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Humanoid robot system based on air cylinders and pneumatic muscles

A technology of humanoid robot and pneumatic muscle, which is applied in the field of bionic robot, can solve the problems of no consideration of flexibility, muscle group combination, single drive branch chain rigid-flexible combination single joint and multi-joint hybrid combined drive, etc., and achieve compact structure , good flexibility, high power/mass ratio effect

Active Publication Date: 2020-08-18
深圳大象安泰科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] However, the above-mentioned robot is only designed from the perspective of the cylinder, and does not consider issues such as compliance, muscle group combination, rigid-flexible combination of a single drive branch chain, single-joint and multi-joint combined drive, etc.

Method used

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  • Humanoid robot system based on air cylinders and pneumatic muscles
  • Humanoid robot system based on air cylinders and pneumatic muscles
  • Humanoid robot system based on air cylinders and pneumatic muscles

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Embodiment Construction

[0045] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0046] A humanoid robot system based on cylinders and pneumatic muscles, including: thoracic joint 1, two sets of upper limb joints 2 arranged as mirror images on both sides of thoracic joint 1, the lower part is fixed on the lumbar joint 3, and the lower parts of the lumbar joint 3 are mirror images of each other The lower limb joint 4 is set, and the lower limb joint 4 is respectively the left lower limb 4-1 and the right lower limb 4-2; the two sides of the chest joint fixing plate 5 of the chest joint 1 are mirror images of each other and the linear cylinder one 6, the linear cylinder two 7, the straight line cylinder Cylinder three 8, linear cylinder four 9, linear cylinder five 17, linear cylinder six 18, linear cylinder seven 19 and linear cylinder eight 20, linear cylinder two 7, linear cylinder three 8 one ends can be rotatably connecte...

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Abstract

The invention relates to a humanoid robot system based on air cylinders and pneumatic muscles. Shoulder joints, elbow joints, wrist joints, fingers, waist joints, hip joints, knee joints, ankle jointsand toes of a humanoid robot are driven to move by using the air cylinders and the pneumatic muscles, and a function of completely simulating the movement of a person is achieved. The humanoid robotsystem is composed of linear cylinders, pneumatic rotary actuators, pneumatic muscles, bevel gears, vertebrae and connecting plates, wherein the plurality of linear cylinders drive the shoulder jointsto move, and the pneumatic rotary actuators are combined with the bevel gears to drive the elbow joints; the pneumatic muscles drive the wrist joints and the fingers, the plurality of pneumatic muscles drive the waist joints and the vertebrae, and the pneumatic rotary actuators are combined with parallelogram structures to drive lower limbs to move; and the shoulder joints, the elbow joints, thewrist joints, the waist joints, the hip joints, the knee joints and the ankle joints have 6 degrees of freedom, 1 degree of freedom, 2 degrees of freedom, 1 degree of freedom, 1 degree of freedom and2 degrees of freedom respectively. The humanoid robot system based on the air cylinders and the pneumatic muscles uses the air cylinders and the pneumatic muscles for driving, has the characteristicsof compact structure, good explosion-proof performance, multiple degrees of freedom and combination of rigidity and flexibility, and can be used for teaching and demonstration.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to a humanoid robot system based on a cylinder and pneumatic muscles, which is compact in structure, clean and explosion-proof, with many degrees of freedom and a combination of rigidity and flexibility. Background technique [0002] A robot is a device that can liberate human beings from heavy work, involving knowledge in machinery, electricity, communication, control, etc. Effect. As a medium, clean air has better explosion-proof type, and has the advantages of being inexhaustible and inexhaustible. As two components, the cylinder and the pneumatic muscle have their own characteristics. If they can be used in combination, their respective shortcomings will be avoided. [0003] Chinese patent CN107717961B proposes a humanoid robot driven by a single-joint cylinder for the first time, and discloses a humanoid robot based on a cylinder, which uses the cylinder as a driving el...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10B25J9/14B25J15/00
CPCB25J9/1075B25J9/14B25J15/0009
Inventor 吴起威姜飞龙曹坚胡红生汪斌朱海滨朱荷蕾刘睿莹欧阳青宋玉来钱承殷小亮赵伟陈晟周丽杨琴张海军杨立娜沈剑英杨德山许聚武戴婷敖康董睿王庆泉何琳李心雨任杰刘亿程祥光吴三喜尹弟肖学才高志强
Owner 深圳大象安泰科技有限公司
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