CN110682305A - Humanoid robot system - Google Patents
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- CN110682305A CN110682305A CN201910995867.8A CN201910995867A CN110682305A CN 110682305 A CN110682305 A CN 110682305A CN 201910995867 A CN201910995867 A CN 201910995867A CN 110682305 A CN110682305 A CN 110682305A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
- B25J9/146—Rotary actuators
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Abstract
The invention relates to a humanoid robot system, wherein upper limb devices are respectively arranged on two sides of a waist joint device, lower limb devices are respectively arranged on two sides of the lower end of the waist joint device, and the upper limb devices, the waist joint device and the lower limb devices of the humanoid robot are driven to move by a cylinder, pneumatic muscles and spring combination bodies, so that the humanoid robot system has the function of completely simulating the joint motion of a human. The pneumatic muscle and spring combined pneumatic claw is composed of a cylinder, a belt wheel, a connecting piece, a pneumatic muscle and spring combined body, a connecting plate, a pneumatic claw and the like. The swing cylinders are combined with each other, the swing cylinders are combined with the belt in a transmission mode, the pneumatic claws drive the upper limb system, the pneumatic muscle and spring combination bodies and the linear cylinders drive the waist joint system, and the linear cylinders, the linear cylinders and the rod structures are combined to drive the lower limb system. The single upper limb system, the waist joint system and the single lower limb system have 5 degrees of freedom, 7 degrees of freedom and 12 degrees of freedom respectively, and the whole robot has 41 degrees of freedom in total. The invention has the characteristics of compact structure, multiple degrees of freedom and good flexibility, and can be used for teaching, demonstration and exhibition and obstacle-crossing explosion elimination.
Description
Technical Field
The invention relates to the technical field of robot equipment, in particular to a humanoid robot system which is compact in structure, multiple in degree of freedom and good in flexibility.
Background
With the rapid development of circuit integration and intelligent control, the robot technology is used as the comprehensive application of interdisciplines of machinery, electricity, control and the like, and embodies the scientific and technological strength of a country. On the premise that the robot completes basic functions, the humanoid robot is a branch of the field of robot technology, and is gradually paid attention by researchers.
The cylinder uses air as an actuator of a medium, and has been widely used in the industrial field. According to the motion mode, the robot can be divided into a swinging type and a linear type, the robot joints can be driven, and the robot driven by the air cylinder has a wider application prospect.
At present, the research of the humanoid robot driven by the air cylinder is basically in a blank state, except for a Chinese patent application No. 201711099824.9, a publication No. CN107717961A only proposes a humanoid robot driven by a single-joint air cylinder, and the Chinese patent application No. 201810258382.6 and the publication No. CN108453705A propose the humanoid robot with the air cylinders connected in parallel and uniformly distributed. The human-simulated robot basically realizes the design of the human-simulated robot, but does not consider the front-back and left-right swinging between the upper limbs and the lower limbs driven by the waist joint and the joint motion of multi-cylinder combination, and meanwhile, the simple swinging cylinder has overlarge control rigidity, the flexibility cannot be ensured, the motion space and the motion range are single, the state and the flexibility cannot be flexibly adjusted to adapt to the actual working environment, and the degree of freedom is less. There is a need for a humanoid robotic system with compact structure, multiple degrees of freedom, and good compliance.
Disclosure of Invention
The invention aims to provide a humanoid robot system which is compact in structure, multiple in degree of freedom and good in flexibility.
A humanoid robotic system comprising:
the waist joint device is provided with upper limb devices at two sides respectively and lower limb devices at two sides of the lower end respectively;
the shoulder joint fixing piece of the upper limb device is fixed on the waist joint device, the cylinder body of the first upper limb swing cylinder fixed on the shoulder joint fixing piece, the axis of the first upper limb swing cylinder is fixed on the axis of the first belt wheel, the first belt wheel and the second belt wheel are connected through a belt, the axis of the second belt wheel is fixed on the shoulder joint connecting piece and is rotatably connected with the shoulder joint fixing piece, the shoulder joint connecting piece is fixed on the cylinder body of the second upper limb swing cylinder, the axis of the second upper limb swing cylinder is fixed on the elbow joint fixing piece, the cylinder body of the third upper limb swing cylinder is fixed on the elbow joint fixing piece, the axis of the third upper limb swing cylinder is fixed on the axis of the third belt wheel, the third belt wheel and the fourth belt wheel are connected through a belt, the axis of the fourth belt wheel is fixedly connected with the wrist joint fixing piece and is rotatably connected with the elbow joint fixing, the wrist joint fixing piece is fixed with a pneumatic claw;
the waist joint device is characterized in that upper limb devices are respectively fixed on two sides of a waist joint upper plate of the waist joint device, the waist joint upper plate is rotatably connected with at least four pneumatic muscles, the pneumatic muscles are fixed on a waist joint middle plate, springs are sleeved on the pneumatic muscles, at least two first waist joint cylinders are rotatably connected between the left side of the waist joint middle plate and a waist joint left side lower plate, at least two second waist joint cylinders are rotatably connected between the right side of the waist joint middle plate and a waist joint right side lower plate, and a third waist joint cylinder and a fourth waist joint cylinder are rotatably connected between the waist joint left side lower plate and the waist joint right side lower plate;
the lower limb device is fixed respectively on waist joint left side lower plate and waist joint right side lower plate, and each other is the mirror image setting, hip joint cylinder, the first bracing piece one end rotatable coupling of lower limb device are to hip joint connecting plate, and the other end rotatable coupling is to waist joint left side lower plate or waist joint right side lower plate, the quantity of hip joint cylinder is two at least, rotatable coupling two at least first thigh cylinders, a second bracing piece between hip joint connecting plate and the knee joint connecting plate, rotatable coupling second thigh cylinder between hip joint connecting plate and the second bracing piece, rotatable coupling two at least first shank cylinders, a second shank cylinder between knee joint connecting plate and the sole.
The shoulder joint fixing piece is hollow, a first upper limb swing cylinder is arranged on the inner side of the shoulder joint fixing piece, a first belt wheel and a second belt wheel are arranged on the outer side of the shoulder joint fixing piece, and a shoulder joint connecting piece is clamped by a groove of the shoulder joint fixing piece.
The elbow joint fixing piece is hollow, a third upper limb swing cylinder is arranged on the inner side of the elbow joint fixing piece, a third belt wheel and a fourth belt wheel are arranged on the outer side of the elbow joint fixing piece, and the elbow joint fixing piece is clamped on the wrist joint fixing piece.
The number of the springs is four, one spring is arranged in the middle, and the other three springs are distributed on the periphery.
The first waist joint cylinder and the second waist joint cylinder are parallel to each other, the third waist joint cylinder and the fourth waist joint cylinder are parallel to each other, and the first waist joint cylinder and the fourth waist joint cylinder are perpendicular to each other.
The third waist joint cylinder and the fourth waist joint cylinder are respectively connected to the lower plate on the left side of the waist joint and the lower plate on the right side of the waist joint through the supporting plates.
The hip joint cylinder is positioned on the outer side of the first supporting rod.
The second supporting rod is positioned between the two first thigh air cylinders.
And an included angle is formed between the second shank cylinder and the vertical direction.
And the cylinder bodies of the third waist joint cylinder and the fourth waist joint cylinder are opposite in position.
The upper limb devices are respectively arranged on two sides of the waist joint device, and the lower limb devices are respectively arranged on two sides of the lower end of the waist joint device; the shoulder joint fixing piece of the upper limb device is fixed on the waist joint device, the shoulder joint fixing piece is used for fixing the cylinder body of the first upper limb swinging cylinder, the rotating shaft of the first upper limb swinging cylinder is fixed on the shaft center of the first belt wheel, the first belt wheel is connected with the second belt wheel through a belt, the shaft center of the second belt wheel is fixed on the shoulder joint connecting piece, the shoulder joint connecting piece is fixed to a cylinder body of a second upper limb swing cylinder, a rotating shaft of the second upper limb swing cylinder is fixed to an elbow joint fixing piece, the elbow joint fixing piece is fixed to a cylinder body of a third upper limb swing cylinder, a rotating shaft of the third upper limb swing cylinder is fixed to the axis of a third belt wheel, the third belt wheel is connected with a fourth belt wheel through a belt, the axis of the fourth belt wheel is fixedly connected with a wrist joint fixing piece and is rotatably connected with the elbow joint fixing piece, and a gas claw is fixed to the wrist joint fixing piece; the upper limb device is respectively fixed on two sides of a waist joint upper plate of the waist joint device, the waist joint upper plate is rotatably connected with at least four pneumatic muscles, the pneumatic muscles are fixed on a waist joint middle plate, springs are sleeved on the pneumatic muscles, at least two first waist joint cylinders are rotatably connected between the left side of the waist joint middle plate and a waist joint left side lower plate, at least two second waist joint cylinders are rotatably connected between the right side of the waist joint middle plate and a waist joint right side lower plate, and a third waist joint cylinder and a fourth waist joint cylinder are rotatably connected between the waist joint left side lower plate and the waist joint right side lower plate; the lower limb device is respectively fixed on the lower plate on the left side of the waist joint and the lower plate on the right side of the waist joint and arranged in a mirror image mode, hip joint cylinders of the lower limb device, one end of each first supporting rod is rotatably connected to the hip joint connecting plate, the other end of each first supporting rod is rotatably connected to the lower plate on the left side of the waist joint or the lower plate on the right side of the waist joint, the number of the hip joint cylinders is at least two, at least two first thigh cylinders and one second supporting rod are rotatably connected between the hip joint connecting plate and the knee joint connecting plate, a second thigh cylinder is rotatably connected between the hip joint connecting plate and the second supporting rod, and at least two first shank cylinders and one second shank.
The invention has the beneficial effects that:
1. the damping effect can be realized by combining the swing cylinder, the swing cylinder and the belt transmission, and meanwhile, the adjustment angle of the swing cylinder is larger, and the swing cylinders of all joints can be combined at any angle;
2. the pneumatic muscle and the spring are combined to construct a pneumatic muscle-spring combination, which can be independently used as a rigid actuating element with certain flexibility and a rigid actuating element, and is a composite actuating element with rigidity and flexibility and shock absorption;
3. the single upper limb system, the waist joint system and the single lower limb system have 5 degrees of freedom, 7 degrees of freedom and 12 degrees of freedom respectively, the whole robot has 41 degrees of freedom in total, various actions which can be realized by the joints of a person can be vividly simulated, and the understanding of the functions of the air cylinders in the joints with different configurations in the motion process of the robot is facilitated.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the upper limb apparatus of the present invention;
FIG. 3 is a schematic view of the waist joint device according to the present invention;
FIG. 4 is a schematic view of the lower limb apparatus of the present invention;
in the figure: 1. upper limb means, 2, waist joint means, 3, lower limb means, 4, shoulder joint fixing means, 5, first upper limb swing cylinder, 6, first belt pulley, 7, second belt pulley, 8, shoulder joint connecting means, 9, second upper limb swing cylinder, 10, elbow joint fixing means, 11, third upper limb swing cylinder, 12, third belt pulley, 13, fourth belt pulley, 14, wrist joint fixing means, 15, air claw, 16, waist joint upper plate, 17, pneumatic muscle, 18, spring, 19, waist joint middle plate, 20, first waist joint cylinder, 21, second waist joint cylinder, 22, third waist joint cylinder, 23, fourth waist joint cylinder, 24, waist joint left side lower plate, 25, waist joint right side lower plate, 26, hip joint cylinder, 27, first support rod, 28, hip joint connecting plate, 29, first thigh cylinder, 30, second support rod, 31. a second thigh cylinder 32, a knee joint connecting plate 33, a first shank cylinder 34, a second shank cylinder 35 and a foot plate.
Detailed Description
The invention is further described below with reference to the following figures and specific examples.
A humanoid robotic system comprising: the waist joint device 2, wherein the upper limb devices 1 are respectively arranged on two sides of the waist joint device 2, and the lower limb devices 3 are respectively arranged on two sides of the lower end of the waist joint device 2; the shoulder joint fixing part 4 of the upper limb device 1 is fixed on the waist joint device 2, the shoulder joint fixing part 4 fixes the cylinder body of a first upper limb swinging cylinder 5, the rotating shaft of the first upper limb swinging cylinder 5 is fixed on the shaft center of a first belt wheel 6, the first belt wheel 6 is connected with a second belt wheel 7 through a belt, the shaft center of the second belt wheel 7 is fixed on a shoulder joint connecting part 8 and is rotatably connected with the shoulder joint fixing part 4, the shoulder joint connecting part 8 is fixed on the cylinder body of a second upper limb swinging cylinder 9, the rotating shaft of the second upper limb swinging cylinder 9 is fixed on an elbow joint fixing part 10, the elbow joint fixing part 10 fixes the cylinder body of a third upper limb swinging cylinder 11, the rotating shaft of the third upper limb swinging cylinder 11 is fixed on the shaft center of a third belt wheel 12, the third belt wheel 12 is connected with a fourth belt wheel 13 through a belt, the shaft center of the fourth belt wheel 13 is fixedly connected with a, a pneumatic claw 15 is fixed on the wrist joint fixing piece 14; the upper limb device 1 is respectively fixed on two sides of a waist joint upper plate 16 of the waist joint device 2, the waist joint upper plate 16 is rotatably connected with at least four pneumatic muscles 17, the pneumatic muscles 17 are fixed on a waist joint middle plate 19, the pneumatic muscles 17 are sleeved with springs 18, at least two first waist joint cylinders 20 are rotatably connected between the left side of the waist joint middle plate 19 and a waist joint left side lower plate 24, at least two second waist joint cylinders 21 are rotatably connected between the right side of the waist joint middle plate 19 and a waist joint right side lower plate 25, and a third waist joint cylinder 22 and a fourth waist joint cylinder 23 are rotatably connected between the waist joint left side lower plate 24 and the waist joint right side lower plate 25; the lower limb device 3 is respectively fixed on a lower plate 24 on the left side of the waist joint and a lower plate 25 on the right side of the waist joint, the lower limb device 3 is arranged in a mirror image mode, hip joint cylinders 26 and first supporting rods 27 of the lower limb device 3 are arranged in a mirror image mode, one end of each hip joint cylinder 26 is rotatably connected to a hip joint connecting plate 28, the other end of each hip joint cylinder 27 is rotatably connected to the lower plate 24 on the left side of the waist joint or the lower plate 25 on the right side of the waist joint, the number of the hip joint cylinders 26 is at least two, at least two first thigh cylinders 29 and one second supporting rod 30 are rotatably connected between the hip joint connecting plate 28 and a knee joint connecting plate 32, a second thigh cylinder 31 is rotatably connected between the hip joint connecting plate 28 and the.
Shoulder joint mounting 4 is cavity, and the inboard sets up first upper limbs swing cylinder 5, and the outside sets up first band pulley 6 and second band pulley 7, and shoulder joint connecting piece 8 is blocked to the recess of shoulder joint mounting 4. The elbow joint fixing piece 10 is hollow, a third upper limb swing cylinder 11 is arranged on the inner side, a third belt pulley 12 and a fourth belt pulley 13 are arranged on the outer side, and the wrist joint fixing piece 14 is clamped by the elbow joint fixing piece 10. The number of the springs 18 is four, one spring is arranged in the middle, and the other three springs are distributed on the periphery. The first waist joint cylinder 20 and the second waist joint cylinder 21 are parallel to each other, the third waist joint cylinder 22 and the fourth waist joint cylinder 23 are parallel to each other, and the first waist joint cylinder 20 and the fourth waist joint cylinder 23 are perpendicular to each other. The third waist joint cylinder 22 and the fourth waist joint cylinder 23 are respectively connected to a lower plate 24 on the left side of the waist joint and a lower plate 25 on the right side of the waist joint through support plates. The hip joint cylinder 26 is located outside the first support rod 27. The second support bar 30 is located between the two first thigh cylinders 29. The second shank cylinder 34 is angled from the vertical. The cylinder body positions of the third waist joint cylinder 22 and the fourth waist joint cylinder 23 are opposite.
The shoulder joint fixing piece 4 is fixedly connected with the waist joint upper plate 16. The cylinder body and the rotating shaft of the first upper limb swing cylinder 5 are respectively fixedly connected with the shoulder joint fixing piece 4 and the first belt wheel 6, the second belt wheel 7 and the shoulder joint connecting piece 8 are both rotatably connected with the shoulder joint fixing piece 4 and are fixedly connected with the second belt wheel 7 and the shoulder joint connecting piece 8, and the first belt wheel 6 and the second belt wheel 7 are in belt transmission; the cylinder body and the rotating shaft of the second upper limb swing cylinder 9 are respectively fixedly connected with the shoulder joint connecting piece 8 and the elbow joint fixing piece 10, the connecting mode of the elbow joint fixing piece 10, the third upper limb swing cylinder 11, the third belt wheel 12, the fourth belt wheel 13 and the wrist joint connecting piece 14 is similar to that of the shoulder joint fixing piece 4, the first upper limb swing cylinder 5, the first belt wheel 6, the second belt wheel 7 and the shoulder joint connecting piece 8, and the plane where the third belt wheel 12 and the fourth belt wheel 13 are located can be perpendicular to, parallel to or exist at a certain angle with the plane where the first belt wheel 6 and the second belt wheel 7 are located; the pneumatic claw 15 is fixedly connected with the wrist joint connecting piece 14. The first upper limb swing cylinder 5 drives the shoulder joint connecting piece 8, the second upper limb swing cylinder 9, the elbow joint fixing piece 10, the third upper limb swing cylinder 11, the third belt wheel 12, the fourth belt wheel 13, the wrist joint connecting piece 14 and the air claw 15 to rotate around the X axis through the first belt wheel 6 and the second belt wheel 7; the second upper limb swing cylinder 9 drives the elbow joint fixing piece 10, the third upper limb swing cylinder 11, the third belt wheel 12, the fourth belt wheel 13, the wrist joint connecting piece 14 and the air claw 15 to rotate around the Y axis; the third upper limb swing cylinder 11 drives the wrist joint connecting piece 14 and the air claw 15 to rotate around the Z axis through a third belt pulley 12 and a fourth belt pulley 13; the air claw 15 can realize the rotation around the Y axis and the moving clamping action of the Z axis, and the rotating and moving directions of the third upper limb swinging cylinder 11 and the air claw 15 are changed along with the rotation of the second upper limb swinging cylinder 9.
The waist joint upper plate 16 is rotatably connected with at least four pneumatic muscles 17, the pneumatic muscles 17 are fixed on the waist joint middle plate 19, the pneumatic muscles 17 are sleeved with springs 18, and the rotation of the waist joint upper plate 16 around X, Y direction and the movement of the waist joint upper plate 16 in Z direction relative to the waist joint middle plate 19 can be realized by controlling the pneumatic muscle air pressure rigidity of the combination of the pneumatic muscles 17 and the springs 18; the combination of the pneumatic muscle 17 and the spring 18 comprises the pneumatic muscle 17 and the spring 18, wherein the pneumatic muscle 17 is arranged inside the spring 18, and the combination of the pneumatic muscle 17 and the spring 18 formed by combining the pneumatic muscle 17 and the spring 18 can be independently used as a rigid actuating element with certain flexibility or a rigid actuating element, and is a composite actuating element which is rigid and flexible and can absorb shock. At least two first waist joint cylinders 20 are rotatably connected between the left side of the waist joint middle layer plate 19 and the waist joint left side lower layer plate 24 and drive the waist joint left side lower layer plate 24 and the left side lower limb system 3 to rotate around an X, Y shaft and do linear motion in the Z direction; at least two second waist joint cylinders 21 are rotatably connected between the right side of the waist joint middle layer plate 19 and the waist joint right lower layer plate 25, and drive the waist joint right lower layer plate 25 and the right lower limb system 3 to rotate around an X, Y shaft and do linear motion in the Z direction; a third waist joint cylinder 22 and a fourth waist joint cylinder 23 are rotatably connected between the lower plate 24 on the left side of the waist joint and the lower plate 25 on the right side of the waist joint; in order to ensure the balance between the left lower limb system 3 and the right lower limb system 3, a third waist joint cylinder 22 and a fourth waist joint cylinder 23 are arranged in parallel, and the positions of the cylinder body and the piston rod are opposite. The third waist joint cylinder 22 and the fourth waist joint cylinder 23 realize the rotation of the left lower limb system 3 and the right lower limb system 3 around the Z axis.
Two hip joint cylinders 26 and a first supporting rod 27, wherein one end of each hip joint cylinder 26 is rotatably connected to a hip joint connecting plate 28, the other end of each hip joint cylinder 26 is rotatably connected to the lower plate 24 on the left side of the waist joint or the lower plate 25 on the right side of the waist joint, and the two hip joint cylinders 26 are arranged at a certain angle with the Z axis and drive the hip joint connecting plate 28, a first thigh cylinder 29, a second supporting rod 30, a second thigh cylinder 31, a knee joint connecting plate 32, a first shank cylinder 33, a second shank cylinder 34 and a foot plate 35 to rotate around X, Y, Z; at least two first thigh cylinders 29 and a second supporting rod 30 are rotatably connected between the hip joint connecting plate 28 and the knee joint connecting plate 32, and a second thigh cylinder 31 is rotatably connected between the hip joint connecting plate 28 and the second supporting rod 30 to drive the knee joint connecting plate 32, the first shank cylinder 33, the second shank cylinder 34 and the foot plate 35 to rotate around X, Y, Z; at least two first shank cylinders 33 and a second shank cylinder 34 are rotatably connected between the knee joint connecting plate 32 and the foot plate 35. Two first lower leg cylinders 33, one second lower leg cylinder 34. The first shank cylinders 33 and the second shank cylinders 34 can be used as power elements capable of moving linearly and can also be used as fixed support rods to drive the foot plates 35 to rotate around X, Y, Z and move along the X, Y, Z direction;
the invention realizes the control of the pose of the humanoid robot by controlling the air cylinders of all joints, can dynamically and vividly simulate the action of the human joints, can realize accurate track control, and has the advantages which cannot be compared with other humanoid robots.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. A humanoid robotic system, comprising:
the waist joint device (2), wherein the upper limb devices (1) are respectively arranged on two sides of the waist joint device (2), and the lower limb devices (3) are respectively arranged on two sides of the lower end of the waist joint device;
shoulder joint fixing part (4) of upper limbs device (1) is fixed on waist joint device (2), the cylinder body of the fixed first upper limbs swing cylinder (5) of shoulder joint fixing part (4), the axle center at first band pulley (6) is fixed to first upper limbs swing cylinder (5) axis of rotation, first band pulley (6) and second band pulley (7) are connected through the belt, the axle center of second band pulley (7) is fixed on shoulder joint connecting piece (8) to with shoulder joint fixing part (4) rotatable coupling, shoulder joint connecting piece (8) is fixed to the cylinder body of second upper limbs swing cylinder (9), elbow joint fixing part (10) is fixed to the axis of rotation of second upper limbs swing cylinder (9), the cylinder body of third upper limbs swing cylinder (11) is fixed to the axle center of third band pulley (12) to elbow joint fixing part (10) fixed to elbow joint fixing part (10), the third belt wheel (12) is connected with the fourth belt wheel (13) through a belt, the axis of the fourth belt wheel (13) is fixedly connected with a wrist joint fixing piece (14) and is rotatably connected with an elbow joint fixing piece (10), and a pneumatic claw (15) is fixed on the wrist joint fixing piece (14);
the upper limb device (1) is respectively fixed on two sides of a waist joint upper plate (16) of the waist joint device (2), the waist joint upper plate (16) is rotatably connected with at least four pneumatic muscles (17), the pneumatic muscles (17) are fixed on a waist joint middle plate (19), springs (18) are sleeved on the pneumatic muscles (17), at least two first waist joint cylinders (20) are rotatably connected between the left side of the waist joint middle plate (19) and a waist joint left side lower plate (24), at least two second waist joint cylinders (21) are rotatably connected between the right side of the waist joint middle plate (19) and a waist joint right side lower plate (25), and a third waist joint cylinder (22) and a fourth waist joint cylinder (23) are rotatably connected between the waist joint left side lower plate (24) and the waist joint right side lower plate (25);
lower limbs device (3) are fixed respectively on waist joint left side lower plate (24) and waist joint right side lower plate (25), each other are the mirror image setting, hip joint cylinder (26), first bracing piece (27) one end rotatable coupling to hip joint connecting plate (28) of lower limbs device (3), other end rotatable coupling to waist joint left side lower plate (24) or waist joint right side lower plate (25), the quantity of hip joint cylinder (26) is two at least, rotatable coupling at least two first thigh cylinders (29), a second bracing piece (30) between hip joint connecting plate (28) and knee joint connecting plate (32), rotatable coupling second thigh cylinder (31) between hip joint connecting plate (28) and second bracing piece (30), rotatable coupling at least two first shank cylinders (33) between knee joint connecting plate (32) and sole (35), A second shank cylinder (34).
2. A humanoid robot system as claimed in claim 1, characterized in that said shoulder joint fixture (4) is hollow, inside which is provided a first upper limb swing cylinder (5), outside which is provided a first pulley (6) and a second pulley (7), the groove of said shoulder joint fixture (4) seizing a shoulder joint connector (8).
3. The humanoid robot system of claim 1, characterized in that the elbow joint fixing member (10) is hollow, a third upper limb swing cylinder (11) is provided on the inner side, a third pulley (12) and a fourth pulley (13) are provided on the outer side, and the elbow joint fixing member (10) is engaged with the wrist joint fixing member (14).
4. A humanoid robotic system as claimed in claim 1, characterized in that said springs (18) are four in number, one in the middle and three distributed all around.
5. The humanoid robot system of claim 1, characterized in that the third waist joint cylinder (22) and the fourth waist joint cylinder (23) are connected to a waist joint left lower plate (24) and a waist joint right lower plate (25) through support plates, respectively.
6. A humanoid robotic system as claimed in claim 1, characterized in that said hip joint cylinder (26) is located outside the first support bar (27).
7. A humanoid robotic system as claimed in claim 1, characterized in that said second supporting bar (30) is located between two first thigh cylinders (29).
8. The humanoid robotic system of claim 1, characterized in that the second shank cylinder (34) is angled from vertical.
9. The humanoid robot system of claim 1, characterized in that the cylinder positions of the third waist joint cylinder (22) and the fourth waist joint cylinder (23) are opposite.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111360804A (en) * | 2020-03-27 | 2020-07-03 | 嘉兴学院 | Profiling robot system based on pneumatic muscles and air cylinders |
| CN111618881A (en) * | 2020-06-12 | 2020-09-04 | 嘉兴学院 | Humanoid robot system based on pneumatics |
| CN113146583A (en) * | 2021-04-27 | 2021-07-23 | 嘉兴学院 | Bionic robot based on pneumatic muscles |
| CN113146580A (en) * | 2021-04-27 | 2021-07-23 | 嘉兴学院 | Pneumatic muscle robot system |
| CN113696196A (en) * | 2021-08-27 | 2021-11-26 | 王瑞学 | Medical robot |
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