Pneumatic profiling robot system

Abstract

The invention relates to a pneumatic profiling robot system. Shoulder joints, elbow joints, wrist joints, waist joints, hip joints, knee joints and ankle joints are driven to move through air cylinders and pneumatic muscles and the pneumatic profiling robot system has the function of completely simulating human movement. The profiling robot is mainly composed of the air cylinders, the pneumatic muscles, pneumatic claws and connecting pieces. The shoulder joints and the elbow joints achieve movement in multiple directions through multiple sets of antagonistic muscle pneumatic muscles, and the wrist joints are formed by combining pneumatic muscles and pneumatic claws which are connected in parallel. The waist joints are formed by connecting a plurality of sets of crossed air cylinders in parallel, so that the motion space accessibility and rigidity of the joints are greatly improved, and singularity is avoided. The hip joints are two parallel pneumatic drives, the knee joints are formed by combining pneumatic muscles and four-rod parallelogram structures, and the ankle joints are formed by combining the air cylinders and rod structures. The pneumatic profiling robot system is driven by the pneumatic muscles and the air cylinders, has the characteristics of rigid-flexible combination, multiple degrees of freedom and good explosion-proof performance, and can be used for teaching and demonstration.

Description

technical field [0001] The invention relates to the technical field of bionic robot equipment, in particular to a rigid-flexible pneumatic profiling robot system with many degrees of freedom and good explosion-proof performance. Background technique [0002] In order to enable robots to better coordinate with humans, bionic robots emerged as the times require. Pneumatic muscles are used in bionic robots because their characteristics are similar to human muscles and have good flexibility, but they can only provide, so in most cases, they appear in the form of pulling. [0003] CN105691572A, application number: 201610049111.0, discloses a frog-like swimming robot driven by pneumatic muscle antagonism, which relates to a frog-like swimming robot. The invention uses antagonistic muscles to drive the joints, which can simultaneously adjust the angle and stiffness of the joints, and the robot has a compact overall structure and can realize underwater motion. Each thigh body (2) ...

AI Technical Summary

Problems solved by technology

[0006] Chinese patents CN105691572A, CN108724163A, and CN111070232A successively designed frogs, arms, and fingers with a single set of antagonistic muscles, but it is difficult to solve the problem of driving joints with multiple sets of antagonistic muscles, and there are also shortcomings that cannot better simulate the real structure of the joints.

The parallel mechanism has the advantage of high stiffness and is used as a robot joint. The most common one is 6-SPS, but its stiffness is relatively poor, the movement space is small, and there is a large singularity, which makes it uncommon in robot joints.

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