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Pneumatic humanoid robot system

A technology of humanoid robot and pneumatic muscle, which is applied in the field of humanoid robot, can solve the problem of not being able to truly reflect the movement characteristics of human joint muscles

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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Embodiment Construction

[0041] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0042] Pneumatic humanoid robot system, including: camera 1, camera 1 is rotatably connected to waist joint 3, both sides of waist joint 3 are rotatably connected to upper limb joints 2 that are mirror images of each other, and the bottom of waist joint 3 is rotatably connected to lower limbs that are mirror images of each other Joint 4, camera 1 and lumbar joint 3, upper limb joint 2 and lumbar joint 3 are respectively connected by air motors, the casings of the air motors are respectively fixed on the lumbar joint 3, and the rotors of the air motor are respectively fixed to the camera 1 and upper limbs joint 2;

[0043] Lumbar joint 3 is provided with thoracic structural part 10, vertebra one 5, vertebra two 6, vertebra three 7, vertebra four 8, vertebra five 9, vertebra six 12, pelvis 13, thoracic structure 10, vertebra one 5, Vertebra 2 6,...

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Abstract

The invention relates to a pneumatic humanoid robot system. The pneumatic humanoid robot system uses pneumatic muscles to simulate human muscles to drive hip joints, knee joints, ankle joints, waist joints, shoulder joints, elbow joints and wrist joints to move and has the function of completely simulating human joint movement. The pneumatic humanoid robot system is mainly composed of pelvis, ribs, vertebrae, the 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 long pneumatic muscles and short pneumatic muscles drive the waist joints to move together. 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 pneumatic humanoid robot 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 humanoid robots, in particular to a pneumatic humanoid 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: 2019-11-07, disclo...

Claims

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Application Information

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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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