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A technology of humanoid robot and cylinder, which is applied in the field of robotics, can solve the problems such as multi-cylinder combined drive joint movement, etc., and achieve the effect of compact structure, large stroke and large working space
Inactive Publication Date: 2020-03-31
JIAXING UNIV
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[0005] The above-mentioned humanoid robot is only a basic parallel connection of cylinders, and does not consider multiple combinations of multiple cylinders to drive joint movements and various possible configurations
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[0034] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
[0035] A pneumatic humanoid robot system, comprising: a waist joint 2, two groups of lower limb joints 1 are arranged below the waist joint 2 as mirror images of each other, upper limb joints 3 are respectively arranged on both sides of the upper limb, and the lower limb joints 1 are hip joints 4 from top to bottom , knee joint 5 and ankle joint 6; the cylinder body of the hip joint swing cylinder-8 of the hip joint 4 is fixed on the lower panel 7 of the waist joint, and the rotation shaft of the hip joint swing cylinder-8 is fixed on the hip joint pulley-9, The two ends of the hip joint connecting shaft 10 of the hip joint 4 are respectively fixedly connected with the lower panel 7 of the waist joint and the hip joint joint one 11, and the hip joint joint one 11 is rotatably connected to the hip joint cross joint 12, and the hip joint cross joi...
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Abstract
The invention relates to a pneumatic humanoid robot system. The system adopts an air cylinder to drive the movement of hip joints, knee joints, foot joints, waist joints, shoulder joints, elbow jointsand wrist joints of a humanoid robot, and has a function of completely simulating joint movement of a person. The system is composed of a linear air cylinder, a swinging air cylinder, belt wheels, lead screws, bevel gears, toothed belts, toothed wheels and connecting pieces, the hip joints and the shoulder joints are driven by the swing cylinder through the belt wheels, the knee joints are drivenby the lead screws and the air cylinders in a combination manner, the foot joints are driven by a plurality of air cylinders, the elbow joints are driven by the swing cylinder, the wrist joints are composed of two groups of variable-distance swing parts and an air cylinder parallel mechanism, the hip joints, the knee joints, the foot joints, the waist joints, the shoulder joints, and the elbow joints and the wrist joints have 2, 1, 4, 6, 2, 1, 4 degrees of freedom correspondingly and a total of 34 degrees of freedom. According to the pneumatic humanoid robot system, a cylinder and cylinder combination driven are adopted, the system has the characteristics of large stroke, large working space and compact structure, 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 robot with a large stroke, a large working space, and a compact structure, which can simultaneously realize the movement of joints in multiple directions and modes, as well as the switching of movement modes, and has many degrees of freedom, and can vividly simulate human joints. Pneumatic humanoid robot system that can realize various actions. Background technique [0002] Since the 1960s, the United States began to study motor-driven robots to complete dangerous, heavy and repetitive labor for humans. Up to now, robots have matured and are widely used in various industries. The cylinder uses clean air as the medium, and has a good explosion-proof type. At the same time, the cylinder has a large movement space, and the cylinder has been widely used in the industrial field. Cylinders can be divided into linear motion cylinders and oscillating motion cylinders according to their...
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