The invention discloses a bionic flexible spine and a robot, and relates to the technical field of robotics.The bionic flexible spine comprises a supporting skeleton, a first tensioning and releasing mechanism is arranged at one end of the supporting skeleton, a second tensioning and releasing mechanism is arranged at the other end of the supporting skeleton, and each of the first tensioning and releasing mechanism and the second tensioning and releasing mechanism comprises at least one stay wire and a driving mechanism; one end of a pull wire of the second tensioning and releasing mechanism is connected with one end of the supporting skeleton, one end of a pull wire of the first tensioning and releasing mechanism is connected with the other end of the supporting skeleton, and a driving mechanism of the first tensioning and releasing mechanism drives the pull wire to be tensioned or released to achieve bending of the supporting skeleton in the horizontal direction. The driving mechanism of the second tensioning and releasing mechanism drives the stay wire to be tensioned or released to achieve bending of the supporting skeleton in the vertical direction. By the adoption of the bionic flexible spine, four-degree-of-freedom movement of pitching, yawing and front limb and rear limb twisting can be achieved, and the problems that an existing miniature quadruped robot trunk spine is small in degree of freedom, single in movement mode and poor in flexibility can be solved.
本发明公开了一种仿生柔性脊柱及机器人,涉及机器人技术领域,包括支撑骨骼的一端设置有第一拉紧释放机构,支撑骨骼的另一端设置有第二拉紧释放机构,第一拉紧释放机构和第二拉紧释放机构均包括至少一个拉线和驱动机构,第二拉紧释放机构的拉线的一端与支撑骨骼的一端连接,第一拉紧释放机构的拉线的一端与支撑骨骼的另一端连接,第一拉紧释放机构的驱动机构驱动拉线拉紧或释放实现支撑骨骼水平方向的弯曲,第二拉紧释放机构的驱动机构驱动拉线拉紧或释放实现支撑骨骼竖直方向的弯曲。采用本发明的仿生柔性脊柱可以实现俯仰、偏航以及前肢后肢扭转的四自由度运动,能够解决现有微型四足机器人躯干脊柱自由度少、运动模式单一、灵活性差的问题。
Bionic flexible spine and robot
一种仿生柔性脊柱及机器人
2021-06-29
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Bionic quadruped robot provided with high-outbreak spine
European Patent Office | 2023
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