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Flexible body of bionic robot

A bionic robot and flexible technology, applied in the field of bionic robots, can solve problems such as poor flexibility and poor bionic effect, and achieve the effect of simple control

Inactive Publication Date: 2013-06-12
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to address the deficiencies in the existing technology, to provide a flexible body of a bionic robot, which imitates the body mechanism of a quadruped creature, and overcomes the shortcomings of poor flexibility and poor bionic effect in the movement process of traditional robots

Method used

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  • Flexible body of bionic robot

Examples

Experimental program
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Effect test

Embodiment 1

[0017] Such as figure 1 As shown, a flexible body of a bionic robot is composed of a front body (I), a rear body (IV), an artificial spine (III), and a pneumatic artificial muscle (II). It is characterized in that: the front body (I) 1. The rear body (Ⅳ) is a space frame structure, and the two are connected as a whole by 1 artificial spine (or vertebra) (Ⅲ) and 4 pneumatic artificial muscles (Ⅱ).

Embodiment 2

[0019] see figure 2 with image 3 , this embodiment is basically the same as Embodiment 1, and the special feature is: the artificial spine (or vertebra) (III) is composed of 10 identical bionic spine units arranged in order from small to large. Each bionic spine unit includes a bionic vertebra (1), a bionic intervertebral disc cushion (2) and three springs (3), which are arranged alternately in space. The former bionic vertebra (1) has a lower articular surface (①) and the upper articular process (②) of the latter bionic vertebra forms a spherical pair. Two adjacent intervertebral pads are provided with a bionic intervertebral disc cushion (2), and three springs (3) run through the bionic intervertebral disc cushion (2). In this way, two adjacent bionic vertebrae (1) can swing up and down and left and right within a certain range around the ball pair formed by the lower articular surface of the previous vertebrae (①) and the upper facet process of the latter vertebrae (②)....

Embodiment 3

[0021] see Figure 4 , this embodiment is basically the same as Embodiment 1, the special feature is: the gas artificial muscle (II) is composed of an airtight elastic tube (4) and a braided sheath (5) covering it. The braided sleeve (5) has a 30-degree angle between the braided fiber and the axis o ~60 o Angle, which is the weaving angle. When a certain pressure of gas is injected into the gas artificial muscle (II), the airtight elastic tube deforms under the action of internal pressure, which drives the braided sleeve to move radially together, the braided angle increases, and the braided sleeve axially shortens to realize muscle shrinkage effect. On the contrary, the gas is discharged to achieve the effect of artificial muscle relaxation.

[0022] The working principle of the flexible body of the bionic robot described in the present invention is explained as follows in conjunction with the accompanying drawings: To make the body bend sideways, discharge gas from the a...

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Abstract

The invention relates to a flexible body of a bionic robot, and belongs to the technical field of bionic robots. The flexible body comprises a front body, a back body, an artificial spine, and pneumatic artificial muscles, wherein the artificial spine is formed by sequentially arranging a plurality of bionic spine units from small to large, the bionic spine units are completely same in structure and are different in size, and each bionic spine unit consists of a bionic spine, a bionic intervertebral disc soft cushion and a spring. The flexible body has the advantages that a leg mechanism is assisted to realize the flexible and in-place steering function of the bionic robot, the mobility of the robot adapting to the complicated environment is improved, the flexibility is high, the bionic effect is good, and the like.

Description

technical field [0001] The invention relates to a flexible body of a bionic robot, which belongs to the technical field of bionic robots. Background technique [0002] The mobility and stability of a robot's dynamic walking depend on its body mechanism. Currently designed robots have two body structures: the first is to design the body as a rigid overall structure, ignoring the role played by the body mechanism in dynamic and stable walking and turning in situ. Its disadvantage is that when the quadruped robot needs to turn or avoid obstacles when working in a complex ground environment, it can only be realized by changing the gait, turning while walking, resulting in a large turning radius and slow turning speed, which is not the realization of the original goal. Fast steering, but also increased the difficulty of control. The second is to divide the rigid body into two parts, the front and the rear, and connect them through a rotating pair located in the middle of...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
Inventor 雷静桃王峰俞煌颖
Owner SHANGHAI UNIV
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