Pneumatic-based humanoid robot system

A humanoid robot and pneumatic muscle technology, which is applied in the field of pneumatic-based humanoid robot systems, can solve the problems of limited motion work space and no consideration of joint rigidity and flexibility, and achieves compact structure, good flexibility, high power/ The effect of mass ratio

Active Publication Date: 2020-09-04
JIAXING UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] Due to the regular distribution of cylinders in parallel, during joint motion, the motion work space is limited due to singularity

Method used

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  • Pneumatic-based humanoid robot system
  • Pneumatic-based humanoid robot system
  • Pneumatic-based humanoid robot system

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Embodiment Construction

[0036] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0037] A humanoid robot system based on pneumatics, comprising: an upper limb joint 1, which is connected to a waist joint 2, and a lower limb joint 3 is arranged symmetrically below the waist joint 2; one side of the shoulder joint support 5 of the upper limb joint 1 is rotatably connected Shoulder joint cylinder one 4, shoulder joint cylinder two 6 and shoulder joint cylinder three 7, the other side can be rotatably connected to shoulder joint cylinder four 8, shoulder joint cylinder five 9 and shoulder joint cylinder six 10, shoulder joint cylinder one 4, shoulder joint Cylinder two 6 and shoulder joint cylinder three 7 rotatably connect shoulder joint end plate 24, shoulder joint cylinder four 8, shoulder joint cylinder five 9 and shoulder joint cylinder six 10 rotatably connect the connection shoulder joint end plate 24 of the other side, c...

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Abstract

The invention relates to a pneumatic-based humanoid robot system. Upper limb joints are connected with a waist joint, and lower limb joints are symmetrically arranged below the waist joint; one side of a shoulder joint support of the upper limb joints is rotatably connected with a first shoulder joint cylinder, a second shoulder joint cylinder and a third shoulder joint cylinder, the other side ofthe should joint support of the upper limb joints is rotatably connected with a fourth shoulder joint cylinder, a fifth shoulder joint cylinder and a sixth shoulder joint cylinder, the first shoulderjoint cylinder, the second shoulder joint cylinder and the third shoulder joint cylinder are rotatably connected with a shoulder joint tail end plate, the fourth shoulder joint cylinder, the fifth shoulder joint cylinder and the sixth shoulder joint cylinder are rotatably connected with a connecting shoulder joint tail end plate on the other side, each connecting shoulder joint tail end plate isfixedly connected with a first elbow joint side plate and a second elbow joint side plate, a cylinder body of each swing cylinder I is fixed to each elbow joint side plate I, and a rotating shaft of each swing cylinder I is fixed to a second pulley. The pneumatic-based humanoid robot system is compact in structure, multiple in degrees of freedom, rigid and flexible in combination and large in working space and avoids joint singularity.

Description

technical field [0001] The invention relates to the technical field of bionic robot equipment, in particular to a pneumatic humanoid robot system with compact structure, many degrees of freedom, combination of rigidity and flexibility, large working space and avoiding joint singularity. Background technique [0002] As a machine that works collaboratively with humans, a robot integrates machinery, electricity, algorithms, computer programs, and multi-sensor fusion technology. It is a kind of interdisciplinary research based on multiple disciplines. The level of science and technology and the level of industrial base. [0003] Pneumatic technology is inexhaustible due to its cleanliness, good explosion-proof performance, especially the reliable industrial components provided by pneumatic companies represented by FESTO, SMC and AirTAC, which ensure the wide application of pneumatic technology in the industrial field. The main components of pneumatic components are cylinders, ...

Claims

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Application Information

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IPC IPC(8): B25J11/00
CPCB25J11/00
Inventor 肖学才姜飞龙余晨涛高志强许聚武曹坚胡红生杨德山汪斌杨琴张海军朱海滨朱荷蕾刘睿莹欧阳青宋玉来钱承殷小亮赵伟陈晟周丽杨立娜沈剑英戴婷李心雨任杰刘亿程祥光吴三喜尹弟陈军委
Owner JIAXING UNIV
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