Pneumatic and configuration combined profiling robot system

Abstract

The invention relates to a pneumatic and configuration combined profiling robot system which drives a shoulder joint, an elbow joint, a wrist joint, a waist joint, a hip joint, a knee joint and an ankle joint to move through air cylinders and pneumatic muscles and has the function of completely simulating human movement. The profiling robot is mainly composed of an air cylinder, a pneumatic muscle, a pneumatic claw and a connecting piece. The shoulder joint and the elbow joint achieve movement in multiple directions through multiple sets of antagonistic muscle pneumatic muscles, and the wrist joint is formed by combining pneumatic muscles and pneumatic claws which are connected in parallel. The waist joint is formed by connecting a plurality of groups of crossed air cylinders in parallel, so that the motion space accessibility and rigidity of the joint are greatly improved, and singularity is avoided. The hip joints are two parallel pneumatic drives, the knee joints are formed by combining pneumatic muscles and four-rod parallelogram structures, and the ankle joints are formed by combining air cylinders and rod structures. The device is driven by the pneumatic muscle and the air cylinder, has the characteristics of rigid-flexible combination, multiple degrees of freedom and good explosion-proof performance, and can be used for teaching and demonstration.

Description

technical field [0001] The invention relates to the technical field of bionic robot equipment, in particular to a profiling robot system combining rigidity and flexibility, many degrees of freedom, and good explosion-proof performance combined with pneumatic and configuration. Background technique [0002] In order to enable robots to better coordinate with humans, bionic robots emerged as the times require. Pneumatic muscles are used in bionic robots because their characteristics are similar to human muscles and have good flexibility, but they can only provide, so in most cases, they appear in the form of pulling. [0003] CN105691572A, application number: 201610049111.0, discloses a frog-like swimming robot driven by pneumatic muscle antagonism, which relates to a frog-like swimming robot. The invention uses antagonistic muscles to drive the joints, which can simultaneously adjust the angle and stiffness of the joints, and the robot has a compact overall structure and can...

AI Technical Summary

Problems solved by technology

[0006] Chinese patents CN105691572A, CN108724163A, and CN111070232A successively designed frogs, arms, and fingers with a single set of antagonistic muscles, but it is difficult to solve the problem of driving joints with multiple sets of antagonistic muscles, and there are also shortcomings that cannot better simulate the real structure of the joints.

The parallel mechanism has the advantage of high stiffness and is used as a robot joint. The most common one is 6-SPS, but its stiffness is relatively poor, the movement space is small, and there is a large singularity, which makes it uncommon in robot joints.

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