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Humanoid robot system

A robot system and waist joint technology, applied in the field of humanoid robot systems, can solve the problems of inability to adjust the state working environment, high rigidity of swing cylinder control, and few degrees of freedom, etc.

Inactive Publication Date: 2020-01-14
JIAXING UNIV
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  • Abstract
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  • Claims
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AI Technical Summary

Problems solved by technology

The above-mentioned humanoid robot basically realizes the design of a humanoid robot, but it does not consider the back and forth and left and right swings between the upper and lower limbs driven by the waist joint, and the joint movement of the multi-cylinder combination. Flexibility cannot be guaranteed, its movement space and range of movement are relatively single, it cannot flexibly adjust the state and adapt to the actual working environment flexibly, and the degree of freedom is relatively small

Method used

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Embodiment Construction

[0030] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0031]A humanoid robot system, comprising: a waist joint device 2, an upper limb device 1 is arranged on both sides of the waist joint device 2, and a lower limb device 3 is respectively arranged on both sides of the lower end; the shoulder joint fixture 4 of the upper limb device 1 is fixed on the waist joint On the device 2, the shoulder joint fixture 4 fixes the cylinder block of the first upper limb swing cylinder 5, and the rotation axis of the first upper limb swing cylinder 5 is fixed on the axis of the first pulley 6, and the first pulley 6 and the second pulley 7 Connected by a belt, the axis of the second pulley 7 is fixed on the shoulder joint connector 8, and is rotatably connected with the shoulder joint connector 4, and the shoulder joint connector 8 is fixed to the cylinder body of the second upper limb swing cylinder 9. The rota...

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Abstract

The invention relates to a humanoid robot system. The two sides of a waist joint device are correspondingly provided with an upper limb device, the two sides of the lower end of the waist joint deviceare correspondingly provided with a lower limb device, and the upper limb device, the waist joint device and the lower limb device of the humanoid robot are driven by an air cylinder, a pneumatic muscle and a spring combination to have the function of completely simulating joint motion of a person. The humanoid robot system is composed of the air cylinder, a belt pulley, a connecting piece, a pneumatic muscle and spring combination, a connecting plate, a gas claw and the like. The swing cylinders are combined, the swing cylinders are in transmission combination with the belt, the gas claw drives the upper limb system, the pneumatic muscle and the spring combination body and the linear air cylinder drive the waist joint system, the linear air cylinder, the linear air cylinder and a rod structure to drive the lower limb system. The single upper limb system, the waist joint system and the single lower limb system have 5, 7 and 12 degrees of freedom correspondingly, and the whole robot has 41 degrees of freedom. The humanoid robot system has the characteristics of compact structure, multiple degrees of freedom and good flexibility, and can be used for teaching, demonstration exhibition, obstacle crossing and explosive clearing.

Description

technical field [0001] The invention relates to the technical field of robot equipment, in particular to a humanoid robot system with compact structure, many degrees of freedom and good flexibility. Background technique [0002] With the rapid development of circuit integration and intelligent control, robotics, as a comprehensive application of interdisciplinary subjects such as machinery, electricity, and control, reflects the scientific and technological strength of a country. On the premise that the robot completes the basic functions, the humanoid robot is a branch of the field of robotics, and has gradually attracted the attention of researchers. [0003] The air cylinder uses air as the actuator of the medium, and has been widely used in the industrial field. According to its motion mode, it can be divided into swing type and linear type, both of which can drive robot joints. Robots driven by cylinders will have a broad application prospect. [0004] At present, the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00B25J9/14
CPCB25J9/146B25J11/00
Inventor 胡康姜飞龙曹坚汪斌杨立娜许聚武黄风立高慧敏杨德山何琳杨琴张海军朱荷蕾刘睿莹赵伟李伟荣钱承宋玉来胡红生尚涛陈晟周丽沈建英戴婷殷小亮董睿叶宝林欧阳青
Owner JIAXING UNIV
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