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Profiling robot system based on pneumatic system

A robot system and pneumatic system technology, applied in the field of bionic robots, can solve problems such as not being able to truly reflect the movement characteristics of human joint muscles, and achieve the effects of compact structure, good flexibility, and high power/mass ratio

Inactive Publication Date: 2021-05-11
JIAXING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Only designing a single flexible parallel joint and a single rigid parallel series humanoid robot joint, and only driving the joint in the form of parallel connection of actuators, cannot truly reflect the motion characteristics of human joint muscles

Method used

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  • Profiling robot system based on pneumatic system
  • Profiling robot system based on pneumatic system
  • Profiling robot system based on pneumatic system

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Embodiment Construction

[0043] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0044] The imitation robot system based on the pneumatic system includes: camera 1, the camera 1 is rotatably connected to the waist joint 3, the two sides of the waist joint 3 are rotatably connected to the upper limb joints 2 which are mirror images of each other, and the lower part of the waist joint 3 is rotatably connected to each other The mirrored lower limb joint 4, the camera 1 and the waist joint 3, and the upper limb joint 2 and the waist joint 3 are respectively connected by air motors. The housings of the air motors are respectively fixed on the waist joint 3, and the rotors of the air motors are respectively fixed on the camera. 1 and upper limb joint 2;

[0045] Lumbar joint 3 is provided with thoracic structural part 10, vertebra one 11, vertebra two 12, vertebra three 13, vertebra four 14, vertebra five 15, vertebra six 16, ver...

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PUM

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Abstract

The invention relates to a profiling robot system based on a pneumatic system. According to the profiling robot system based on the pneumatic system, pneumatic muscles are used for simulating human muscles to drive hip joints, knee joints, ankle joints, waist joints, shoulder joints, elbow joints and wrist joints to move, and the function of completely simulating human joint movement is achieved. The profiling robot system is mainly composed of pelvis, ribs, vertebrae, pneumatic muscles, belt wheels, pneumatic claws, connecting pieces and a joint control system. Bones of the waist joints are constructed by vertebrae, ribs, chest structural members and pelvis, and the waist joints are driven to move by long pneumatic muscles, middle pneumatic muscles and short pneumatic muscles. In lower limb joints, single-joint pneumatic muscles and multi-joint pneumatic muscles are combined, and the multi-joint pneumatic muscles and the multi-joint pneumatic muscles are crosswise combined to drive the lower limb joints to move. Multi-joint pneumatic muscles in upper limb joints form antagonistic muscles to drive the shoulder joints and the elbow joints to move. The profiling robot system based on the pneumatic system is driven by the pneumatic muscles, has the characteristics of being compact in structure, good in flexibility and diversified in pneumatic muscle state, 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 pneumatic system-based profiling robot system with compact structure, good flexibility and various pneumatic muscle states. Background technique [0002] Soft robot is a new type of soft robot, which can adapt to various unstructured environments, and can flexibly bend and twist. Even if it is impacted by the outside world, it will not produce a large collision or impact. hotspots. [0003] At present, most soft robots are designed to imitate various creatures in nature. Pneumatic muscles have the characteristics of isobaric, isotonic, and isometric due to their similar characteristics to human muscles; With carbon dioxide, the pneumatic muscle moves by controlling the inflation and deflation of the pneumatic valve, so the pneumatic muscle can be better used in the design of soft robots. [0004] CN110936367B, application number: 201911082363.3, application date: 2019-1...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10B25J17/02
CPCB25J9/1075B25J17/0208
Inventor 姜飞龙曹坚钱苏翔胡红生杨琴张海军汪斌朱海滨刘睿莹杨德山欧阳青宋玉来钱承殷小亮赵伟陈晟周丽朱荷蕾许聚武杨立娜沈剑英崔文华程树群李伟荣何琳章璇董睿伊光武陈军委李心雨刘亿尹弟敖康
Owner JIAXING UNIV
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