with a twisting driving mechanism and a cross-connecting pull wire, thereby being convenient for meeting the requirements of users; it is extensively applicable to the supporting use of intelligent robot.

Description

Human-body-simulated spine structure for robot

Technical Field

The utility model relates to intelligent mechanical equipment, in particular to a human body spine structure imitation for a robot.

Background

With the increasing improvement of artificial intelligence technology and the continuous development of the application field of the bionic robot, the robot has great requirements on disaster relief application, commercial service, industrial product manufacturing and the like; in the research and development of the bionic robot, the bionic robot is required to have human-like flexibility and is provided with a bionic spine; at present, the number of bionic spines applied in a robot is small, mainly because the functions of the existing spine structure are not flexible enough, the degree of freedom is small, the action that the spine structure of a human body can bend left and right or swing in a twisting mode cannot be realized, the work application occasions are limited, the existing spine structure is large in size, complex to control, high in manufacturing cost and incapable of meeting the requirements of users.

Disclosure of Invention

In view of the above circumstances, the present invention aims to provide a human-body-simulated spine structure for a robot, which adopts the positioning connection of adjacent spines through a spherical surface so as to control the left and right lateral bending and twisting movement of the spine, and combines a combined structure provided with a torsion driving mechanism and a cross-connecting pull wire, thereby overcoming the defects of poor flexibility and small degree of freedom of the spine structure in the prior art, being capable of completing various complex work tasks, and being convenient for meeting the requirements of users.

In order to achieve the purpose, the human body-imitated spinal structure for the robot comprises a spine A arranged at the bottom end, a plurality of spines B arranged at the middle section and a spine C arranged at the top end; the top centers of the backbone A, the spines B and the backbone C are respectively provided with a ball head positioning rod, the bottom centers of the backbone B and the backbone C are respectively provided with a hemispherical positioning groove, and the backbone A, the spines B and the backbone C are sequentially positioned and connected with the hemispherical positioning grooves through the ball head positioning rods from bottom to top; the bottom surface of the backbone A is connected with a torsion driving mechanism for driving the backbone structure to twist and swing, threading clamps for threading and pulling wires are respectively arranged on the backbone A, the backbone B and the backbone C, and the backbone structure can be bent and straightened respectively to the front end, the left side and the right side by pulling the pulling wires.

In order to realize the optimization of the structure and the effect, the further measures are as follows: and positioning springs are sleeved outside the ball head positioning rods of the spines A, B and C respectively and are used for supporting the spines A, B and C to be vertically connected adjacently up and down.

Back grooves are respectively arranged in the back centers of the spines A, B and C.

The bottom surfaces of the spine B and the spine C are respectively provided with a front end, a left side and a right side inclined surfaces.

The spine C is connected with the top torsion device through a top ball head positioning rod.

The top torsional pendulum device comprises an outer ring, an inner circular plate, an expansion spring and a cylindrical roller, wherein an annular groove is formed in the inner side surface of the outer ring, a plurality of blind holes are uniformly distributed in the outer circle surface of the inner circular plate and used for assembling the expansion spring and the cylindrical roller, and the inner circular plate can axially rotate along the annular groove of the outer ring through the expansion spring and the cylindrical roller.

The bottom center of interior plectane is equipped with the hemisphere recess and is used for assembling the bulb locating lever, and the bottom surface outer fringe of hemisphere recess is equipped with joint portion.

And the outer ring is provided with a stay wire positioning hole penetrating through the upper end surface and the lower end surface of the outer ring.

Compared with the prior art, the utility model has the following beneficial effects:

the utility model has the advantages that (I) the adjacent spines adopt a spherical positioning connection mode of the ball head positioning rod and the hemispherical positioning groove, so that the whole movement of the spine structure is flexible, the spine can be conveniently controlled to realize forward bending, left and right lateral bending and twisting movement, the spine can complete various complex work tasks, the control is simple, the coordination is good, the use in various work occasions is convenient to adapt, and the requirements of users can be met;

the utility model (II) adopts the torsion driving mechanism to be arranged at the lowest end for controlling the torsion swing of the spine, combines the threading clamp arranged on the spine for connecting and pulling the wire to control the forward bending, left and right lateral bending and straightening movement of the spine, has simple and compact integral structure, good coordination control performance, convenient operation and low manufacturing cost, can independently complete various actions, can not generate mutual interference and has high movement reliability;

the utility model (III) adopts the adjacent spines to be positioned and connected through the spherical surface so as to be convenient for controlling the left and right lateral bending and twisting and swinging actions of the spine, and combines a combined structure provided with a twisting driving mechanism and a cross-connecting pull wire, thereby overcoming the defects of poor flexibility and small degree of freedom of the spine structure in the prior art, being capable of completing various complex work tasks, being convenient for meeting the requirements of users, and simultaneously having scientific, reasonable, simple and compact integral structure, convenient installation and operation and remarkable economic benefit and social benefit.

The utility model is widely suitable for being matched with an intelligent robot.

The present invention will be described in further detail with reference to the accompanying drawings and examples.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the utility model and, together with the description, serve to explain the utility model and not to limit the utility model.

Fig. 1 is a schematic view of the overall installation structure of the present invention.

Fig. 2 is a side view of fig. 1.

Fig. 3 is an enlarged front cross-sectional view of the top torsion device of the present invention.

Fig. 4 is an enlarged top cross-sectional view of the top torsion device of the present invention.

Fig. 5 is an enlarged front view of the spine B of the present invention.

Fig. 6 is a side view of fig. 5.

In the figure: 1-torsion driving mechanism, 2-spine A, 3-stay, 4-spine B, 41-ball positioning rod, 42-positioning spring, 43-threading clamp, 44-inclined surface, 45-hemispherical positioning groove, 46-back groove, 5-spine C, 6-top torsion pendulum device, 61-outer ring, 611-stay positioning hole, 62-inner circular plate, 621-hemispherical groove, 622-clamping part, 63-expansion spring and 64-cylindrical roller.

Detailed Description

Referring to fig. 1 to 6, the present invention is realized by: a human body-imitated spinal structure for a robot comprises a spine A2 arranged at the bottom end, a plurality of spines B4 arranged at the middle section and a spine C5 arranged at the top end; the top centers of the spine A2, the spines B4 and the spine C5 are respectively provided with a ball head positioning rod 41, the bottom centers of the spine B4 and the spine C5 are respectively provided with a hemispherical positioning groove 45, and the spine A2, the spines B4 and the spine C5 are sequentially positioned and connected with the hemispherical positioning grooves 45 through the ball head positioning rods 41 from bottom to top; the bottom surface of the spine A2 is connected with a twisting driving mechanism 1 for driving the spinal structure to twist and swing, the spine A2, the spine B4 and the spine C5 are respectively provided with a wire threading clip 43 for threading a pull wire 3, and the spinal structure can be bent and straightened respectively to the front end, the left side and the right side by pulling the pull wire 3.

Referring to fig. 1 to 6, the outer sides of the ball positioning rods 41 of the spines a2, B4 and C5 of the present invention are respectively sleeved with a positioning spring 42 for supporting the spines a2, B4 and C5 to be vertically adjacent and vertically connected, when in installation, the lower end of the positioning spring 42 is fixedly connected to the bottom of the outer side of the ball positioning rod 41, the upper end of the positioning spring 42 is fixedly connected to the bottom end of the upper adjacent spine, and the upper end and the lower end of the positioning spring 42 are respectively fixedly connected to the upper and the lower adjacent spines, thereby realizing the connection of the upper and the lower adjacent spines into a whole body, facilitating the control of the overall torsional swing of the spine, simultaneously utilizing the free elasticity of the positioning spring 42 to support the upper and the lower adjacent spines to be vertically kept, utilizing the pull wire 3 to pull the spines to compress the positioning spring 42 to realize the bending and straightening action of the spine, when the twisting swing or the bending and straightening action of the spine, the centers of the upper and lower adjacent spines can be prevented from being dislocated through the spherical positioning connection, thereby avoiding the situation that the spine can not be reset normally after being bent or twisted, and being beneficial to ensuring that the spine can realize continuous, stable and flexible operation for a long time; the bottom surfaces of the backbone B4 and the backbone C5 are respectively provided with a front end inclined surface 44, a left side inclined surface 44 and a right side inclined surface 44, as shown in fig. 5 and 6, the bottom surface of the back of the backbone B4 is a plane, the bottom surface of the front end of the backbone B4 is provided with the upward inclined surface 44, an installation gap can be formed at the front end after the upper and lower adjacent backbones are installed, the backbone can be bent towards the front end conveniently, the left and right side bottom surfaces of the backbone B4 are also provided with the upward inclined surfaces, the backbone can be bent towards the left and right sides conveniently, and the bottom surface structure of the backbone C5 is the same as that of the backbone B4.

As shown in fig. 1 to 6, in the present invention, a backbone C5 is connected to a top torsional pendulum device 6 via a top ball positioning rod 41, the top torsional pendulum device 6 includes an outer ring 61, an inner circular plate 62, a telescopic spring 63 and a cylindrical roller 64, an annular groove is provided on an inner side surface of the outer ring 61, a plurality of blind holes are uniformly distributed on an outer circumferential surface of the inner circular plate 62 for assembling the telescopic spring 63 and the cylindrical roller 64, the inner circular plate 62 can axially rotate along the annular groove of the outer ring 61 via the telescopic spring 63 and the cylindrical roller 64, a hemispherical groove 621 is provided at a bottom center of the inner circular plate 62 for assembling the ball positioning rod 41, and a clamping portion 622 is provided at a bottom outer edge of the hemispherical groove 621, the clamping portions 622 are generally uniformly distributed four around the bottom surface, and a linear distance between two clamping portions 621 corresponding to each other is slightly smaller than a diameter of a ball in the ball positioning rod 41, so as to prevent the ball positioning rod 41 from loosening from the hemispherical groove 621, the bottom surfaces of the central hemispherical positioning grooves 45 at the bottoms of the spine B4 and the spine C5 are also provided with clamping part structures; the outer ring 61 is provided with a stay wire positioning hole 611 penetrating through the upper end surface and the lower end surface of the outer ring 61, when the stay wire 3 is installed, one end of the stay wire 3 is fixed in the stay wire positioning hole 611 on the outer ring 61, the other end of the stay wire 3 respectively penetrates through the threading clamps 43 in the spines C5, B4 and A2 to be connected with a power device, and the stay wire 3 is pulled by the power device to drive the spine structure to realize bending-straightening actions, so that various working tasks are completed; when the top torsion pendulum device 6 is installed, the ball positioning rod 41 of the backbone C5 is assembled with the hemispherical groove 621 at the bottom of the inner circular plate 62, the upper end of the positioning spring 42 outside the ball positioning rod 41 of the backbone C5 is combined with the bottom of the inner circular plate 62 to realize the support of the top torsion pendulum device 6, and the pulling wire 3 is tightly connected with the pulling wire positioning hole 611 in the outer ring 61, when the spine C5 is twisted, the positioning spring 42 can drive the inner circular plate 62 to rotate, so that the extension spring 63 and the cylindrical roller 64 correspondingly rotate, the action of the outer ring 61 is controlled by the pull wire 3, the structure mode is convenient for connecting the head and neck parts of the robot through the outer ring 61, when the robot spine is twisted, the head and neck positions can be twisted or kept still, and the integrated mounting design structure of the robot spine and the head and neck can be realized by arranging the rotary top twisting device 6.

Referring to fig. 1 to 6, the back centers of the spine a2, the spine B4 and the spine C5 of the present invention are respectively provided with a back groove 46, which facilitates the installation of related parts for completing corresponding work tasks; the cross-sectional shape of the spine B4 may be circular, oval or square, and the thread-passing clips 43 are respectively arranged at the upper and lower ends of the back of the spine B4, and at the front end and the middle and lower ends of the left and right sides; the spine A2 and the spine B4 are the same in cross-sectional shape, and mainly differ in that the bottom surface of the spine A is a plane to facilitate connection of the torsion driving mechanism 1, and the front end and the left and right sides of the bottom surface of the spine B4 are respectively provided with an upward inclined surface 44; the spine C5 has the same cross-sectional shape as the spine B4, and is mainly different from the spine C5 in that the threading clamps 43 are respectively arranged on the back, the front end, the left side and the right side of the upper end and the lower end; the utility model is provided with four pull wires 3 which are respectively positioned at the back, the front end and the left and right sides of the spine structure, when the pull wires 3 at the front end are pulled, the positioning springs 42 can be compressed to realize the forward bending of the spine structure, when the pull wires 3 at the back are pulled, the positioning springs 42 can be reset to drive the spine structure to be straightened, when the pull wires 3 at the left and right sides are pulled, the positioning springs 42 can be compressed to realize the bending and straightening of the spine structure towards two sides, and when the bottom torsion driving mechanism 1 rotates, the spine structure can be driven to be twisted and swung under the torsion action of the bottom spine A2 and the positioning springs 42; the pull wires 3 are independently connected with a power device, the power device can be a motor, a hydraulic or pneumatic mechanism, the pull wires in any direction can be driven separately to perform various actions through the wire passing clamps 43 arranged on the spines respectively, the problem of mutual interference of the pull wires can be avoided, and the pull wires are made of high-strength steel wires or other high-strength materials, so that sufficient pull force can be provided conveniently; in the application, the backbone A2, the backbone B4, the backbone C5 and the ball head positioning rod 41 at the center of the top part can be manufactured by integral forming, and a connecting structure of the ball head positioning rod and the positioning spring can also be installed at the center of the top surface of the backbone; the front ends and the left and right sides of the top surfaces of the spine A2 and the spine B4 can be respectively provided with downward inclined surfaces, so that the installation gap between the upper and lower adjacent spines can be increased when the spine is bent, and the back of the top surface is a plane, so that the spine can be kept upright and stable conveniently.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can be considered to be within the technical scope of the present invention, and equivalent substitutions or changes according to the technical solution and the concept of the present invention should be included in the scope of the present invention.

Claims

1. A human-body-imitated spinal structure for a robot is characterized by comprising a spine A (2) arranged at the bottom end, a plurality of spines B (4) arranged at the middle section and a spine C (5) arranged at the top end; the top centers of the spine A (2), the spines B (4) and the spine C (5) are respectively provided with a ball head positioning rod (41), the bottom centers of the spine B (4) and the spine C (5) are respectively provided with a hemispherical positioning groove (45), and the spine A (2), the spines B (4) and the spine C (5) are sequentially positioned and connected with the hemispherical positioning grooves (45) through the ball head positioning rods (41) from bottom to top; the bottom surface of the backbone A (2) is connected with a torsion driving mechanism (1) for driving the spinal structure to twist and swing, the backbone A (2), the backbone B (4) and the backbone C (5) are respectively provided with a wire penetrating clamp (43) for penetrating and connecting a pull wire (3), and the spinal structure can be bent and straightened respectively to the front end, the left side and the right side by pulling the pull wire (3).

2. The humanoid spine structure for the robot is characterized in that positioning springs (42) are respectively sleeved on the outer sides of ball positioning rods (41) of a spine A (2), a spine B (4) and a spine C (5) and used for supporting the upper and lower adjacent vertical connection of the spine A (2), the spine B (4) and the spine C (5).

3. The humanoid spinal structure for robot as claimed in claim 1, characterized in that the back centers of said spine A (2), spine B (4) and spine C (5) are respectively provided with a back groove (46).

4. The humanoid spine structure for robot as claimed in claim 1, wherein the bottom surfaces of said spine B (4) and said spine C (5) are provided with inclined surfaces (44) respectively towards the front end, towards the left side and towards the right side.

5. The humanoid spinal structure for robot as claimed in claim 1, characterized in that said spine C (5) is connected to a top torsion device (6) via a top ball-positioning rod (41).

6. The humanoid spine structure for the robot as claimed in claim 5, wherein the top torsional pendulum device (6) comprises an outer ring (61), an inner circular plate (62), a telescopic spring (63) and a cylindrical roller (64), wherein an annular groove is formed in the inner side surface of the outer ring (61), a plurality of blind holes are uniformly distributed in the outer circular surface of the inner circular plate (62) and used for assembling the telescopic spring (63) and the cylindrical roller (64), and the inner circular plate (62) can axially rotate along the annular groove of the outer ring (61) through the telescopic spring (63) and the cylindrical roller (64).

7. The humanoid spine structure for the robot as claimed in claim 6, wherein the bottom center of the inner circular plate (62) is provided with a hemispherical groove (621) for fitting the ball positioning rod (41), and the outer edge of the bottom surface of the hemispherical groove (621) is provided with a clamping part (622).

8. The humanoid spine structure for the robot as claimed in claim 6, wherein the outer ring (61) is provided with a stay wire positioning hole (611) penetrating the upper and lower end surfaces thereof.