A humanoid robot system

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...

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

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