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Profiling joint robot system

A robot system and joint technology, applied in the field of robots, can solve problems such as the inability to truly reflect the motion characteristics of human joints and muscles, and achieve the effects of compact structure, high power/mass ratio, and good flexibility

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

[0044] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0045] A profiling joint robot system, comprising: a chest joint 66, upper limb joints 1 that are mirror images of each other are arranged on both sides of the chest joint 66, a waist joint 2 is arranged below the waist joint 2, and lower limb joints 3 that are mirror images of each other are arranged below the waist joint 2; Lumbar joint upper plate 4 of lumbar joint 2, vertebra one 15, vertebra two 16, vertebra three 17, vertebra four 18, vertebra five 19, vertebra six 20, vertebra seven 21, vertebra eight 22, vertebra nine 23, middle of the lumbar joint Plate 9 is connected sequentially, upper side plate 4 of lumbar joint, vertebra one 15, vertebra two 16, vertebra three 17, vertebra four 18, vertebra five 19, vertebra six 20, vertebra seven 21, vertebra eight 22, vertebra nine 23, lumbar joint The connection of the middle plate 9 is a rotat...

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Abstract

The invention relates to a profiling joint robot system. The profiling joint robot system uses pneumatic muscles to simulate human muscles to drive hip joints, knee joints, ankle joints, waist joints, chest joints, shoulder joints, elbow joints and wrist joints to move and has the function of completely simulating human joint movement. The profiling joint robot system is mainly composed of vertebrae, pneumatic motors, pneumatic muscles, connecting pieces and a joint control system. A waist joint assembly comprises the pneumatic muscles serving as a driving element to drive vertebrae to rotate, and the pneumatic motors and a universal joint form a spherical hinge with the driving element and are combined with the pneumatic muscles to drive the joint. Hip joints, knee joints, ankle joints, shoulder joints, elbow joints and wrist joints in lower limb joints and upper limb joints are driven by the combination of single-joint pneumatic muscles and multi-joint pneumatic muscles; and the shoulder joints are driven by flexible redundancy in parallel consisting of a group of eight pneumatic muscles. The profiling joint robot system has the characteristics of compact structure, good flexibility and various pneumatic muscle states, and can be used for teaching and demonstration.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a profiling joint robot system with compact structure, good flexibility and various aerodynamic 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, discloses a pneu...

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程树群李伟荣何琳章璇董睿伊光武陈军委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李心雨刘亿尹弟敖康
Owner JIAXING UNIV
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