CN-122008147-A - Leopard-like series-parallel connection composite flexible spinal system

CN122008147ACN 122008147 ACN122008147 ACN 122008147ACN-122008147-A

Abstract

The invention provides a cheetah-like serial-parallel connection 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 serial robot spine structure. The robot comprises two end plates, a central constraint assembly and at least four driving units, wherein the two end plates are oppositely arranged, the outer sides of the two end plates are respectively used for being connected with a front machine body and a rear machine body of the robot, the central constraint assembly is arranged in the middle of the two end plates and used for limiting the relative rotation freedom degree between the two end plates, the four driving units are circumferentially arranged around the central constraint assembly, two ends of each driving unit are respectively hinged with the two end plates through universal joint connecting assemblies, each driving unit can independently perform telescopic movement, and the two end plates are driven to generate relative bending movement in the front-back or left-right direction by means of coordinated control of the telescopic amount of each driving unit so as to achieve bending and stretching of a spine.

Inventors

HOU XUYAN
WANG WEIJUN
HAN LIANGLIANG
LIU YUHUI
Yan Gongzhuo
SHI RUI
Liu Haohang

Assignees

哈尔滨工业大学
上海宇航系统工程研究所

Dates

Publication Date: 20260512
Application Date: 20260311

Claims (7)

1. A leopard-like serial-parallel composite flexible spinal system is characterized by comprising two end plates (1), a central constraint component and at least four driving units, wherein the two end plates (1) are oppositely arranged, the outer sides of the two end plates (1) are respectively used for being connected with a front machine body and a rear machine body of a robot, the central constraint component is arranged in the middle between the two end plates (1) and used for limiting the relative rotation freedom degree between the two end plates (1), the four driving units are circumferentially arranged around the central constraint component, two ends of each driving unit are respectively hinged with the two end plates (1) through universal joint connecting components, each driving unit can independently perform telescopic movement, and the two end plates (1) are driven to generate relative bending movement in the front-back or left-right direction through coordinated control of the telescopic quantity of each driving unit so as to realize the bending and stretching of a spinal column.
2. The leopard-like serial-parallel composite flexible spinal system is characterized in that the central constraint component comprises a spinal carbon tube fixing seat (11), spinal carbon tubes (12), carbon tube and universal joint connectors (13) and spinal central universal joints (14), two ends of each spinal central universal joint (14) are respectively connected with inner side ends of the spinal carbon tubes (12) on corresponding sides through the carbon tube and universal joint connectors (13), and outer side ends of each spinal carbon tube (12) are connected with end plates (1) on corresponding sides through the spinal carbon tube fixing seat (11).
3. A simulated leopard type serial-parallel composite flexible spinal system as claimed in claim 2, wherein said four drive units are arranged in a rectangular configuration about said central restraint assembly.
4. A leopard-like series-parallel composite flexible spinal system according to claim 3, characterized in that each driving unit comprises a cylinder sleeve (5), one end of the cylinder sleeve (5) is connected to the inner wall of the end plate (1) on the corresponding side through a universal joint assembly, the other end of the cylinder sleeve is connected with a hollow shaft motor (7), a screw nut (8) is fixedly arranged in the hollow shaft motor (7), one end of a sliding screw rod (9) penetrates through the screw nut (8) and the hollow shaft motor (7) and then is connected with the cylinder sleeve (5), and the other end of the sliding screw rod (9) is connected with the inner wall of the end plate (1) on the corresponding side through the universal joint assembly.
5. The leopard-like serial-parallel composite flexible spinal system is characterized in that the universal joint connecting assembly comprises a quick-release universal joint (3) and connecting pieces (2), the connecting pieces (2) are fixed on the inner wall of the end plate (1), and the quick-release universal joint (3) is connected with the end plate (1) through the connecting pieces (2).
6. The leopard-like serial-parallel composite flexible spine system is characterized in that one end of the electric cylinder sleeve (5) is detachably connected with the quick-release universal joint (3) through a sleeve and universal joint connecting piece (4), and the other end of the electric cylinder sleeve (5) is connected with the hollow shaft motor (7) through a motor and sleeve connecting piece (6).
7. The leopard-like serial-parallel composite flexible spinal system according to claim 6, characterized in that the sliding screw (9) is detachably connected with the quick-release universal joint (3) through a screw-universal joint connector (10).

Description

Leopard-like series-parallel connection composite flexible spinal system Technical Field The invention relates to the technical field of robots, in particular to a leopard-like series-parallel connection composite flexible spinal system. Background Currently, lunar surface detection robots mostly adopt wheel type or crawler type moving mechanisms, and the adaptability of the lunar surface detection robots in complex terrains (such as rock piles, pits, yu Po and the like) is limited. Although the foot robot has better obstacle crossing capability, the movement control is complex, the stability is poor, and the jumping movement improves the movement efficiency but increases the difficulty of landing control especially in a lunar low gravity environment. The spine structure of the existing four-foot robot mostly adopts a serial design, the serial active driving spine is divided into a single section and a plurality of sections, the single section of spine is often added with a bending degree of freedom at the waist of the robot, the bending degree is usually controlled by a motor, the plurality of sections of spines are closer to the spine structure of living things in nature, but the serial structural strength and the overall rigidity are poor, and the rapid jump of the robot is not facilitated. Disclosure of Invention The invention provides a leopard-like series-parallel composite flexible spine system, which aims to solve the problems of insufficient rigidity and poor bearing capacity of the existing series-like robot spine structure. The technical scheme adopted by the invention for solving the problems is as follows: the invention provides a cheetah-like serial-parallel composite flexible spine system which comprises two end plates, a central constraint component and at least four driving units, wherein the two end plates are oppositely arranged, the outer sides of the two end plates are respectively used for connecting a front machine body and a rear machine body of a robot, the central constraint component is arranged in the middle of the two end plates and used for limiting the relative rotation freedom degree between the two end plates, the four driving units are circumferentially arranged around the central constraint component, two ends of each driving unit are respectively hinged with the two end plates through universal joint connecting components, each driving unit can independently perform telescopic movement, and the two end plates are driven to generate relative bending movement in the front-back or left-right direction through coordinated control of the telescopic quantity of each driving unit so as to realize the bending and stretching of a spine. Further, the central constraint component comprises a spine carbon tube fixing seat, spine carbon tubes, carbon tube and universal joint connectors and spine central universal joints, two ends of each spine central universal joint are respectively connected with the inner side ends of the spine carbon tubes on the corresponding sides through the carbon tube and universal joint connectors, and the outer side ends of each spine carbon tube are connected with end plates on the corresponding sides through the spine carbon tube fixing seat. Further, the four driving units are arranged in a rectangular shape around the central constraint assembly. Further, each driving unit comprises an electric cylinder sleeve, one end of the electric cylinder sleeve is connected to the inner wall of the end plate on the corresponding side through a universal joint assembly, the other end of the electric cylinder sleeve is connected with a hollow shaft motor, a screw is fixedly installed inside the hollow shaft motor, one end of a sliding screw rod penetrates through the screw and the hollow shaft motor and then is connected with the electric cylinder sleeve, and the other end of the sliding screw rod is connected with the inner wall of the end plate on the corresponding side through the universal joint assembly. Further, the universal joint connecting assembly comprises a quick-release universal joint and a connecting piece, wherein the connecting piece is fixed on the inner wall of the end plate, and the quick-release universal joint is connected with the end plate through the connecting piece. Furthermore, one end of the electric cylinder sleeve is detachably connected with the quick-dismantling universal joint through a sleeve and universal joint connecting piece, and the other end of the electric cylinder sleeve is connected with the hollow shaft motor through a motor and sleeve connecting piece. Further, the sliding screw rod is detachably connected with the quick-dismantling universal joint through a screw rod and universal joint connecting piece. The beneficial effects of the invention are as follows: 1. According to the invention, each driving unit can independently perform telescopic movement, and the two end plates can generate relative bending movement in th