Developing and producing method of intelligent power-assisting robot system based on heavy load carrying

Abstract

The invention discloses a developing and producing method of an intelligent power-assisting robot system based on heavy load carrying. The developing and producing method comprises the following stepsthat firstly, the human motion feature law is studied, a human carrying model and a motion feature database are established by performing quantitative analysis on instantaneous motion states and stress conditions of all human parts during human carrying; secondly, a flexible pressure sensor array is developed and produced, specifically, the flexible pressure sensor array provided with a micro-nano structure and a plurality of sensing units is adopted and integrated to a power-assisting robot, so that human arm / lower extremity pressure related parameters are precisely detected in real time; thirdly, multi-sensor human motion intention judging is performed, specifically, a multi-sensor information acquisition system is adopted for capturing arm / lower extremity pressure signals in the motionprocess, and the human motion intention is judged; and fourthly or finally, power-assisting robot force servo self-adaptive control is performed, specifically, bionic trajectory charts of all human joints during motion are broken down according to the human motion law, and a robot electric cylinder tracking trajectory is made according to the trajectory charts so as to achieve bionic actions.

Description

technical field [0001] The invention relates to the technical field of robot system development, in particular to a method for developing an intelligent power-assisted robot system based on heavy-load handling. Background technique [0002] With the rapid development of the economy and the prosperity of the manufacturing industry, the demand for heavy-duty handling in industrial production is increasing. Products that are closely related to people's life and industrial and agricultural production, such as grain, flour, cement, fertilizer, feed, agricultural and sideline products, and mineral products, are mostly packed in bags, and bagged materials are inseparable from materials during production and transportation. handling and loading and unloading. At present, the warehouse handling and loading and unloading transportation methods of bagged materials in my country are mainly carried by shoulders and trolleys. Due to the heavy load, high labor intensity and low work effic...

AI Technical Summary

Problems solved by technology

However, in the development of intelligent power-assisted robot systems, there are no: (1) research on the motion mechanism of the man-machine coupling effect in the process of heavy-duty handling; (2) the use of pressure sensors, angle sensors, and displacement sensors in heavy-duty handling Detect human motion information, etc., to realize the follow-up control of the robot system

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