Wearable pneumatic skin system with impact resisting and position sensing functions

Abstract

The invention relates to a wearable pneumatic skin system with impact resisting and position sensing functions. The wearable pneumatic skin system comprises three parts: a pneumatic mechanical executing mechanism, an electric detection control device and a pneumatic auxiliary device. The pneumatic mechanical executing mechanism comprises a soft airbag, wherein a plurality of hanging and connectingparts are uniformly fixed to an inner ring surface of an outer ring wall, a plurality of mounting holes in one-to-one correspondence are uniformly formed in an inner ring wall to form displacement sensor mounting positions, and a plurality of wiring grooves are formed in an inner ring surface of the inner ring wall; the pneumatic auxiliary device comprises a gas storage tank; and the electric detection control device comprises a pressure proportional valve, a plurality of micro high precision displacement sensors and a PAC; an air inlet and an air outlet of the pressure proportional valve arefixedly connected to an output end of the gas storage tank and an air inlet connector assembly, separately, and a control input end of the pressure proportional valve is connected to the PAC througha lead; and the micro high precision displacement sensors are fixedly mounted in the displacement sensor mounting positions one by one, and signal lines are arranged in the wiring grooves and are connected to the PAC. The wearable pneumatic skin system can adjust the air pressure of skin in real time to fit different external disturbing forces.

Description

technical field [0001] The invention relates to a pneumatic skin system, in particular to a wearable pneumatic skin system with impact resistance and position perception, which can be widely used in the field of robots. Background technique [0002] In the context of artificial intelligence and Industry 4.0, robots are becoming more and more attractive due to their advantages such as high work efficiency, low labor cost, and cleanliness. In the future, robots will be the key implementation targets of artificial intelligence. At present, robots have been widely used in many fields such as industrial automation, catering services, environmental protection and even national defense security, aerospace, etc. Strong social needs promote the rapid development and innovation of robot technology. However, at present, robots are all rigid structures, and it is difficult to effectively resist external impacts. Robots can easily cause damage to their own mechanical structures and human...

AI Technical Summary

Problems solved by technology

Although these three protective measures can play a protective role, they cannot completely avoid the danger.

Adding protection programs when designing programs, this method can only prevent damages that people can consider, and cannot effectively avoid sudden damages caused by environmental changes

Installing mechanical limit switches on the mechanical structure, although this method can avoid some dangerous operations of the robot, it is often unavoidable for some special angular positions due to some structural characteristics

When designing the power supply line, design a general protection switch. This method will cause the robot to stop running when it accidentally injures people, and can only prevent the robot from continuing to cause damage. accidental injury

Moreover, currently there are few artificial skins designed with position awareness, and the structure mainly uses pressure sensors. The structure is relatively complicated, the cost is expensive, and it does not have anti-interference ability to external disturbances.

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