The invention discloses a bionic quadruped robot based on double-layer corrugated pipe pneumatic soft drivers, and relates to the technical field of robots. Comprising a pneumatic system module, a rigid-flexible coupling bionic mechanical leg module, a power supply system and a fuselage chassis, the pneumatic system module comprises an air pressure generating device, an air filtering device, an air storage device and a proportional control device, the air pressure generating device comprises an air pump, and the air filtering device comprises a filtering pressure reducing valve, an air connector connecting plate, an input end air inlet connector, an output end T-shaped threaded connector and an L-shaped air outlet connector; the gas storage device comprises a gas storage tank, a gas inlet, a T-shaped threaded gas outlet connector and a gas distribution connector. The proportional control device comprises a plurality of pressure reduction proportional valves; the mechanical leg module comprises four rigid-flexible coupling bionic mechanical legs, and each rigid-flexible coupling bionic mechanical leg comprises a rigid mounting support, a rolling rigid connecting rod, a thighbone-imitating rigid connecting rod, a corrugated pipe soft drive and the like. The lightweight degree of the rigid-flexible coupling bionic quadruped robot is increased, and the working space of the rigid-flexible coupling bionic quadruped robot is enlarged.

    本发明公开了一种基于双层波纹管气动软体驱动器的仿生四足机器人,涉及机器人技术领域。包括气动系统模块、刚柔耦合仿生机械腿模块、供电系统与机身底盘;气动系统模块包括气压发生装置、气体过滤装置、储气装置与比例控制装置,气压发生装置包括气泵,气体过滤装置包括过滤减压阀、气接口连接板、输入端进气接口、输出端T型螺纹接头及L型出气接口,储气装置包括储气罐、进气口、T型螺纹出气接口及分气接头;比例控制装置包括多个减压比例阀;机械腿模块包括四个刚柔耦合仿生机械腿,其包括刚性安装支架、滚转刚性连杆、仿股骨刚性连杆与波纹管软驱动等。本发明提升了刚柔耦合仿生四足机器人的轻量化程度及工作空间。


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    Title :

    Bionic quadruped robot based on double-layer corrugated pipe pneumatic soft body driver


    Additional title:

    一种基于双层波纹管气动软体驱动器的仿生四足机器人


    Contributors:
    ZHANG JINZHU (author) / SHEN QI (author) / RAN LI (author) / DU HONGJIE (author)

    Publication date :

    2023-09-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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