CN108466256B - Humanoid robot system based on pneumatic muscles and air cylinders - Google Patents
Humanoid robot system based on pneumatic muscles and air cylinders Download PDFInfo
- Publication number
- CN108466256B CN108466256B CN201810344584.2A CN201810344584A CN108466256B CN 108466256 B CN108466256 B CN 108466256B CN 201810344584 A CN201810344584 A CN 201810344584A CN 108466256 B CN108466256 B CN 108466256B
- Authority
- CN
- China
- Prior art keywords
- cylinder
- waist joint
- pneumatic muscle
- lower limb
- vertebra
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- 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
- B25J9/144—Linear actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a humanoid robot system based on pneumatic muscles and cylinders, wherein the pneumatic muscles and cylinders are used for driving the movements of shoulder joints, elbow joints, waist joints, hip joints, knee joints and ankle joints of the humanoid robot, and the robot mainly comprises a skull, vertebrae, ribs, humerus, radius, a fixing part, thighbones, fibulas, pneumatic muscles, cylinders and feet. The shoulder joint, the elbow joint, the waist joint, the hip joint, the knee joint and the ankle joint have 3 degrees of freedom, 4 degrees of freedom, 3 degrees of freedom and 4 degrees of freedom respectively, the whole system has 34 degrees of freedom, wherein the shoulder joint is distributed and drives the shoulder joint in a flexible redundant mode by 9 pneumatic muscles from vertebrae, the shank joint is formed by a parallel mechanism which is uniformly distributed with three cylinders at the periphery and supported by one cylinder in the middle, and free switching of rotation and movement is realized. The invention is driven by pneumatic muscles and cylinders simultaneously, has compact structure, cleanness and good explosion-proof performance, and can be used for exhibition, welcome and teaching demonstration.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a human-simulated robot system based on pneumatic muscles and cylinders.
Background
The humanoid robot is similar to a human in shape, so that the humanoid robot can be used for replacing the human to carry out work with heavy danger and work and life harmoniously with the human. The robot driven by the motor has larger inertia and rigidity at the joint part driven by the motor. The flexibility and rigidity of the pneumatically driven robot can be adjusted by adjusting air pressure, and the pneumatic driving robot has two common elements: the pneumatic muscle has better flexibility and can be used for designing a human-simulated flexible redundant joint; the air cylinders have a large movement range, and joints connected with the air cylinders in parallel can have the freedom degrees of rotation and movement and the freedom switching between the rotation freedom degree and the movement freedom degree. Chinese patent 201810258382 firstly proposes a humanoid robot based on a cylinder, which functionally simulates the rotation of human joints, but does not truly simulate the distribution of certain joint muscles of human body. The chinese patent 201810300528.9 firstly proposes a humanoid robot with pneumatic muscles and cylinders in series-parallel connection, and also realizes the design of the humanoid robot functionally, and does not simulate human joints such as shoulder joints driven by a part of the human body from the front vertebra and the back vertebra, and the joints with a plurality of cylinders in parallel connection can have the freedom of rotation and movement at the same time.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a humanoid robot system based on pneumatic muscles and cylinders, which has compact structure, cleanness, explosion resistance and the like, and the specific technical scheme is as follows:
a humanoid robot system based on pneumatic muscles and cylinders is characterized by comprising a skull, a chest, waist joints, a left upper limb, a right upper limb, a left lower limb and a right lower limb;
the chest comprises a first posterior vertebra, a second posterior vertebra, a third posterior vertebra, a fourth posterior vertebra, a fifth posterior vertebra, a sixth posterior vertebra, a first anterior vertebra, a second anterior vertebra, a third anterior vertebra, a first left rib layer, a first right rib layer, a second left rib layer, a second right rib layer, a third left rib layer and a third right rib layer, wherein one end of the first posterior vertebra is rotatably connected with a skull, the other end of the first posterior vertebra, the second posterior vertebra, the third posterior vertebra, the fourth posterior vertebra, the fifth posterior vertebra and the sixth posterior vertebra are rotatably connected in sequence, the first anterior rib layer, the second anterior vertebra and the third anterior vertebra are rotatably connected in sequence, the front and rear ends of the first left rib layer and the first right rib layer are fixedly connected through the third anterior vertebra and the sixth posterior vertebra respectively, the front and rear ends of the second left rib layer and the second right rib layer are fixedly connected through the second anterior vertebra and the fifth posterior vertebra respectively, and the front and rear ends of the third left rib layer and the third right rib layer are fixedly connected, The posterior vertebra four is fixedly connected;
the left upper limb comprises a humerus, a radius, an arm cylinder I, an arm cylinder II and an arm cylinder III, the humerus is rotatably connected with the second layer of the left rib, the radius is rotatably connected with the humerus, and two ends of the arm cylinder I, the arm cylinder II and the arm cylinder III are respectively rotatably connected with the humerus and the radius;
the structure of the right upper limb is the same as that of the left upper limb, and the right upper limb and the left upper limb are symmetrically arranged relative to the chest;
the chest also comprises pneumatic muscles connected between the chest and the left upper limb and the right upper limb, wherein the pneumatic muscles connected between the chest and the left upper limb comprise a first pneumatic muscle, a second pneumatic muscle, a third pneumatic muscle, a fourth pneumatic muscle, a fifth pneumatic muscle, a sixth pneumatic muscle, a seventh pneumatic muscle, an eighth pneumatic muscle and a ninth pneumatic muscle, two ends of the first pneumatic muscle are respectively and rotatably connected with the upper surfaces of the first posterior vertebra and the third humerus, two ends of the second pneumatic muscle and the third pneumatic muscle are respectively and rotatably connected with the upper surface of the upper humerus and the second posterior vertebra, two ends of the fourth pneumatic muscle and the fifth pneumatic muscle are respectively and rotatably connected with the upper surface of the upper humerus and the first anterior vertebra, two ends of the sixth pneumatic muscle and the eighth pneumatic muscle are respectively and rotatably connected with the inner surface of the inner humerus and the second anterior vertebra, two ends of the seventh pneumatic muscle and the ninth pneumatic muscle are respectively and rotatably connected with the lower surface of the lower, Anterior vertebra three rotationally connected;
the pneumatic muscles connected between the chest and the right upper limb and the pneumatic muscles connected between the chest and the left upper limb are symmetrically arranged, and the structure and the connection mode are the same;
the waist joint comprises a first waist joint fixing piece, a second waist joint fixing piece, a waist joint fixing plate, a first waist joint air cylinder, a second waist joint air cylinder, a third waist joint air cylinder, a fourth waist joint air cylinder, a fifth waist joint air cylinder and a sixth waist joint air cylinder, the upper end and the lower end of the second waist joint fixing piece are respectively rotatably connected with the sixth posterior vertebra and the first waist joint fixing piece, and the lower end of the first waist joint fixing piece is fixedly connected with the waist joint fixing plate; two ends of the first waist joint cylinder and the second waist joint cylinder are respectively and rotatably connected with the first left rib layer and the second waist joint fixing piece, and two ends of the fourth waist joint cylinder and the fifth waist joint cylinder are respectively and rotatably connected with the first right rib layer and the second waist joint fixing piece; one ends of the third waist joint cylinder and the sixth waist joint cylinder are fixedly connected with the first waist joint fixing piece, the other ends of the third waist joint cylinder and the sixth waist joint cylinder are rotatably connected with the second waist joint fixing piece, and the third waist joint cylinder and the sixth waist joint cylinder are symmetrically arranged on two sides of the first waist joint fixing piece;
the left lower limb comprises a lower limb cylinder I, a lower limb cylinder II, a lower limb cylinder III, a lower limb cylinder IV, a femur, a fibula, a lower limb cylinder V, a lower limb cylinder VI, a lower limb cylinder VII, a lower limb cylinder VIII and a foot, the upper end of the femur is rotatably connected to the waist joint fixing plate, the lower end of the femur is rotatably connected with the fibula, and the lower end of the fibula is rotatably connected with the lower limb cylinder VIII; two ends of a first lower limb cylinder and a second lower limb cylinder are respectively and rotatably connected with the waist joint fixing plate and the thighbone, two ends of a third lower limb cylinder and a fourth lower limb cylinder are respectively and rotatably connected with the thighbone and the fibula, two ends of a fifth lower limb cylinder, a sixth lower limb cylinder and a seventh lower limb cylinder are respectively and rotatably connected with the fibula and the feet at the left, right, front and middle parts of an eighth lower limb cylinder;
the structure of the right lower limb is the same as that of the left lower limb, and the right lower limb and the left lower limb are symmetrically connected on the waist joint fixing plate.
Preferably, the first waist joint fixing piece and the second waist joint fixing piece are both hollow pieces.
Preferably, the first waist joint cylinder, the second waist joint cylinder, the third waist joint cylinder, the fourth waist joint cylinder, the fifth waist joint cylinder, the sixth waist joint cylinder, the first arm cylinder, the second arm cylinder, the third arm cylinder, the first lower limb cylinder, the second lower limb cylinder, the third lower limb cylinder, the fourth lower limb cylinder, the fifth lower limb cylinder, the sixth lower limb cylinder, the seventh lower limb cylinder and the eighth lower limb cylinder can be replaced by electric cylinders or hydraulic cylinders.
Preferably, the pneumatic muscle I, the pneumatic muscle II, the pneumatic muscle III, the pneumatic muscle IV, the pneumatic muscle V, the pneumatic muscle VI, the pneumatic muscle VII, the pneumatic muscle VIII and the pneumatic muscle VII can be replaced by a combination of a motor and a rope.
Preferably, the rotatable connections of the two ends of the first pneumatic muscle, the second pneumatic muscle, the third pneumatic muscle, the fourth pneumatic muscle, the fifth pneumatic muscle, the sixth pneumatic muscle, the seventh pneumatic muscle, the eighth pneumatic muscle and the ninth pneumatic muscle are steel wire ropes, bolts or spherical hinges.
The invention has the beneficial effects that:
1. the invention utilizes a plurality of pneumatic muscles and a plurality of cylinders to drive the joint, and can simultaneously realize the switching of the movement and the rotation movement of the joint in a plurality of directions;
2. the invention designs the humanoid robot by selectively utilizing the combination of pneumatic muscles with larger power/mass ratio and better flexibility and cylinders with relatively large motion stroke according to the motion condition of human joints.
3. The shoulder joint, the elbow joint, the waist joint, the hip joint, the knee joint and the ankle joint respectively have 3 degrees of freedom, 4 degrees of freedom, 3 degrees of freedom and 4 degrees of freedom, can vividly simulate various actions which can be realized by a human joint, and are favorable for understanding the human shut-down skeleton, the distribution structure of driving elements and the action of.
Drawings
FIG. 1 is a schematic diagram of the overall mechanical structure of a humanoid robot;
FIG. 2 is a mechanical structure diagram of upper limb, neck, chest and waist joints of a humanoid robot;
FIG. 3 is a schematic view of the mechanical structure of the waist joint of the humanoid robot;
FIG. 4 is a schematic view of the mechanical structure of upper limb, neck, chest and waist joints of a humanoid robot;
FIG. 5 is a mechanical structure view of a lower limb of a humanoid robot;
in the figure: skull 1, posterior vertebra one 2, posterior vertebra two 3, posterior vertebra three 4, posterior vertebra four 5, left rib third layer 6, connecting piece 7, humerus 8, radius 9, left rib second layer 10, posterior vertebra five 11, left rib first layer 12, posterior vertebra six 13, waist joint fixing piece one 14, waist joint fixing plate 15, right rib third layer 16, anterior vertebra one 17, right rib second layer 18, right rib first layer 19, anterior vertebra two 20, anterior vertebra three 21, waist joint fixing piece two 22, waist joint cylinder one 23, waist joint cylinder two 24, waist joint cylinder three 25, waist joint cylinder four 26, waist joint cylinder five 27, waist joint cylinder six 28, pneumatic muscle one 29, pneumatic muscle two 30, pneumatic muscle three 31, pneumatic muscle four 32, pneumatic muscle five 33, pneumatic muscle six 34, arm cylinder one 35, arm cylinder two 36, arm cylinder three 37, pneumatic muscle seven 38, pneumatic muscle seven 37, arm cylinder seven 38, pneumatic muscle seven, Eight pneumatic muscles 39, nine pneumatic muscles 40, a first lower limb cylinder 41, a second lower limb cylinder 42, a third lower limb cylinder 43, a fourth lower limb cylinder 44, a femur 45, a fibula 46, a fifth lower limb cylinder 47, a sixth lower limb cylinder 48, a seventh lower limb cylinder 49, an eight lower limb cylinder 50 and feet 51.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments, and the objects and effects of the present invention will become more apparent, and the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1-5, a humanoid robot system based on pneumatic muscles and cylinders comprises a skull 1, a chest, a waist joint, a left upper limb, a right upper limb, a left lower limb and a right lower limb;
the chest comprises a first posterior vertebra 2, a second posterior vertebra 3, a third posterior vertebra 4, a fourth posterior vertebra 5, a fifth posterior vertebra 11, a sixth posterior vertebra 13, a first anterior vertebra 17, a second anterior vertebra 20, a third anterior vertebra 21, a first left rib layer 12, a first right rib layer 19, a second left rib layer 10, a second right rib layer 18, a third left rib layer 6 and a third right rib layer 16, wherein one end of the first posterior vertebra 2 is rotatably connected with the skull 1, the other end of the first posterior vertebra 2, the second posterior vertebra 3, the third posterior rib layer 4, the fourth posterior vertebra 5, the fifth posterior vertebra 11 and the sixth posterior rib layer 16 are rotatably connected in sequence, the first anterior vertebra 17, the second anterior vertebra 20 and the third anterior vertebra 21 are rotatably connected in sequence, the front and rear ends of the first left rib layer 12 and the first right rib layer 19 are fixedly connected through the third anterior vertebra 21 and the sixth posterior vertebra 13 respectively, and the front and rear ends of the second left rib layer 10 and the second right rib layer 18 are fixedly connected through the second anterior vertebra 20, the, The fifth posterior vertebra 11 is fixedly connected, and the third layer 6 of the left rib and the third layer 16 of the right rib are respectively and fixedly connected with the front and the back by the first anterior vertebra 17 and the fourth posterior vertebra 5;
the left upper limb comprises a humerus 8, a radius 9, a connecting piece 7, a first arm cylinder 35, a second arm cylinder 36 and a third arm cylinder 37, one end of the connecting piece 7 is fixedly connected with the second left rib layer 10, the other end of the connecting piece is rotatably connected with the humerus 8, the radius 9 is rotatably connected with the humerus 8, and two ends of the first arm cylinder 35, the second arm cylinder 36 and the third arm cylinder 37 are rotatably connected with the humerus 8 and the radius 9 respectively;
the structure of the right upper limb is the same as that of the left upper limb, and the right upper limb and the left upper limb are symmetrically arranged relative to the chest;
the chest further comprises pneumatic muscles connected between the chest and the left upper limb and the right upper limb, wherein the pneumatic muscles connected between the chest and the left upper limb comprise a first pneumatic muscle 29, a second pneumatic muscle 30, a third pneumatic muscle 31, a fourth pneumatic muscle 32, a fifth pneumatic muscle 33, a sixth pneumatic muscle 34, a seventh pneumatic muscle 38, an eighth pneumatic muscle 39 and a ninth pneumatic muscle 40, two ends of the first pneumatic muscle 29 are respectively and rotatably connected with the upper surfaces of the first posterior vertebra 2 and the humerus 8, two ends of the second pneumatic muscle 30 and the third pneumatic muscle 31 are respectively and rotatably connected with the upper surface of the humerus 8 and the second posterior vertebra 3, two ends of the fourth pneumatic muscle 32 and the fifth pneumatic muscle 33 are respectively and rotatably connected with the upper surface of the humerus 8 and the first anterior vertebra 17, and two ends of the sixth pneumatic muscle 34 and the eighth pneumatic muscle 39 are respectively and rotatably connected with the inner side surface of the humerus 8 and the second anterior vertebra 20, the two ends of the pneumatic muscle seven 38 and the pneumatic muscle nine 40 are respectively and rotatably connected with the lower surface of the humerus 8 and the anterior vertebra three 21; the first pneumatic muscle 29, the second pneumatic muscle 30, the third pneumatic muscle 31, the fourth pneumatic muscle 32, the fifth pneumatic muscle 33, the sixth pneumatic muscle 34, the eighth pneumatic muscle 39, the seventh pneumatic muscle 38, the ninth pneumatic muscle 40, the humerus 8, the radius 9, the first arm cylinder 35, the second arm cylinder 36 and the third arm cylinder 37 perform flexion, extension and rotation movements relative to the connecting piece 7. Two ends of the arm cylinder I35, the arm cylinder II 36 and the arm cylinder III 37 are rotatably connected with the humerus 8 and the radius 9 respectively to drive the radius 9 to bend, stretch, unfold and rotate relative to the humerus 8.
The pneumatic muscles connected between the chest and the right upper limb and the pneumatic muscles connected between the chest and the left upper limb are symmetrically arranged, and the structure and the connection mode are the same;
the waist joint comprises a first waist joint fixing piece 14, a second waist joint fixing piece 22, a waist joint fixing plate 15, a first waist joint cylinder 23, a second waist joint cylinder 24, a third waist joint cylinder 25, a fourth waist joint cylinder 26, a fifth waist joint cylinder 27 and a sixth waist joint cylinder 28, the upper end and the lower end of the second waist joint fixing piece 22 are rotatably connected with the sixth posterior vertebra 13 and the first waist joint fixing piece 14 respectively, and the lower end of the first waist joint fixing piece 14 is fixedly connected with the waist joint fixing plate 15; two ends of a first waist joint cylinder 23 and a second waist joint cylinder 24 are respectively rotatably connected with the first left rib layer 12 and the second waist joint fixing piece 22, and two ends of a fourth waist joint cylinder 26 and a fifth waist joint cylinder 27 are respectively rotatably connected with the first right rib layer 19 and the second waist joint fixing piece 22; the first waist joint cylinder 23, the second waist joint cylinder 24, the fourth waist joint cylinder 26 and the fifth waist joint cylinder 27 drive the skull 1, the first posterior vertebra 2, the second posterior vertebra 3, the third posterior vertebra 4, the fourth posterior vertebra 5, the third left rib layer 6, the connecting piece 7, the humerus 8, the radius 9, the second left rib layer 10, the fifth posterior vertebra 11, the first left rib layer 12, the sixth posterior vertebra 13, the third right rib layer 16, the first anterior rib layer 17, the second right rib layer 18, the first right rib layer 19, the second anterior rib layer 20, the third anterior vertebra 21, the first pneumatic muscle 29, the second pneumatic muscle 30, the third pneumatic muscle 31, the fourth pneumatic muscle 32, the fifth pneumatic muscle 33, the sixth pneumatic muscle 34, the first arm cylinder 35, the second arm cylinder 36, the third arm cylinder 37, the seventh pneumatic muscle 38, the eighth pneumatic muscle 39, the ninth pneumatic muscle 40 to extend, retract, unfold and rotate.
One end of each of the waist joint cylinder III 25 and the waist joint cylinder VI 28 is fixedly connected with the waist joint fixing piece I14, the other end of each of the waist joint cylinder III 25 and the waist joint cylinder VI 28 is rotatably connected with the waist joint fixing piece II 22, the waist joint cylinder III 25 and the waist joint cylinder VI 28 are symmetrically arranged on two sides of the waist joint fixing piece I14, and the driving head bone 1, the posterior vertebra I2, the posterior vertebra II 3, the posterior vertebra III 4, the posterior vertebra IV 5, the left rib third layer 6, the connecting piece 7, the humerus 8, the radius 9, the left rib second layer 10, the posterior vertebra V11, the left rib first layer 12, the posterior vertebra VI 13, the right rib third layer 16, the anterior vertebra I17, the right rib second layer 18, the right rib first layer 19, the anterior vertebra II 20, the anterior vertebra III 21, the waist joint fixing piece II 22, the waist joint cylinder I23, the waist joint cylinder II 24, the waist joint cylinder IV 26, the waist joint cylinder V27, the pneumatic muscle I29, The pneumatic muscle three 31, the pneumatic muscle four 32, the pneumatic muscle five 33, the pneumatic muscle six 34, the arm cylinder one 35, the arm cylinder two 36, the arm cylinder three 37, the pneumatic muscle seven 38, the pneumatic muscle eight 39 and the pneumatic muscle nine 40 are used for contracting and expanding.
The left lower limb comprises a lower limb cylinder I41, a lower limb cylinder II 42, a lower limb cylinder III 43, a lower limb cylinder IV 44, a femur 45, a fibula 46, a lower limb cylinder V47, a lower limb cylinder VI 48, a lower limb cylinder VII 49, a lower limb cylinder VIII 50 and feet 51, the upper end of the femur 45 is rotatably connected to the waist joint fixing plate 15, the lower end of the femur 45 is rotatably connected with the fibula 46, and the lower end of the fibula 46 is rotatably connected with the lower limb cylinder VIII 50; two ends of a lower limb cylinder I41 and a lower limb cylinder II 42 are respectively and rotatably connected with the waist joint fixing plate 15 and the femur 45, two ends of a lower limb cylinder III 43 and a lower limb cylinder IV 44 are respectively and rotatably connected with the femur 45 and the fibula 46, two ends of a lower limb cylinder V47, a lower limb cylinder VI 48 and a lower limb cylinder VII 49 are respectively and rotatably connected with the fibula 46 and the feet 51 at the left, right, front and middle parts of two ends of a lower limb cylinder V50 are respectively and rotatably connected with the fibula 46 and the feet 51;
when the lower limb cylinder I41 and the lower limb cylinder II 42 are synchronously stretched, the femur 45 is driven to bend and stretch relative to the waist joint fixing plate 15, when the lower limb cylinder I41 and the lower limb cylinder II 42 are singly stretched, the femur 45 is driven to be stretched relative to the waist joint fixing plate 15, the lower limb cylinder I41 and the lower limb cylinder II 42 are singly kept still, and when the other one is stretched, the femur 45 is driven to rotate circularly relative to the waist joint fixing plate 15; the lower limb cylinder three 43 and the lower limb cylinder four 44 drive the fibula 46 to move relative to the femur 45 similarly. When the lower limb cylinder eight 50 keeps motionless, the lower limb cylinder five 47, the lower limb cylinder six 48 and the lower limb cylinder seven 49 drive the foot 51 to flex, stretch and rotate relative to the fibula 46, and when the lower limb cylinder eight 50 moves, the lower limb cylinder five 47, the lower limb cylinder six 48 and the lower limb cylinder seven 49 drive the foot 51 to stretch and move linearly relative to the fibula 46.
The right lower limb and the left lower limb have the same structure, and are symmetrically connected to the waist joint fixing plate 15.
Preferably, the first waist joint fixing piece 14 and the second waist joint fixing piece 22 are both hollow pieces.
In another embodiment, the first waist joint cylinder 23, the second waist joint cylinder 24, the third waist joint cylinder 25, the fourth waist joint cylinder 26, the fifth waist joint cylinder 27, the sixth waist joint cylinder 28, the first arm cylinder 35, the second arm cylinder 36, the third arm cylinder 37, the first lower limb cylinder 41, the second lower limb cylinder 42, the third lower limb cylinder 43, the fourth lower limb cylinder 44, the fifth lower limb cylinder 47, the sixth lower limb cylinder 48, the seventh lower limb cylinder 49 and the eighth lower limb cylinder 50 may be replaced by electric cylinders or hydraulic cylinders.
As another embodiment, the pneumatic muscle one 29, the pneumatic muscle two 30, the pneumatic muscle three 31, the pneumatic muscle four 32, the pneumatic muscle five 33, the pneumatic muscle six 34, the pneumatic muscle seven 38, the pneumatic muscle eight 39 and the pneumatic muscle nine 40 may be replaced by a combination of a motor and a rope.
As another embodiment, the rotatable connection of the two ends of the first pneumatic muscle 29, the second pneumatic muscle 30, the third pneumatic muscle 31, the fourth pneumatic muscle 32, the fifth pneumatic muscle 33, the sixth pneumatic muscle 34, the seventh pneumatic muscle 38, the eighth pneumatic muscle 39 and the ninth pneumatic muscle 40 is a steel wire rope and a bolt matched or a spherical hinge.
According to the invention, the control of the positions and postures of the humanoid robot joint and the humanoid robot is realized by controlling each air cylinder and the pneumatic muscle, the action of a human can be simulated dynamically and vividly, and the accurate track control can be realized.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and although the invention has been described in detail with reference to the foregoing examples, it will be apparent to those skilled in the art that various changes in the form and details of the embodiments may be made and equivalents may be substituted for elements thereof. All modifications, equivalents and the like which come within the spirit and principle of the invention are intended to be included within the scope of the invention.
Claims (3)
1. A humanoid robot system based on pneumatic muscles and cylinders is characterized by comprising a skull (1), a chest, a waist joint, a left upper limb, a right upper limb, a left lower limb and a right lower limb;
the chest comprises a first posterior vertebra (2), a second posterior vertebra (3), a third posterior vertebra (4), a fourth posterior vertebra (5), a fifth posterior vertebra (11), a sixth posterior vertebra (13), a first anterior vertebra (17), a second anterior vertebra (20), a third anterior vertebra (21), a first left rib layer (12), a first right rib layer (19), a second left rib layer (10), a second right rib layer (18), a third left rib layer (6) and a third right rib layer (16), wherein one end of the first posterior vertebra (2) is rotatably connected with the skull (1), the other end of the first posterior vertebra (2), the second posterior vertebra (3), the third posterior vertebra (4), the fourth posterior vertebra (5), the fifth posterior vertebra (11) and the sixth posterior vertebra (13) are rotatably connected in sequence, the first anterior vertebra (17), the second anterior vertebra (20) and the third anterior vertebra (21) are rotatably connected in sequence, and the front and back ends of the first left rib layer (12) and the first right first posterior rib layer (19) are respectively connected through the third anterior vertebra (21), The left rib second layer (10) and the right rib second layer (18) are fixedly connected at the front end and the rear end respectively through a front vertebra second layer (20) and a rear vertebra fifth layer (11), and the left rib third layer (6) and the right rib third layer (16) are fixedly connected at the front end and the rear end respectively through a front vertebra first layer (17) and a rear vertebra fourth layer (5);
the left upper limb comprises a humerus (8), a radius (9), a first arm cylinder (35), a second arm cylinder (36) and a third arm cylinder (37), the humerus (8) is rotatably connected with the second left rib layer (10), the radius (9) is rotatably connected with the humerus (8), and two ends of the first arm cylinder (35), the second arm cylinder (36) and the third arm cylinder (37) are respectively rotatably connected with the humerus (8) and the radius (9);
the structure of the right upper limb is the same as that of the left upper limb, and the right upper limb and the left upper limb are symmetrically arranged relative to the chest;
the chest still including connect the chest with the left upper limbs, the pneumatic muscle between the right upper limbs, wherein, the pneumatic muscle of connection between the chest with the left upper limbs include pneumatic muscle one (29), pneumatic muscle two (30), pneumatic muscle three (31), pneumatic muscle four (32), pneumatic muscle five (33), pneumatic muscle six (34), pneumatic muscle seven (38), pneumatic muscle eight (39), pneumatic muscle nine (40), pneumatic muscle one (29) both ends respectively with back vertebra one (2), upper surface rotatable coupling of humerus (8), pneumatic muscle two (30), pneumatic muscle three (31) both ends are equallyd divide respectively with upper surface of humerus (8), back vertebra two (3) rotatable coupling, pneumatic muscle four (32), pneumatic muscle five (33) both ends respectively with upper surface of humerus (8), preceding vertebra one (17) rotatable coupling, two ends of a pneumatic muscle six (34) and a pneumatic muscle eight (39) are respectively and rotatably connected with the inner side surface of the humerus (8) and the anterior vertebra two (20), and two ends of a pneumatic muscle seven (38) and a pneumatic muscle nine (40) are respectively and rotatably connected with the lower surface of the humerus (8) and the anterior vertebra three (21);
the pneumatic muscles connected between the chest and the right upper limb and the pneumatic muscles connected between the chest and the left upper limb are symmetrically arranged, and the structure and the connection mode are the same;
the waist joint comprises a first waist joint fixing piece (14), a second waist joint fixing piece (22), a waist joint fixing plate (15), a first waist joint cylinder (23), a second waist joint cylinder (24), a third waist joint cylinder (25), a fourth waist joint cylinder (26), a fifth waist joint cylinder (27) and a sixth waist joint cylinder (28), wherein the upper end and the lower end of the second waist joint fixing piece (22) are respectively rotatably connected with the sixth posterior vertebra (13) and the first waist joint fixing piece (14), and the lower end of the first waist joint fixing piece (14) is fixedly connected with the waist joint fixing plate (15); two ends of a first waist joint cylinder (23) and a second waist joint cylinder (24) are respectively rotatably connected with the first left rib layer (12) and the second waist joint fixing piece (22), and two ends of a fourth waist joint cylinder (26) and a fifth waist joint cylinder (27) are respectively rotatably connected with the first right rib layer (19) and the second waist joint fixing piece (22); one ends of the third waist joint cylinder (25) and the sixth waist joint cylinder (28) are fixedly connected with the first waist joint fixing piece (14), the other ends of the third waist joint cylinder and the sixth waist joint cylinder (28) are rotatably connected with the second waist joint fixing piece (22), and the third waist joint cylinder (25) and the sixth waist joint cylinder (28) are symmetrically arranged on two sides of the first waist joint fixing piece (14);
the left lower limb comprises a first lower limb cylinder (41), a second lower limb cylinder (42), a third lower limb cylinder (43), a fourth lower limb cylinder (44), a femur (45), a fibula (46), a fifth lower limb cylinder (47), a sixth lower limb cylinder (48), a seventh lower limb cylinder (49), an eighth lower limb cylinder (50) and a foot (51), the upper end of the femur (45) is rotatably connected to the waist joint fixing plate (15), the lower end of the femur (45) is rotatably connected with the fibula (46), and the lower end of the fibula (46) is rotatably connected with the eighth lower limb cylinder (50); two ends of a lower limb cylinder I (41) and a lower limb cylinder II (42) are respectively and rotatably connected with the waist joint fixing plate (15) and the femur (45), two ends of a lower limb cylinder III (43) and a lower limb cylinder IV (44) are respectively and rotatably connected with the femur (45) and the fibula (46), two ends of a lower limb cylinder V (47), a lower limb cylinder VI (48) and a lower limb cylinder VII (49) are respectively and rotatably connected with the fibula (46) and the feet (51) at the left side, the right side, the front side and the middle part, and two ends of a lower limb cylinder V (50) are respectively and rotatably connected with the fibula (46) and the feet (51) in the;
the right lower limb and the left lower limb have the same structure, and are symmetrically connected to the waist joint fixing plate (15);
the first waist joint fixing piece (14) and the second waist joint fixing piece (22) are both hollow pieces;
the pneumatic muscle I (29), the pneumatic muscle II (30), the pneumatic muscle III (31), the pneumatic muscle IV (32), the pneumatic muscle V (33), the pneumatic muscle VI (34), the pneumatic muscle VII (38), the pneumatic muscle VIII (39) and the pneumatic muscle VIII (40) are rotatably connected by a steel wire rope and a bolt in a matched mode or a spherical hinge mode.
2. The pneumatic muscle and cylinder based humanoid robot system of claim 1, wherein the first waist joint cylinder (23), the second waist joint cylinder (24), the third waist joint cylinder (25), the fourth waist joint cylinder (26), the fifth waist joint cylinder (27), the sixth waist joint cylinder (28), the first arm cylinder (35), the second arm cylinder (36), the third arm cylinder (37), the first lower limb cylinder (41), the second lower limb cylinder (42), the third lower limb cylinder (43), the fourth lower limb cylinder (44), the fifth lower limb cylinder (47), the sixth lower limb cylinder (48), the seventh lower limb cylinder (49) and the eighth lower limb cylinder (50) are replaced by electric cylinders or hydraulic cylinders.
3. The humanoid pneumatic muscle and cylinder-based robot system of claim 1, wherein the pneumatic muscle one (29), the pneumatic muscle two (30), the pneumatic muscle three (31), the pneumatic muscle four (32), the pneumatic muscle five (33), the pneumatic muscle six (34), the pneumatic muscle seven (38), the pneumatic muscle eight (39) and the pneumatic muscle nine (40) are replaced by a combination of a motor and a rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810344584.2A CN108466256B (en) | 2018-04-17 | 2018-04-17 | Humanoid robot system based on pneumatic muscles and air cylinders |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810344584.2A CN108466256B (en) | 2018-04-17 | 2018-04-17 | Humanoid robot system based on pneumatic muscles and air cylinders |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108466256A CN108466256A (en) | 2018-08-31 |
| CN108466256B true CN108466256B (en) | 2020-02-28 |
Family
ID=63263350
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810344584.2A Expired - Fee Related CN108466256B (en) | 2018-04-17 | 2018-04-17 | Humanoid robot system based on pneumatic muscles and air cylinders |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108466256B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110217313B (en) * | 2019-06-27 | 2022-08-05 | 上海大学 | Bionic body driven by similar biological muscle fibers and with variable rigidity |
| CN111360804B (en) * | 2020-03-27 | 2021-03-23 | 嘉兴学院 | Profiling robot system based on pneumatic muscles and air cylinders |
| CN112659100B (en) * | 2020-11-17 | 2022-04-19 | 燕山大学 | Local three-degree-of-freedom rigid-soft coupling bionic robot waist joint |
| CN112720444B (en) * | 2020-12-25 | 2022-03-01 | 杭州电子科技大学 | Reversible impact-resistant mechanical arm and driving method thereof |
| CN113425553B (en) * | 2021-06-25 | 2023-02-03 | 右江民族医学院附属医院 | Vertebra disease rehabilitation and nursing device |
| CN114454191B (en) * | 2022-03-08 | 2022-08-23 | 云南经济管理学院 | Bionic robot, system and method based on series-parallel hybrid pneumatic muscle and cylinder |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9573271B2 (en) * | 2015-05-06 | 2017-02-21 | Hyundai Motor Company | Wearable apparatus for assisting muscle strength |
| CN107283413A (en) * | 2017-07-10 | 2017-10-24 | 嘉兴学院 | Based on pneumatic muscles apery upper limbs |
| CN107309901A (en) * | 2017-06-23 | 2017-11-03 | 嘉兴学院 | Based on pneumatic muscles apery neck |
| CN107717961A (en) * | 2017-11-09 | 2018-02-23 | 嘉兴学院 | A kind of human emulated robot based on cylinder |
-
2018
- 2018-04-17 CN CN201810344584.2A patent/CN108466256B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9573271B2 (en) * | 2015-05-06 | 2017-02-21 | Hyundai Motor Company | Wearable apparatus for assisting muscle strength |
| CN107309901A (en) * | 2017-06-23 | 2017-11-03 | 嘉兴学院 | Based on pneumatic muscles apery neck |
| CN107283413A (en) * | 2017-07-10 | 2017-10-24 | 嘉兴学院 | Based on pneumatic muscles apery upper limbs |
| CN107717961A (en) * | 2017-11-09 | 2018-02-23 | 嘉兴学院 | A kind of human emulated robot based on cylinder |
Non-Patent Citations (1)
| Title |
|---|
| Design of Upper limb by Adhesion of Muscles and Bones Detail Human Mimetic Musculoskeletal Humanoid Kenshiro;Toyotaka Kozuki等;《2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) November 3-7, 2013. Tokyo, Japan》;20140106;第935-940页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108466256A (en) | 2018-08-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108466256B (en) | Humanoid robot system based on pneumatic muscles and air cylinders | |
| CN108453705B (en) | A kind of human emulated robot system based on cylinder | |
| CN111546326B (en) | Based on cylinder and pneumatic muscle humanoid robot system | |
| CN107595550B (en) | Pneumatic muscle-based whole-body exoskeleton rehabilitation system | |
| CN108481308B (en) | A kind of human emulated robot based on pneumatic muscles Yu cylinder mixed connection | |
| CN108544473B (en) | Humanoid robot system based on pneumatic muscle | |
| CN105083411B (en) | A kind of apery lower limb of Pneumatic artificial muscle driving | |
| CN107717961B (en) | A kind of human emulated robot based on cylinder | |
| CN102189556B (en) | Pneumatic muscle flexible elbow joint device with buffer spring and flexible shaft sleeves | |
| CN110682305B (en) | Humanoid robot system | |
| CN111360804B (en) | Profiling robot system based on pneumatic muscles and air cylinders | |
| CN108656100B (en) | Human emulated robot based on cylinder | |
| CN110936367B (en) | Pneumatic humanoid robot system | |
| CN112775948A (en) | Copying joint robot system | |
| CN109987170B (en) | lower limb device of humanoid robot based on cylinder | |
| CN111618881B (en) | Humanoid robot system based on pneumatics | |
| CN108000551B (en) | Human chest-back joint simulation system based on pneumatic muscles | |
| CN109940586B (en) | Multi-joint spine and spine type quadruped robot | |
| CN109048859B (en) | A kind of apery limbic system | |
| CN115635477A (en) | Flexible redundant human-simulated leg based on multi-state pneumatic muscle series-parallel connection | |
| CN112775943A (en) | Pneumatic humanoid robot system | |
| CN110561457A (en) | Humanoid robot system based on air cylinder | |
| CN113146580B (en) | Pneumatic muscle robot system | |
| CN113146582B (en) | Rigid-flexible hybrid bionic robot system | |
| CN112775942A (en) | Profiling robot system based on pneumatic system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200228 |