Robot joint movement method and system based on muscle bionics

Abstract

The invention discloses a robot joint movement method and system based on muscle bionics, and relates to the technical field of robots, and the robot joint movement method comprises the following steps: selecting a bionic driving material as a joint driving unit; a joint connection mode with multiple degrees of freedom is constructed, and state information of joints is monitored in real time; and a control system is established, and the control system receives a movement instruction and controls joint movement in combination with the state information. By simulating contraction and relaxation mechanisms of human muscles and adopting novel intelligent materials or pneumatic muscles or hydraulic muscles and other driving modes, flexible movement of robot joints is achieved, cost is reduced, movement efficiency is improved, the human muscle movement principle is simulated, and a brand new solution is provided for humanoid robot joint movement.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and more particularly to a robot joint motion method and system based on muscle bionics. Background Art

[0002] The human muscle system has evolved over a long period of time and has many advantages such as high efficiency, flexibility, and smoothness. However, most existing humanoid robots use motor joints, which have complex structures, low efficiency, and high costs, limiting the large-scale application and performance improvement of humanoid robots.

[0003] Therefore, how to provide a robot joint movement method and system based on muscle bionics to imitate the principle of human muscle movement is an urgent problem that needs to be solved by technical personnel in this field. Summary of the invention

[0004] In view of this, the present invention provides a robot joint movement method and system based on muscle bionics, which simulates the contraction and relaxation mechanism of human muscles and adopts new intelligent materials or pneumatic muscles or hydraulic muscles and other driving methods to achieve flexible movement of robot joints, reduce costs and improve movement efficiency, imitate the principles of human muscle movement, and provide a new solution for humanoid robot joint movement.

[0005] In order to achieve the above object, the present invention adopts the following technical solution: a robot joint motion method based on muscle bionics, comprising:

[0006] Select bionic driving materials as joint driving units;

[0007] Construct joint connections with multiple degrees of freedom and monitor joint status information in real time;

[0008] A control system is established, wherein the control system receives motion instructions and controls joint motion in combination with the state information.

[0009] Preferably, it also includes: providing energy to the joint drive unit through an energy supply system; at the same time, designing an energy recovery mechanism to convert kinetic energy into electrical energy or potential energy for storage during the braking process of the robot joint movement.

[0010] Preferably, the control system is established based on bioelectric signals or neural control principles.

[0011] Preferably, the joint driving unit can generate a contraction force under the change of electrical signals or air pressure, simulating the active contraction characteristics of muscles.

[0012] Preferably, a plurality of sensors are arranged inside the joint structure, and the sensors monitor the state information of the joint in real time and feed back the state information to the control system.

[0013] Preferably, the motion instruction includes a preset motion trajectory and target posture;

[0014] The control system calculates the driving torque required for each joint according to the preset motion trajectory and target posture, and sends the corresponding control signal to the joint drive unit to generate a suitable contraction force to drive the joint movement.

[0015] Preferably, the bionic driving material includes but is not limited to pneumatic muscles or hydraulic muscles.

[0016] Preferably, a robot joint motion system based on muscle bionics comprises:

[0017] Joint drive unit, control system and joint structure;

[0018] The joint drive unit adopts bionic drive materials to simulate the active contraction characteristics of muscles;

[0019] The joint structure is used to imitate the anatomical structure of the joint, so that the joint can rotate and swing in multiple directions;

[0020] Multiple sensors are installed inside the joint to monitor the joint status information in real time;

[0021] The control system is used to receive motion instructions and control joint motion in combination with the state information.

[0022] It can be seen from the above technical solutions that compared with the prior art, the present invention discloses a robot joint motion method and system based on muscle bionics, including: selecting bionic driving materials as joint driving units; constructing a joint connection method with multiple degrees of freedom, and monitoring the state information of the joints in real time; establishing a control system, the control system receives motion instructions, and controls the joint motion in combination with the state information. The present invention can effectively solve the problems existing in the existing motor joints, provide an innovative and practical technical approach for the development of humanoid robots, and is expected to promote the widespread application and popularization of humanoid robots in more fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0024] Figure 1 This is a schematic diagram of the bionic muscle-driven joint structure provided by the present invention. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] The embodiment of the present invention discloses a robot joint motion method based on muscle bionics, comprising:

[0027] Select bionic driving materials as joint driving units;

[0028] Construct joint connections with multiple degrees of freedom and monitor joint status information in real time;

[0029] A control system is established, wherein the control system receives motion instructions and controls joint motion in combination with the state information.

[0030] Specifically, the bionic driving material includes but is not limited to pneumatic muscles or hydraulic muscles. Figure 1 As shown, the driving principles of other joints in the body are the same as Figure 1 The principle is the same, that is, the joints are no longer driven by motors or planetary ball screws as at the current stage, but are driven by this new type of muscle.

[0031] Among them, intelligent materials similar to muscle fibers or pneumatic muscles or hydraulic muscles are used as joint drive units. These joint drive units can generate contraction force under electrical signals or air pressure changes, simulating the active contraction characteristics of human muscles. For example, intelligent materials can change their internal structure according to the intensity of the electric field, thereby producing corresponding contraction deformation; pneumatic muscles achieve contraction and relaxation by inflating and deflating air.

[0032] Specifically, it also includes: providing energy to the joint drive unit through an energy supply system; at the same time, designing an energy recovery mechanism to convert kinetic energy into electrical energy or potential energy for storage during the braking process of the robot's joint movement.

[0033] Among them, an efficient energy supply system is equipped to provide continuous and stable energy, such as electrical energy or compressed gas, to the joint drive unit. At the same time, an energy recovery mechanism is designed to convert part of the kinetic energy into electrical energy or potential energy for storage during the braking process of the robot's joint movement, thereby improving energy utilization efficiency and further reducing operating costs.

[0034] Specifically, the control system is established based on bioelectric signals or neural control principles.

[0035] Among them, by establishing a control system based on bioelectric signals or neural control principles, it is possible to receive motion instructions from the robot's upper decision-making body, and combine the data feedback from the joint sensors to accurately control the contraction degree and speed of each joint drive unit, thereby achieving precise movement of the robot's joints.

[0036] Specifically, the joint driving unit can generate contraction force under the change of electrical signals or air pressure, simulating the active contraction characteristics of muscles.

[0037] Specifically, the motion instruction includes a preset motion trajectory and target posture;

[0038] The control system calculates the driving torque required for each joint according to the preset motion trajectory and target posture, and sends the corresponding control signal to the joint drive unit to generate a suitable contraction force to drive the joint movement.

[0039] Specifically, a plurality of sensors are arranged inside the joint structure, and the sensors monitor the state information of the joint in real time and feed back the state information to the control system.

[0040] The design of the joint structure imitates the anatomical structure of human joints, and by constructing a joint connection with multiple degrees of freedom, the joint can flexibly rotate and swing in multiple directions. Sensors are set inside the joint to monitor the angle, angular velocity, force and other state information of the joint in real time, and feed this information back to the control system.

[0041] In a specific embodiment of the present invention, in the actual implementation process, firstly, according to the application scenario and load requirements of the robot, a suitable intelligent material or pneumatic muscle is selected as the joint drive unit, and the mechanical structure of the joint is designed and manufactured according to the range of motion and flexibility requirements of the human joint. Then, the sensor is installed and the control system is connected, and the control system is programmed and debugged so that it can accurately interpret the motion instructions and accurately control the joint drive unit. During the operation of the robot, the algorithm of the control system is continuously optimized to improve the response speed and accuracy of the joint movement, while monitoring the energy consumption, further improving the energy supply and recovery system, and ensuring the efficient and stable operation of the robot.

[0042] In a specific embodiment of the present invention, a robot joint motion system based on muscle bionics includes:

[0043] Joint drive unit, control system and joint structure;

[0044] The joint drive unit adopts bionic drive materials to simulate the active contraction characteristics of muscles;

[0045] The joint structure is used to imitate the anatomical structure of the joint, so that the joint can rotate and swing in multiple directions;

[0046] Multiple sensors are installed inside the joint to monitor the joint status information in real time;

[0047] The control system is used to receive motion instructions and control joint motion in combination with the state information.

[0048] Specifically, it also includes an energy supply and recovery system, which includes an energy supply system and an energy recovery mechanism. By equipping the efficient energy supply system, the joint drive unit is provided with continuous and stable energy, such as electrical energy or compressed gas. At the same time, the energy recovery mechanism is designed to convert part of the kinetic energy into electrical energy or potential energy for storage during the braking process of the robot joint movement, thereby improving energy utilization efficiency and further reducing operating costs.

[0049] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0050] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robot joint motion method based on muscle bionics, characterized in that: include: Select bionic driving materials as joint driving units; Construct joint connections with multiple degrees of freedom and monitor joint status information in real time; A control system is established, wherein the control system receives motion instructions and controls joint motion in combination with the state information.

2. The robot joint motion method based on muscle bionics according to claim 1, characterized in that: Also includes: The energy supply system provides energy to the joint drive unit; at the same time, an energy recovery mechanism is designed to convert kinetic energy into electrical energy or potential energy for storage during the braking process of the robot's joint movement.

3. The robot joint motion method based on muscle bionics according to claim 1, characterized in that: The control system is established based on bioelectric signals or neural control principles.

4. The robot joint motion method based on muscle bionics according to claim 1, characterized in that: The joint drive unit can generate contraction force under the change of electrical signal or air pressure, simulating the active contraction characteristics of muscles.

5. The robot joint motion method based on muscle bionics according to claim 1, characterized in that: A plurality of sensors are arranged inside the joint structure, and the sensors monitor the state information of the joint in real time and feed the state information back to the control system.

6. The robot joint motion method based on muscle bionics according to claim 1, characterized in that: The motion instruction includes a preset motion trajectory and target posture; The control system calculates the driving torque required for each joint according to the preset motion trajectory and target posture, and sends the corresponding control signal to the joint drive unit to generate a suitable contraction force to drive the joint movement.

7. The robot joint motion method based on muscle bionics according to claim 1, characterized in that: The bionic driving material includes but is not limited to pneumatic muscles or hydraulic muscles.

8. A robot joint motion system based on muscle bionics, using a robot joint motion method based on muscle bionics as claimed in any one of claims 1 to 7, characterized in that: include: Joint drive unit, control system and joint structure; The joint drive unit uses suitable smart materials or pneumatic muscles to simulate the active contraction characteristics of muscles; The joint structure is used to imitate the anatomical structure of the joint, so that the joint can rotate and swing in multiple directions; Multiple sensors are installed inside the joint to monitor the joint status information in real time; The control system is used to receive motion instructions and control joint motion in combination with the state information.

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