CN110434846A - It is a kind of based on pneumatic humanoid robot system - Google Patents
It is a kind of based on pneumatic humanoid robot system Download PDFInfo
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- CN110434846A CN110434846A CN201910664319.7A CN201910664319A CN110434846A CN 110434846 A CN110434846 A CN 110434846A CN 201910664319 A CN201910664319 A CN 201910664319A CN 110434846 A CN110434846 A CN 110434846A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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Abstract
The present invention relates to a kind of based on pneumatic humanoid robot system, and lower devices connect lumbar device, and lumbar device connects upper limb device；First lateral cylinder of lower devices connects third lateral cylinder by the second lateral cylinder, and the first lateral cylinder, the second lateral cylinder and third lateral cylinder are mutually perpendicular to two-by-two；Second lateral cylinder connects the second longitudinal direction cylinder being parallel to each other and the 5th longitudinal cylinder by the first connector, second longitudinal direction cylinder both ends are respectively perpendicular connection first longitudinal direction cylinder and third longitudinal cylinder, and the 5th longitudinal cylinder both ends are respectively perpendicular the 4th longitudinal cylinder of connection and the 6th longitudinal cylinder；Structure of the invention is compact, rigidity is big, the big flexibility of torque is good, adapts to complicated landform movement.
Description
Technical field
The present invention relates to robot device's technical field, especially it is a kind of it is compact-sized, rigidity is big, the big flexibility of torque
It is good, adapt to complicated landform movement based on pneumatic humanoid robot system.
Background technique
In face of complicated landform, such as smooth landform, heavy road condition and the road conditions there are barrier, how to make machine
Device people can adapt to various terrains be robot indispensability one of ability.Chinese patent CN104890752A, CN208573916U,
CN109533069A, CN101947776A proposition wheel type barrier-crossing robot, Chinese patent CN106314577A,
CN109436112A, CN108594820A propose crawler type obstacle crossing robot, but the freedom degree moved is very limited, together
When do not have explosion-proof ability.
Parallel institution has many advantages, such as that higher precision, stable structure, anti-solution are easy to solve, Chinese patent
CN107933732A、CN109048867A、CN107962551A、CN107738249A、
CN107139163A, CN104354154A propose the robot system based on parallel institution, but are the largest and hold
Loading capability is influenced by the rigidity of single branch, bearing capacity, and rigidity is lower, while bearing capacity is limited, does not have flexibility.
Need it is a kind of it is compact-sized, rigidity is big, the big flexibility of torque is good, adapt to complicated landform movement based on pneumatic imitative
Man-robot system.
Summary of the invention
The object of the present invention is to provide it is a kind of it is compact-sized, rigidity is big, the big flexibility of torque is good, adapts to complicated landform movement
Based on pneumatic humanoid robot system.
It is a kind of based on pneumatic humanoid robot system characterized by comprising
Lower devices, the lower devices connect lumbar device, and the lumbar device connects upper limb device；
First lateral cylinder of the lower devices connects third lateral cylinder by the second lateral cylinder, and described first is horizontal
To cylinder, the second lateral cylinder and third lateral cylinder are mutually perpendicular to two-by-two；Second lateral cylinder passes through the first connector
It connects the second longitudinal direction cylinder being parallel to each other and the 5th longitudinal cylinder, second longitudinal direction cylinder both ends is respectively perpendicular connection first
Longitudinal cylinder and third longitudinal cylinder, the 5th longitudinal cylinder both ends are respectively perpendicular the 4th longitudinal cylinder of connection and the 6th longitudinal direction
Cylinder；
First connector fixes the second connector of lumbar device, is rotatably connected at least on second connector
The upper end of three lower end cylinders, the lower end cylinder is rotatably connected onto the first connecting plate, and the upper end of the lower end cylinder is logical
It crosses upper connecting rod to be rotatably connected to the top of intermediate connector, the lower end of the lower end cylinder is rotatably connected by lower connecting rod
It is connected to the lower part of intermediate connector, the top setting at least three of first connecting plate is rotatably connected a little, each to can be rotated
Tie point, which is rotatably connected two, connects cylinder, and adjacent connection cylinder upper end is connected to the second connection after being mutually rotatably connected
Plate；
Second connecting plate is fixed to the first fixed support plate of upper limb device, and first fixed support plate can be rotated
It after connecting at least three first pneumatic muscles, is rotatably connected to the second fixed support plate, second fixed support plate can turn
After at least three second pneumatic muscles of dynamic connection, be rotatably connected to third fixed support plate, first fixed support plate and
The third that is rotatably connected between third fixed support plate pneumatic muscles.
The first universal joint female is respectively set in the upper connecting rod and lower connecting rod end, and the first universal joint female connects
Cross is connect, the cross is separately connected universal joint male connector and the second universal joint female, and the second universal joint female is fixed
The end of cylinder in lower end.
The second longitudinal direction cylinder and the 5th longitudinal cylinder are in a horizontal position.
Second longitudinal direction cylinder and the 5th longitudinal cylinder are fixed in the both ends of first connector respectively, and bottom is covered in the second cross
To on cylinder, the second connector is fixed on top.
Second connector is circular ring shape, and first connecting plate and the second connecting plate are circular slab.
The intermediate connector is cylinder, between the second connector and the first connecting plate.
First fixed support plate, the second fixed support plate and third fixed support plate be circular plate, described second
Fixed support plate is respectively smaller than the size of the first fixed support plate and third fixed support plate.
First pneumatic muscles are three, are uniformly or non-uniformly distributed in the first fixed support plate and the second fixed support
On plate, second pneumatic muscles are three, are uniformly or non-uniformly distributed in the second fixed support plate and third fixed support plate
On, the third pneumatic muscles are three, are uniformly or non-uniformly distributed on the first fixed support plate and third fixed support plate.
First lateral cylinder, the second lateral cylinder, third lateral cylinder, first longitudinal direction cylinder, second longitudinal direction cylinder,
Third longitudinal cylinder, the 5th longitudinal cylinder of the 4th longitudinal cylinder and the 6th longitudinal cylinder are separately connected pneumatic operated valve, form upper limb control
Device processed, the lower end cylinder and connection cylinder are separately connected pneumatic operated valve, form waist control device, the first pneumatic flesh
Meat, the second pneumatic muscles and third pneumatic muscles are separately connected pneumatic operated valve, form lower limb controlling device, the upper limb control dress
It sets, waist control device and lower limb controlling device are separately connected computer.
The computer is separately connected upper limb control device, waist control device and lower limb using Modbus or CAN bus
Control device, the pneumatic operated valve are pneumatic proportional pressure valve or Pneumatic high-speed switch valve.
Lower devices of the present invention connect lumbar device, and lumbar device connects upper limb device；The lateral gas of the first of lower devices
Cylinder connects third lateral cylinder, the first lateral cylinder, the second lateral cylinder and third lateral cylinder two by the second lateral cylinder
Two are mutually perpendicular to；The second longitudinal direction cylinder and the 5th longitudinal gas that second lateral cylinder is parallel to each other by the connection of the first connector
Cylinder, second longitudinal direction cylinder both ends are respectively perpendicular connection first longitudinal direction cylinder and third longitudinal cylinder, the 5th longitudinal cylinder both ends point
The 4th longitudinal cylinder and the 6th longitudinal cylinder are not connected not vertically；Second connector of the fixed lumbar device of the first connector, second
Be rotatably connected at least three lower end cylinders on connector, and the upper end of lower end cylinder is rotatably connected onto the first connecting plate, under
The upper end of end cylinder is rotatably connected by upper connecting rod to the top of intermediate connector, and the lower end of lower end cylinder passes through lower connection
Bar is rotatably connected to the lower part of intermediate connector, and the top setting at least three of the first connecting plate is rotatably connected a little, each
It is rotatably connected a little to be rotatably connected two and connects cylinder, adjacent connection cylinder upper end is connected to after being mutually rotatably connected
Two connecting plates；Second connecting plate be fixed to upper limb device the first fixed support plate, the first fixed support plate be rotatably connected to
It after few three the first pneumatic muscles, is rotatably connected to the second fixed support plate, the second fixed support plate is rotatably connected at least
After three the second pneumatic muscles, it is rotatably connected to third fixed support plate, the first fixed support plate and third fixed support plate
Between be rotatably connected third pneumatic muscles.Structure of the invention is compact, rigidity is big, the big flexibility of torque is good, adapts to complicated landform
Movement.
The beneficial effects of the present invention are:
1. the present invention ensure that transverse direction, Zong Xiangyun may be implemented in limbic system using the combination of rodless cylinder and thin cylinder
Dynamic free switching；
2. the present invention using cylinder more component fixed points connection composition waist joints, both ensure that kinematic error was small, power output
Greatly, and guarantee the big advantage of the rigidity in joint；
3. the present invention simultaneously using multilayer mixed connection pneumatic muscles building upper limb system have flexibility is good, occupy little space,
Power output headlight advantage, the present invention can be used for the fields such as obstacle detouring, explosive, rescue.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of lower devices of the present invention；
Fig. 3 is the structural schematic diagram of lumbar device of the present invention；
Fig. 4 is the structural schematic diagram of lower end cylinder of the present invention；
Fig. 5 is the structural schematic diagram of upper limb device of the present invention；
Fig. 6 is control planning figure of the invention；
In figure: 1, lower devices, 2, lumbar device, 3, upper limb device, the 4, first lateral cylinder, the 5, second lateral cylinder,
6, third lateral cylinder, 7, first longitudinal direction cylinder, 8, second longitudinal direction cylinder, 9, third longitudinal cylinder, the 10, the 4th longitudinal cylinder,
11, the 5th longitudinal cylinder, the 12, the 6th longitudinal cylinder, the 13, first connector, the 14, second connector, 15, lower end cylinder, 16, on
Connecting rod, 17, lower connecting rod, 18, intermediate connector, the 19, first connecting plate, 20, connection cylinder, the 21, second connecting plate, 22,
First universal joint female, 23, cross, 24, universal joint male connector, the 25, second universal joint female, the 26, first fixed support plate,
27, the first pneumatic muscles, the 28, second fixed support plate, the 29, second pneumatic muscles, 30, third fixed support plate, 31, third gas
Dynamic muscle, 32, upper limb control device, 33, waist control device, 34, lower limb controlling device, 35, computer.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention will be further described.
It is a kind of based on pneumatic humanoid robot system, comprising: lower devices 1, lower devices 1 connect lumbar device 2, waist
Part device 2 connects upper limb device 3；First lateral cylinder 4 of lower devices 1 connects third transverse direction gas by the second lateral cylinder 5
Cylinder 6, the first lateral cylinder 4, the second lateral cylinder 5 and third lateral cylinder 6 are mutually perpendicular to two-by-two；Second lateral cylinder 5 passes through
The second longitudinal direction cylinder 8 and the 5th longitudinal cylinder 11 that the connection of first connector 13 is parallel to each other, 8 both ends of second longitudinal direction cylinder difference
Vertical connection first longitudinal direction cylinder 7 and third longitudinal cylinder 9,11 both ends of the 5th longitudinal cylinder are respectively perpendicular the longitudinal gas of connection the 4th
Cylinder 10 and the 6th longitudinal cylinder 12；First connector 13 fixes the second connector 14 of lumbar device 2, can on the second connector 14
At least three lower end cylinders 15 are rotatablely connected, the upper end of lower end cylinder 15 is rotatably connected onto the first connecting plate 19, lower end gas
The upper end of cylinder 15 is rotatably connected to the top of intermediate connector 18, under the lower end of lower end cylinder 15 passes through by upper connecting rod 16
Connecting rod 17 is rotatably connected to the lower part of intermediate connector 18, and the top of the first connecting plate 19 is arranged at least three and rotatably connects
Contact, being each rotatably connected a little to be rotatably connected two connects cylinder 20, and adjacent 20 upper end of connection cylinder is mutually rotatable
The second connecting plate 21 is connected to after connection；Second connecting plate 21 is fixed to the first fixed support plate 26 of upper limb device 3, and first is solid
Determine support plate 26 to be rotatably connected after at least three first pneumatic muscles 27, be rotatably connected to the second fixed support plate 28, the
Two fixed support plates 28 are rotatably connected after at least three second pneumatic muscles 29, are rotatably connected to third fixed support plate
30, be rotatably connected third pneumatic muscles 31 between the first fixed support plate 26 and third fixed support plate 30.
The first universal joint female 22 is respectively set in upper connecting rod 16 and 17 end of lower connecting rod, and the first universal joint female 22 connects
Cross 23 is connect, cross 23 is separately connected universal joint male connector 24 and the second universal joint female 25, and the second universal joint female 25 is solid
It is scheduled on the end of lower end cylinder 15.
Second longitudinal direction cylinder 8 and the 5th longitudinal cylinder 11 are in a horizontal position.The both ends of first connector 13 are fixed respectively
Second longitudinal direction cylinder 8 and the 5th longitudinal cylinder 11, bottom cover on the second lateral cylinder 5, and the second connector 14 is fixed on top.The
Two connectors 14 are circular ring shape, and the first connecting plate 19 and the second connecting plate 21 are circular slab.Intermediate connector 18 is cylinder, position
Between the second connector 14 and the first connecting plate 19.First fixed support plate 26, the second fixed support plate 28 and third are fixed
Support plate 30 is circular plate, and the second fixed support plate 28 is respectively smaller than the first fixed support plate 26 and third fixed support plate 30
Size.First pneumatic muscles 27 are three, are uniformly or non-uniformly distributed in the first fixed support plate 26 and the second fixed support
On plate 28, the second pneumatic muscles 29 are three, are uniformly or non-uniformly distributed in the second fixed support plate 28 and the fixed support of third
On plate 30, third pneumatic muscles 31 are three, are uniformly or non-uniformly distributed in the first fixed support plate 26 and the fixed support of third
On plate 30.
First lateral cylinder 4, the second lateral cylinder 5, third lateral cylinder 6, first longitudinal direction cylinder 7, second longitudinal direction cylinder
8, third longitudinal cylinder 9, the 5th longitudinal cylinder 11 of the 4th longitudinal cylinder 10 and the 6th longitudinal cylinder 12 are separately connected pneumatic operated valve, group
At upper limb control device 32, lower end cylinder 15 and connection cylinder 20 are separately connected pneumatic operated valve, form waist control device 33, and first
Pneumatic muscles 27, the second pneumatic muscles 29 and third pneumatic muscles 31 are separately connected pneumatic operated valve, form lower limb controlling device 34, on
Limb control device 32, waist control device 33 and lower limb controlling device 34 are separately connected computer 35.Computer 35 uses
Modbus or CAN bus are separately connected upper limb control device 32, and waist control device 33 and lower limb controlling device 34, pneumatic operated valve are
Pneumatic proportional pressure valve or Pneumatic high-speed switch valve.
The second longitudinal direction cylinder 8 of lower devices 1 and the 5th longitudinal cylinder 11 and the second lateral cylinder 5 planar mutually hang down
Directly.When lower devices 1 need longitudinal movement, first longitudinal direction cylinder 7, third longitudinal cylinder 9, the 4th longitudinal cylinder 10 and the 6th
The working beam of longitudinal cylinder 12 is shunk.The working beam of first lateral cylinder 4 and third lateral cylinder 6 stretches out, and supports lower limb dress
Set 1.First longitudinal direction cylinder 7 and third longitudinal cylinder 9 are driven by second longitudinal direction cylinder 8, the 5th longitudinal cylinder 11 drives the 4th to indulge
To 12 longitudinal movement of cylinder 10 and the 6th longitudinal cylinder.When lower devices 1 need transverse movement, first longitudinal direction cylinder 7, third
The working beam of longitudinal cylinder 9, the 4th longitudinal cylinder 10 and the 6th longitudinal cylinder 12 stretches out.First lateral cylinder 4 and third are lateral
The working beam of cylinder 6 is shunk, and supports lower devices 1.Drive the first lateral cylinder 4 and third lateral by the second lateral cylinder 5
Cylinder 6 realizes transverse movement.
Second connector 14 of the fixed lumbar device 2 of the first connector 13, cylinder 15 upper and lower ends in lower end are respectively with second
Connector 14 and the first connecting plate 19 are rotatably connected.Lower end cylinder 15 drives the movement of the first connecting plate 19, has lumbar device 2
There is the rotation in tri- directions X, Y, Z.Connection 20 upper and lower ends of cylinder can turn with the first connecting plate 19 and the second connecting plate 21 respectively
Dynamic connection, makes lumbar device 2 have the rotation in tri- directions X, Y, Z and the movement in three directions.
Cylinder 15 upper and lower ends in lower end are divided during being rotatably connected with the second connector 14 and the first connecting plate 19
Upper connecting rod 16 and lower connecting rod 17 are not connected not simultaneously, and the universal joint male connector 24 of each 15 end of lower end cylinder passes through cross 23
Simultaneously with the first universal joint female 22, the second universal joint female 25 connection, the first universal joint female 22, the second universal joint female 25
Connection is coaxially connected.The first universal joint female 22 is respectively set in the end of upper connecting rod 16 and lower connecting rod 17, and first is universal
It saves female 22 and connects cross 23, cross 23 is separately connected universal joint male connector 24 and the second universal joint female 25, and second is universal
Section female 25 is fixed on the end of lower end cylinder 15.First universal joint female 22 is solid with upper connecting rod 16 and lower connecting rod 17 respectively
Fixed connection.
Second connecting plate 21 is fixedly connected with the first fixed support plate 26.First pneumatic muscles, 27 one end driving second is fixed
Support plate 28,29 one end of the second pneumatic muscles drive the second fixed support plate 28, drive the second fixed support plate 28 in X, Y, Z tri-
Rotation and movement on a direction.The setting of third pneumatic muscles 31 the first fixed support plate 26 and third fixed support plate 30 it
Between, third pneumatic muscles 31 are driven, rotation and movement of the third fixed support plate 30 on tri- directions X, Y, Z are made.
Upper limb control device 32 is controlled by communication respectively as host computer by computer 35, waist control device 33 is under
Limb control device 34, the instruction of sending for controlling upper limb control device 32, waist control device 33 and lower limb controlling dress respectively
34 pneumatic operated valve is set, realization movement, pneumatic operated valve can be pneumatic proportional pressure valve or Pneumatic high-speed switch valve.
By the cylinder and pneumatic muscles in each joint of control, the control of joint of robot and whole pose may be implemented, it can
To realize the work such as the movement of complicated landform, heavy load obstacle detouring, explosive, and accurate TRAJECTORY CONTROL may be implemented, the present invention
Possess the incomparable advantage of other Pneumatic joint-robots.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe originals of the invention
Reason, various changes and improvements may be made to the invention without departing from the spirit and scope of the present invention, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (10)
1. a kind of based on pneumatic humanoid robot system characterized by comprising
Lower devices (1), the lower devices (1) connect lumbar device (2), and the lumbar device (2) connects upper limb device
(3)；
The first lateral cylinder (4) of the lower devices (1) passes through the second lateral cylinder (5) connection third lateral cylinder (6), institute
It states the first lateral cylinder (4), the second lateral cylinder (5) and third lateral cylinder (6) are mutually perpendicular to two-by-two；Described second lateral gas
Cylinder (5) is by the first connector (13) second longitudinal direction cylinder (8) for being parallel to each other of connection and the 5th longitudinal cylinder (11), and described the
Two longitudinal cylinders (8) both ends are respectively perpendicular connection first longitudinal direction cylinder (7) and third longitudinal cylinder (9), the described 5th longitudinal gas
Cylinder (11) both ends are respectively perpendicular the 4th longitudinal cylinder (10) of connection and the 6th longitudinal cylinder (12)；
First connector (13) fixes second connector (14) of lumbar device (2), can on second connector (14)
At least three lower end cylinders (15) are rotatablely connected, the upper end of the lower end cylinder (15) is rotatably connected to the first connecting plate (19)
On, the upper end of the lower end cylinder (15) is rotatably connected by upper connecting rod (16) to the top of intermediate connector (18), institute
It states the lower end of lower end cylinder (15) to be rotatably connected by lower connecting rod (17) to the lower part of intermediate connector (18), described first
The top setting at least three of connecting plate (19) is rotatably connected a little, and being each rotatably connected a little to be rotatably connected two connects gas
Cylinder (20), adjacent connection cylinder (20) upper end are connected to the second connecting plate (21) after being mutually rotatably connected；
Second connecting plate (21) is fixed to first fixed support plate (26) of upper limb device (3), the described first fixed support
Plate (26) is rotatably connected after at least three first pneumatic muscles (27), is rotatably connected to the second fixed support plate (28), institute
It states the second fixed support plate (28) to be rotatably connected after at least three second pneumatic muscles (29), is rotatably connected to third and fixes
Support plate (30), be rotatably connected the pneumatic flesh of third between first fixed support plate (26) and third fixed support plate (30)
Meat (31).
2. according to claim 1 a kind of based on pneumatic humanoid robot system, which is characterized in that the upper connecting rod
(16) and the first universal joint female (22), the first universal joint female (22) connection ten is respectively set in lower connecting rod (17) end
Cabinet frame (23), the cross (23) are separately connected universal joint male connector (24) and the second universal joint female (25), and the described 20000th
The end of lower end cylinder (15) is fixed on to section female (25).
3. according to claim 1 a kind of based on pneumatic humanoid robot system, which is characterized in that the second longitudinal direction
Cylinder (8) and the 5th longitudinal cylinder (11) are in a horizontal position.
4. according to claim 1 a kind of based on pneumatic humanoid robot system, which is characterized in that first connection
Second longitudinal direction cylinder (8) and the 5th longitudinal cylinder (11) are fixed in the both ends of part (13) respectively, and bottom is covered in the second lateral cylinder (5)
On, the second connector (14) are fixed on top.
5. according to claim 1 a kind of based on pneumatic humanoid robot system, which is characterized in that second connection
Part (14) is circular ring shape, and first connecting plate (19) and the second connecting plate (21) are circular slab.
6. according to claim 1 a kind of based on pneumatic humanoid robot system, which is characterized in that the intermediate connection
Part (18) is cylinder, between the second connector (14) and the first connecting plate (19).
7. according to claim 1 a kind of based on pneumatic humanoid robot system, which is characterized in that described first is fixed
Support plate (26), the second fixed support plate (28) and third fixed support plate (30) are circular plate, the described second fixed support
Plate (28) is respectively smaller than the size of the first fixed support plate (26) and third fixed support plate (30).
8. according to claim 1 a kind of based on pneumatic humanoid robot system, which is characterized in that described first is pneumatic
Muscle (27) is three, is uniformly or non-uniformly distributed on the first fixed support plate (26) and the second fixed support plate (28), institute
Stating the second pneumatic muscles (29) is three, is uniformly or non-uniformly distributed in the second fixed support plate (28) and third fixed support plate
(30) on, the third pneumatic muscles (31) are three, are uniformly or non-uniformly distributed in the first fixed support plate (26) and third
On fixed support plate (30).
9. according to claim 1 a kind of based on pneumatic humanoid robot system, which is characterized in that described first laterally
Cylinder (4), the second lateral cylinder (5), third lateral cylinder (6), first longitudinal direction cylinder (7), second longitudinal direction cylinder (8), third
Longitudinal cylinder (9), the 5th longitudinal cylinder (11) of the 4th longitudinal cylinder (10) and the 6th longitudinal cylinder (12) are separately connected pneumatic operated valve,
It forms upper limb control device (32), the lower end cylinder (15) and connection cylinder (20) are separately connected pneumatic operated valve, form waist control
Device (33) processed, first pneumatic muscles (27), the second pneumatic muscles (29) and third pneumatic muscles (31) are separately connected gas
Dynamic valve, forms lower limb controlling device (34), the upper limb control device (32), waist control device (33) and lower limb controlling device
(34) computer (35) are separately connected.
10. according to claim 1 a kind of based on pneumatic humanoid robot system, which is characterized in that the computer
(35) it is separately connected upper limb control device (32) using Modbus or CAN bus, waist control device (33) and lower limb controlling dress
It sets (34), the pneumatic operated valve is pneumatic proportional pressure valve or Pneumatic high-speed switch valve.
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| CN201910664319.7A CN110434846B (en) | 2019-07-23 | 2019-07-23 | Humanoid robot system based on pneumatics |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910664319.7A CN110434846B (en) | 2019-07-23 | 2019-07-23 | Humanoid robot system based on pneumatics |
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| CN110434846B CN110434846B (en) | 2020-04-10 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390938A (en) * | 2020-05-07 | 2020-07-10 | 嘉兴学院 | Pneumatic explosive-handling robot system |
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| CN107263523A (en) * | 2017-06-23 | 2017-10-20 | 嘉兴学院 | A kind of bionic joint based on pneumatic muscles series-parallel connection |
| CN107717961A (en) * | 2017-11-09 | 2018-02-23 | 嘉兴学院 | A kind of human emulated robot based on cylinder |
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|---|---|---|---|---|
| CN1097157A (en) * | 1992-12-01 | 1995-01-11 | 柳沢健 | walking robot |
| CN102452074A (en) * | 2010-10-27 | 2012-05-16 | 鸿富锦精密工业（深圳）有限公司 | Parallel robot |
| CN203849926U (en) * | 2014-04-28 | 2014-09-24 | 安徽理工大学 | Parallel topology structure based innovation test platform |
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| CN110434846B (en) | 2020-04-10 |
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