The invention discloses a flexible spine mechanism. The flexible spine mechanism comprises a bionic spine, pneumatic bionic muscles and supporting baffles; the bionic spine comprises an elastic plateand a plurality of bionic vertebrae different in size, the bionic vertebrae are sequentially and fixedly arranged on the elastic plate from large to small in the length direction of the elastic plate,the end, with the large size, of each bionic vertebra is the waist of the bionic spine, and the end, with the small size, of each bionic vertebra is the chest of the bionic spine; the supporting baffle plates are divided into a front support baffle plate and a rear support baffle plate; the front supporting baffle is fixedly connected with the chest of the bionic spine, and the rear supporting baffle is fixedly connected with the waist of the bionic spine; and the pneumatic bionic muscles are arranged on the two sides of the bionic spine, and the two ends of the pneumatic bionic muscles are fixedly arranged on the front supporting baffle and the rear supporting baffle correspondingly. The rigidity-variable kangaroo-like hopping robot flexible spine mechanism is simple in structure and used for solving the technical problems that at present, a hopping robot is insufficient in trunk flexibility, invariable in spine rigidity and complex in structure.
本发明公开了一种柔性脊柱机构,包括仿生脊柱、气动仿生肌肉和支撑挡板;仿生脊柱包括弹性板和若干个大小不一的仿生椎骨,若干个仿生椎骨沿弹性板长度方向从大至小依次固定设置在弹性板上,仿生椎骨体积大的一端为仿生脊柱的腰部,仿生椎骨体积小的一端为仿生脊柱的胸部;支撑挡板分为前支撑挡板和后支撑挡板;前支撑挡板与仿生脊柱的胸部相固定连接,后支撑挡板与仿生脊柱的腰部相固定连接;气动仿生肌肉设置在仿生脊柱的两侧,气动仿生肌肉的两端分别固定设置在前支撑挡板和后支撑挡板上。刚度可变的仿袋鼠跳跃机器人柔性脊柱机构,结构简单,用于解决跳跃机器人目前存在的躯干柔性不足、脊柱刚度不可变以及结构复杂的技术问题。
Flexible spine mechanism and kangaroo-like hopping robot
一种柔性脊柱机构和仿袋鼠跳跃机器人
05.01.2021
Patent
Elektronische Ressource
Chinesisch
Europäisches Patentamt | 2023
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