Multi-mode motion primate-imitating robot

A primate, multi-modal technology, applied in manipulators, manufacturing tools, etc., can solve problems such as insufficient mobility, and achieve the effect of high flexibility and high stability

Active Publication Date: 2019-07-09
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the problem of insufficient mobility of existing legged robots, the present invention proposes a hydraulically driven multi-mode primate-like robot,

Method used

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  • Multi-mode motion primate-imitating robot

Examples

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Embodiment Construction

[0030] like figure 1 As shown, the multi-mode motion imitating primate robot of the present invention is mainly composed of chest I, crotch II, hind legs III and forearm IV, and there are two hind legs III and forearm IV. The chest Ⅰ and the crotch Ⅱ are hinged to form the torso through the rotating shaft (lumbar joint), and there is a degree of freedom in pitching between them. like image 3 As shown, the chest pitch hydraulic cylinder 24 is hinged between the chest I and the crotch II, and the pitch of the chest I is controlled by the linear hydraulic cylinder. The forearm IV is connected to both sides of the chest I, and the hind leg III is connected to both sides of the crotch II.

[0031] According to different actual requirements, the robot can switch between quadruped and biped modes through the cooperation of the pitch of the waist joint and the pitch joint of the rear leg III (see the working process of the rear leg III described below for details), such as figure ...

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Abstract

A multi-mode motion primate-imitating robot comprises a chest, a crotch, hind legs and cubiti, and is characterized in that the chest and the crotch are hinged into a trunk; a chest pitch hydraulic cylinder is connected between the chest and the crotch; the two cubiti are connected to the chest; the two hind legs are connected to the crotch; each hind leg comprises a hip, a thigh, a crus and a foot; the hips are hinged to the crotch; the thighs are hinged to the hips; the crura are hinged to the thighs; the feet are hinged to the crura; each cubitus comprises a shoulder, a big arm, a forearm and a hand; cubitus-chest hydraulic cylinders are connected between the shoulders and the chest; the big arms are hinged to the shoulders; the forearms are hinged to the big arms; and the hands are hinged to the forearms. The robot can be switched between a four-legged mode and a two-legged mode, the center of gravity is low and stable in the four-legged mode, the jump height and jump distance canbe increased in the two-legged mode, and the unoccupied forearms can achieve the functions such as handling.

Description

technical field [0001] The invention relates to a hydraulic-driven imitation primate robot capable of multi-mode movement, belonging to the technical field of legged mobile robots. Background technique [0002] Compared with wheeled and tracked sports, leg-footed sports have significant advantages in adapting to complex terrain, flexible movement, and strong obstacle-surmounting ability. However, the existing legged robots have problems of poor maneuverability caused by a single movement mode and insufficient explosive force, which are difficult to meet the needs of practical applications. Primates can independently choose various movement modes such as biped / quadruped walking, running, jumping, climbing, etc. according to the environment. Bionic blueprint. [0003] The Chinese patent document CN108858147A discloses "A Pneumatic Muscle-Driven Primate Biomimetic Robot" only discloses a pneumatically driven primate-like robot arm, and does not give a detailed primate-like ro...

Claims

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Application Information

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IPC IPC(8): B25J11/00
CPCB25J11/00
Inventor 荣学文柴向晓周乐来柴汇马昕宋锐田国会李彬
Owner SHANDONG UNIV
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