Robot system based on pneumatic muscles and air cylinders

A robotic system and pneumatic muscle technology, applied in the field of bionic robots, can solve problems such as the inability to truly reflect the motion characteristics of human joints and muscles

Inactive Publication Date: 2021-05-11
JIAXING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Only designing a single flexible parallel joint and a single rigid parallel series humanoid robot joint, and only driving the joint in the form of parallel connection of actuators, cannot truly reflect the motion characteristics of human joint muscles

Method used

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  • Robot system based on pneumatic muscles and air cylinders
  • Robot system based on pneumatic muscles and air cylinders
  • Robot system based on pneumatic muscles and air cylinders

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Embodiment Construction

[0040] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0041] A robot system based on pneumatic muscles and cylinders, including: a waist joint 2, upper limb joints 1 that are mirror images of each other are arranged on both sides of the waist joint 2, and lower limb joints 3 that are mirror images of each other are arranged on the lower part; the upper side of the waist joint 2 The plate 4 is rotatably connected to the upper connecting piece 5, the upper connecting piece 5 is fixedly connected to the rod of the thin-walled cylinder 8, the cylinder body of the thin-walled cylinder 8 is rotatably connected to the lower connecting piece 11, and the lower connecting piece 11 is connected to the lower The side plate 13 is fixedly connected, the cylinder body of the thin-walled cylinder 8 is fixedly connected with the middle plate 16, and the lower side plate 13 and the middle plate 16 are respectively r...

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Abstract

The invention relates to a robot system based on pneumatic muscles and air cylinders. According to the robot system, pneumatic motors and the air cylinders are used for driving robot joints to move, and the function of completely simulating joint movement of a person is achieved. The robot system based on the pneumatic muscles and the air cylinders is mainly composed of the pneumatic muscles, the air cylinders, the pneumatic motors, connecting pieces and a joint control system. A hip joint, an ankle joint, a shoulder joint and a wrist joint are simultaneously driven by a linear air cylinder and the pneumatic motors and can be separately used as an active element and a passive element, and an elbow joint and a knee joint are driven by the linear air cylinder. The robot system is driven by the pneumatic muscles, the air cylinders and the pneumatic motors, has the characteristics of being compact in structure, diversified in movement mode and wide in movement range, and can be used for teaching and demonstration.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to a robot system based on pneumatic muscles and cylinders with compact structure, various motion modes and wide range of motion. Background technique [0002] Soft robot is a new type of soft robot, which can adapt to various unstructured environments, and can flexibly bend and twist. Even if it is impacted by the outside world, it will not produce a large collision or impact. hotspots. [0003] At present, most soft robots are designed to imitate various creatures in nature. Pneumatic muscles have the characteristics of isobaric, isotonic, and isometric due to their similar characteristics to human muscles; With carbon dioxide, the pneumatic muscle moves by controlling the inflation and deflation of the pneumatic valve, so the pneumatic muscle can be better used in the design of soft robots. [0004] CN110936367B, application number: 201911082363.3, application date: 2019-...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10B25J17/02
CPCB25J9/1075B25J17/0208
Inventor 姜飞龙曹坚钱苏翔沈剑英崔文华程树群李伟荣何琳章璇董睿伊光武陈军委敖康胡红生杨琴张海军汪斌朱海滨刘睿莹杨德山欧阳青宋玉来钱承殷小亮赵伟陈晟周丽朱荷蕾许聚武杨立娜李心雨刘亿尹弟
Owner JIAXING UNIV
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