CN111360804B - Profiling robot system based on pneumatic muscles and air cylinders - Google Patents
Profiling robot system based on pneumatic muscles and air cylinders Download PDFInfo
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- CN111360804B CN111360804B CN202010227531.XA CN202010227531A CN111360804B CN 111360804 B CN111360804 B CN 111360804B CN 202010227531 A CN202010227531 A CN 202010227531A CN 111360804 B CN111360804 B CN 111360804B
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- 210000003205 muscle Anatomy 0.000 title claims abstract description 187
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 17
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 16
- 210000000629 knee joint Anatomy 0.000 claims description 15
- 210000000689 upper leg Anatomy 0.000 claims description 11
- 210000000078 claw Anatomy 0.000 claims description 10
- 210000001624 hip Anatomy 0.000 description 73
- 210000001699 lower leg Anatomy 0.000 description 31
- 210000000245 forearm Anatomy 0.000 description 21
- 244000309466 calf Species 0.000 description 12
- 210000001503 joint Anatomy 0.000 description 11
- 210000002683 foot Anatomy 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 9
- 230000008878 coupling Effects 0.000 description 8
- 238000010168 coupling process Methods 0.000 description 8
- 238000005859 coupling reaction Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 3
- 210000002310 elbow joint Anatomy 0.000 description 3
- 210000002758 humerus Anatomy 0.000 description 3
- 210000000323 shoulder joint Anatomy 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 210000004394 hip joint Anatomy 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 210000003857 wrist joint Anatomy 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 210000000544 articulatio talocruralis Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 210000002082 fibula Anatomy 0.000 description 1
- 210000003108 foot joint Anatomy 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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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
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
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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
Abstract
The invention relates to a profiling robot system based on pneumatic muscles and cylinders, wherein upper limb joints are respectively arranged on two sides above waist joints, and lower limb joints are respectively and symmetrically arranged below waist joints; the two sides above the chest connecting piece of the waist joint are respectively and rotatably connected with a large arm branched chain I, a large arm branched chain II, a large arm branched chain III and a large arm branched chain IV, the large arm branched chain I, the large arm branched chain II, the large arm branched chain III and the large arm branched chain IV are respectively and rotatably connected with the large arm connecting piece I, the large arm branched chain I and the large arm branched chain III have the same structure and are respectively a large arm pneumatic muscle II, a large arm air cylinder III and a large arm pneumatic muscle III, and the large arm branched chain II and the large arm branched chain IV have the same structure and are respectively a large arm air cylinder I, a large arm pneumatic muscle I and a large arm air cylinder II; the first large arm connecting piece is rotatably connected with the middle connecting piece, the middle connecting piece is fixedly connected with the second large arm connecting piece, and the second large arm connecting piece is rotatably connected with the pneumatic muscle group. The invention has the advantages of large stroke, large working space, good flexibility and more degrees of freedom.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a profiling robot system based on pneumatic muscles and cylinders, which has the advantages of large stroke, large working space, good flexibility and multiple degrees of freedom.
Background
A robot is a device that can liberate a human from heavy work, knowledge relating to mechanical, electrical, communication, control, etc.; the profiling robot is used as a research direction of the robot, and has the effects of similar appearance and function to those of a human. Clean air is used as a medium, has a better explosion-proof type and has the advantages of inexhaustibility and inexhaustibility. The cylinder and the pneumatic muscle as two elements, each having its own characteristics, if they can be used in combination, will avoid their respective disadvantages.
The application number 201711099824.9, the publication number CN107717961B, the invention name is a humanoid robot based on a cylinder, and discloses a humanoid robot driven by a single-joint cylinder, which takes the cylinder as a driving element to simulate the movement of waist joints and four limbs of a human and has the function of completely simulating the movement of the human. The humanoid robot mainly comprises a cylinder, a fixing plate, a femur, a fibula and a humerus and has 44 degrees of freedom; the simulated waist joint has 12 degrees of freedom, the hip joint, the knee joint and the ankle joint of the simulated lower limb have 3, 2 and 2 degrees of freedom respectively, the shoulder joint, the elbow joint and the wrist joint of the simulated upper limb have 3, 1 and 4 degrees of freedom respectively, and one degree of freedom is added between the shoulder joint and the elbow joint.
Application No. 201910890458.1, application publication No. 110561457a discloses a humanoid robot system based on a cylinder, which relates to a humanoid robot system based on a cylinder, wherein two ends of a first waist connecting piece of an upper limb joint device are respectively rotatably connected with a humerus support, and the humerus support is sequentially connected with a large arm connecting piece, a universal joint and a small arm connecting piece; the two ends of a first waist swinging cylinder of the waist joint device are arranged on a first waist connecting piece, the first waist swinging cylinder is fixed on a second waist connecting piece, the second waist connecting piece is fixed on a rotating shaft of the second waist swinging cylinder, a cylinder body of the second waist swinging cylinder is fixed on a third waist connecting piece, and the two sides of the third waist connecting piece are respectively and rotatably connected with at least four waist cylinders.
The invention discloses a humanoid robot system, which is characterized in that an application number 201910995867.8 and an application publication number CN110682305A are provided, the invention relates to a humanoid robot system, 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 body, so that the humanoid robot system has a function of completely simulating joint movement 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.
However, the robot is designed only from the perspective of the air cylinder, and the problems of flexibility, muscle group combination, rigid-flexible combination of a single driving branched chain, single-joint and multi-joint hybrid combination driving and the like are not considered. The profiling robot system based on pneumatic muscles and cylinders is large in stroke, large in working space, good in flexibility and multiple in degree of freedom.
Disclosure of Invention
The invention aims to provide a profiling robot system based on pneumatic muscles and cylinders, which has the advantages of large stroke, large working space, good flexibility and multiple degrees of freedom.
A pneumatic muscle and cylinder based replica robot system comprising:
upper limb joints are respectively arranged on two sides of the upper part of the waist joint, and lower limb joints are respectively symmetrically arranged on the lower part of the waist joint;
the two sides above the chest connecting piece of the waist joint are respectively and rotatably connected with a large arm branched chain I, a large arm branched chain II, a large arm branched chain III and a large arm branched chain IV, the large arm branched chain I, the large arm branched chain II, the large arm branched chain III and the large arm branched chain IV are respectively and rotatably connected with the large arm connecting piece I, the large arm branched chain I and the large arm branched chain III have the same structure and are respectively a large arm pneumatic muscle II, a large arm air cylinder III and a large arm pneumatic muscle III, and the large arm branched chain II and the large arm branched chain IV have the same structure and are respectively a large arm air cylinder I, a large arm pneumatic muscle I and a large arm air cylinder II;
the utility model provides a pneumatic muscle of forearm, including big arm connecting piece rotatable coupling intermediate junction spare, intermediate junction spare fixed connection big arm connecting piece two, two rotatable coupling pneumatic muscle groups of big arm connecting piece, pneumatic muscle group rotatable coupling forearm connecting piece one, forearm connecting piece one and two fixed connection of forearm connecting piece, big arm connecting piece rotatable coupling big arm cylinder four, four rotatable coupling forearm connecting piece two of big arm cylinder, two respectively rotatable coupling forearm pneumatic muscle one, forearm pneumatic muscle two and forearm pneumatic muscle three of forearm connecting piece, two respectively rotatable coupling forearm pneumatic muscle three of forearm pneumatic muscle, three respectively rotatable coupling forearm pneumatic muscle of forearm pneumatic muscle three, set up the gas claw on the forearm connecting piece three.
A first layer of waist joint connecting plate is fixed below the chest connecting piece, the first layer of waist joint connecting plate is respectively and rotatably connected with a first single joint pneumatic muscle, a first multi-joint pneumatic muscle, a second multi-joint pneumatic muscle and a third multi-joint pneumatic muscle, the single-joint pneumatic muscle I, the multi-joint pneumatic muscle II and the multi-joint pneumatic muscle III are respectively and rotatably connected with the second layer of connecting plate of the waist joint, the lower part of the second layer of the waist joint connecting plate is respectively and rotatably connected with a single joint pneumatic muscle II, a multi-joint pneumatic muscle I, a multi-joint pneumatic muscle II and a multi-joint pneumatic muscle III, the single joint pneumatic muscle II, the multi-joint pneumatic muscle I, the multi-joint pneumatic muscle II and the multi-joint pneumatic muscle III are rotatably connected with the third layer of connecting plate of the waist joint, the first single-joint pneumatic muscle is sleeved with a first spring, and the second single-joint pneumatic muscle is sleeved with a second spring.
The waist joint third layer connecting plate of the waist joint can be rotatably connected with a first single joint cylinder, a second single joint cylinder, a first multi-joint cylinder and a second multi-joint cylinder, the first joint cylinder and the second single joint cylinder can be rotatably connected with a thigh intermediate connecting piece, the thigh intermediate connecting piece can be rotatably connected with a third single joint cylinder, the first multi-joint cylinder and the second multi-joint cylinder can be rotatably connected with a knee joint intermediate connecting piece, the first calf cylinder, the second calf cylinder and the third calf cylinder, the knee joint intermediate connecting piece is fixedly connected with a calf intermediate strut, and the calf intermediate strut can be rotatably connected with the calf intermediate strut.
The chest connecting piece is a triangular hollow-out piece.
The lengths of the first large-arm branched chain, the second large-arm branched chain, the third large-arm branched chain and the fourth large-arm branched chain are the same.
The first large arm cylinder is close to the chest connecting piece, and the third large arm pneumatic muscle is close to the first large arm connecting piece.
The first waist joint layer connecting plate, the second waist joint layer connecting plate, the third waist joint layer connecting plate and the third waist joint layer connecting plate are arranged on the periphery of the first single joint layer connecting plate, and the first multi joint layer connecting plate, the second multi joint layer connecting plate and the third multi joint layer connecting plate are arranged on the periphery of the second single joint layer connecting plate.
The first crus cylinder, the second crus cylinder and the third crus cylinder are uniformly distributed around the middle support rod of the crus.
Upper limb joints are respectively arranged at two sides above the waist joint, and lower limb joints are respectively symmetrically arranged below the waist joint; the two sides above the chest connecting piece of the waist joint are respectively and rotatably connected with a large arm branched chain I, a large arm branched chain II, a large arm branched chain III and a large arm branched chain IV, the large arm branched chain I, the large arm branched chain II, the large arm branched chain III and the large arm branched chain IV are respectively and rotatably connected with the large arm connecting piece I, the large arm branched chain I and the large arm branched chain III have the same structure and are respectively a large arm pneumatic muscle II, a large arm air cylinder III and a large arm pneumatic muscle III, and the large arm branched chain II and the large arm branched chain IV have the same structure and are respectively a large arm air cylinder I, a large arm pneumatic muscle I and a large arm air cylinder II; the pneumatic muscle group comprises a large arm connecting piece, a middle connecting piece, a large arm connecting piece II, a pneumatic muscle group, a small arm connecting piece I, a small arm connecting piece II, a large arm connecting piece I, a large arm cylinder IV, a large arm cylinder II, a small arm connecting piece I, a small arm pneumatic muscle II and a small arm pneumatic muscle III, a small arm pneumatic muscle I, a small arm pneumatic muscle II, a small arm pneumatic muscle III, a small arm connecting piece III and an air claw. The invention has the advantages of large stroke, large working space, good flexibility and more degrees of freedom.
The invention has the beneficial effects that:
1. the joint is driven by combining a plurality of single joints and multi-joint cylinders, so that the movement of the joint in a plurality of directions and in a plurality of modes and the switching of the movement modes can be realized simultaneously;
2. the invention has the advantages of large stroke, large working space, good flexibility, shock resistance and shock absorption and the like by utilizing the combination drive of the air cylinder and the pneumatic muscle group;
3. the invention utilizes the combination of single-joint pneumatic muscles, springs and multi-joint pneumatic muscles to adjust the angle, rigidity and posture of joints in real time;
4. the hip joint, the knee joint, the foot joint, the waist joint, the shoulder joint, the elbow joint, the wrist joint and the paw respectively have 4 degrees of freedom, 3 degrees of freedom, 4 degrees of freedom, 3 degrees of freedom and 43 degrees of freedom, so that various actions which can be realized by the human body joint can be vividly simulated, and the effects of the air cylinder and the pneumatic muscle in the motion of the robot can be known.
Drawings
FIG. 1 is a view of the overall mechanical structure of the present invention;
FIG. 2 is a mechanical structural view of the upper limb of the present invention;
FIG. 3 is a mechanical block diagram of the waist joint of the present invention;
FIG. 4 is a lower limb mechanical structure according to the invention;
in the figure: 1. upper limb joints, 2, waist joints, 3, lower limb joints, 4, chest connecting pieces, 5, first upper arm cylinders, 6, first upper arm branch chains, 7, second upper arm branch chains, 8, first upper arm pneumatic muscles, 9, second upper arm cylinders, 10, first upper arm connecting pieces, 11, second upper arm pneumatic muscles, 12, third upper arm branch chains, 13, fourth upper arm branch chains, 14, third upper arm cylinders, 15, third upper arm pneumatic muscles, 16, middle connecting pieces, 17, second upper arm connecting pieces, 18, pneumatic muscle groups, 19, first lower arm connecting pieces, 20, fourth upper arm cylinders, 21, second lower arm connecting pieces, 22, first lower arm pneumatic muscles, 23, second lower arm pneumatic muscles, 24, third lower arm muscles, 25, third lower arm connecting pieces, 26, pneumatic claws, 27, first waist joint connecting plates, 28, first single joint pneumatic muscles, 29, first multi-joint pneumatic muscles, 30 and second single-joint pneumatic muscles, 31. the device comprises a second multi-joint pneumatic muscle, a second spring, a first spring, a third spring, a 34 multi-joint pneumatic muscle, a second waist joint layer connecting plate, a 35 spring, a second spring, a 36 waist joint layer connecting plate, a 37 single-joint cylinder, a 38 thigh middle connecting piece, a 39 single-joint cylinder, a second single-joint cylinder, a 40 single-joint cylinder, a third single-joint cylinder, a 41 multi-joint cylinder, a 42 multi-joint cylinder, a second multi-joint cylinder, a 43 knee joint middle connecting piece, a 44 calf cylinder, a 45 calf cylinder, a second calf cylinder, a 46 calf cylinder, a third calf cylinder, a 47 calf middle strut, a 48 and feet.
Detailed Description
The invention is further described below with reference to the following figures and specific examples.
A pneumatic muscle and cylinder based replica robot system comprising: the waist joint 2, the upper limb joint 1 is respectively arranged at the upper two sides of the waist joint 2, and the lower limb joint 3 is respectively symmetrically arranged at the lower part; the two sides above the chest connecting piece 4 of the waist joint 2 are respectively rotatably connected with a first large-arm branched chain 6, a second large-arm branched chain 7, a third large-arm branched chain 12 and a fourth large-arm branched chain 13, the first large-arm branched chain 6, the second large-arm branched chain 7, the third large-arm branched chain 12 and the fourth large-arm branched chain 13 are respectively rotatably connected with a first large-arm connecting piece 10, the first large-arm branched chain 6 and the third large-arm branched chain 12 are identical in structure and respectively comprise a second large-arm pneumatic muscle 11, a third large-arm air cylinder 14 and a third large-arm pneumatic muscle 15, and the second large-arm branched chain 7 and the fourth large-arm branched chain 13 are identical in structure and respectively comprise a first large-arm air cylinder 5, a; the first big arm connecting piece 10 is rotatably connected with the middle connecting piece 16, the middle connecting piece 16 is fixedly connected with the second big arm connecting piece 17, the second big arm connecting piece 17 is rotatably connected with the pneumatic muscle group 18, the pneumatic muscle group 18 is rotatably connected with the first small arm connecting piece 19, the first small arm connecting piece 19 is fixedly connected with the second small arm connecting piece 21, the first big arm connecting piece 10 is rotatably connected with the fourth big arm air cylinder 20, the fourth big arm air cylinder 20 is rotatably connected with the second small arm connecting piece 21, the second small arm connecting piece 21 is respectively rotatably connected with the first small arm pneumatic muscle 22, the second small arm pneumatic muscle 23 and the third small arm pneumatic muscle 24, the first small arm pneumatic muscle 22, the second small arm pneumatic muscle 23, the third small arm pneumatic muscle 24 is respectively rotatably connected with the third small arm connecting piece 25, and the third small arm connecting piece 25.
A first waist joint connecting plate 27 is fixed below the chest connecting piece 4, the first waist joint connecting plate 27 is respectively and rotatably connected with a first single joint pneumatic muscle 28, a first multi-joint pneumatic muscle 29, a second multi-joint pneumatic muscle 31 and a third multi-joint pneumatic muscle 33, the first single joint pneumatic muscle 28, the first multi-joint pneumatic muscle 29, the second multi-joint pneumatic muscle 31 and the third multi-joint pneumatic muscle 33 are respectively and rotatably connected with a second waist joint connecting plate 34, the lower part of the second waist joint connecting plate 34 is respectively and rotatably connected with a second single joint pneumatic muscle 30, a first multi-joint pneumatic muscle 29, a second multi-joint pneumatic muscle 31 and a third multi-joint pneumatic muscle 33, the second single joint pneumatic muscle 30, the first multi-joint pneumatic muscle 29, the second multi-joint pneumatic muscle 31 and the third multi-joint pneumatic muscle 33 are rotatably connected with a third waist joint connecting plate 36, the first single joint pneumatic muscle 28 is sleeved with a first spring 32, the second single-joint pneumatic muscle 30 is sleeved with a second spring 35.
The waist joint third-layer connecting plate 36 of the waist joint 2 is rotatably connected with a single joint cylinder I37, a single joint cylinder II 39, a multi-joint cylinder I41 and a multi-joint cylinder II 42, the joint cylinder I37 and the single joint cylinder II 39 are rotatably connected with a thigh middle connecting piece 38, the thigh middle connecting piece 38 is rotatably connected with a single joint cylinder III 40, the multi-joint cylinder I41 and the multi-joint cylinder II 42 are rotatably connected with a knee joint middle connecting piece 43 and rotatably connected with a shank cylinder I44, a shank cylinder II 45 and a shank cylinder III 46, the shank cylinder I44, the shank cylinder II 45 and the shank cylinder III 46 are rotatably connected with a foot 48, the knee joint middle connecting piece 43 is fixedly connected with a shank middle strut 47, and the shank middle strut 47 is rotatably connected with the foot.
The chest connecting piece 4 is a triangular hollow piece. The lengths of the first large-arm branched chain 6, the second large-arm branched chain 7, the third large-arm branched chain 12 and the fourth large-arm branched chain 13 are the same. The first big arm cylinder 5 is close to the chest connecting piece 4, and the third big arm pneumatic muscle 15 is close to the first big arm connecting piece 10. The first waist joint layer connecting plate 27, the second waist joint layer connecting plate 34, the first multi-joint pneumatic muscle 29, the second multi-joint pneumatic muscle 31 and the third multi-joint pneumatic muscle 33 are uniformly distributed around the first single-joint pneumatic muscle 28, the third waist joint layer connecting plate 36 and the second waist joint layer connecting plate 34, and the first multi-joint pneumatic muscle 29, the second multi-joint pneumatic muscle 31 and the third multi-joint pneumatic muscle 33 are uniformly distributed around the second single-joint pneumatic muscle 30. The first shank cylinder 44, the second shank cylinder 45 and the third shank cylinder 46 are uniformly distributed around the middle shank strut 47.
The utility model provides a imitative type robot system based on pneumatic muscle and cylinder mainly includes upper limbs joint 1, waist joint 2, lower limbs joint 3 to the quantity of upper limbs joint 1, lower limbs joint 3 is 2 respectively, and two upper limbs joints 1's structure is identical, and two lower limbs joint 3's structure is identical.
Two ends of the first large-arm branched chain 6, the second large-arm branched chain 7, the third large-arm branched chain 12 and the fourth large-arm branched chain 13 are rotatably connected with the chest connecting piece 4 and the first large-arm connecting piece 10 respectively, wherein the first large-arm branched chain 6 and the third large-arm branched chain 12 are identical in structure, and a second large-arm pneumatic muscle 11, a third large-arm air cylinder 14 and a third large-arm pneumatic muscle 15 are connected in sequence from the chest connecting piece 4 to the first large-arm connecting piece 10; the second large-arm branched chain 7 and the fourth large-arm branched chain 13 are identical in structure, and are sequentially connected with the first large-arm cylinder 5, the first large-arm pneumatic muscle 8 and the second large-arm cylinder 9 from the chest connecting piece 4 to the first large-arm connecting piece 10. The first large arm branched chain 6, the second large arm branched chain 7, the third large arm branched chain 12 and the fourth large arm branched chain 13 drive a first large arm connecting piece 10, a middle connecting piece 16, a second large arm connecting piece 17, a pneumatic muscle group 18, a first small arm connecting piece 19, a fourth large arm cylinder 20, a second small arm connecting piece 21, a first small arm pneumatic muscle 22, a second small arm pneumatic muscle 23, a third small arm pneumatic muscle 24, a third small arm connecting piece 25 and an air claw 26 to move in the X-axis direction and rotate around the X-axis, the Y-axis and the Z-axis relative to the chest connecting piece 4. The first big-arm cylinder 5, the second big-arm cylinder 9 and the third big-arm cylinder 14 which have rigidity and telescopic motion are combined with the second flexible big-arm pneumatic muscle 11 and the third flexible big-arm pneumatic muscle 15 and the first big-arm pneumatic muscle 8, so that the small telescopic range of the pneumatic muscles can be eliminated, and the shock-proof and shock-absorbing effects are achieved.
One end of the middle connecting piece 16 is rotatably connected with the first large arm connecting piece 10, and the other end of the middle connecting piece is fixedly connected with the second large arm connecting piece 17; two ends of the pneumatic muscle group 18 are respectively rotatably connected with the large arm connecting piece II 17 and the small arm connecting piece I19, and the small arm connecting piece I19 is fixedly connected with the small arm connecting piece II 21; two ends of the large arm cylinder four 20 are respectively rotatably connected with the large arm connecting piece one 10 and the small arm connecting piece two 21. The pneumatic muscle group 18 and the large arm cylinder four 20 drive the small arm connecting piece two 21, the small arm pneumatic muscle one 22, the small arm pneumatic muscle two 23, the small arm pneumatic muscle three 24, the small arm connecting piece three 25 and the air claw 26 to move in the X-axis direction and rotate around the X-axis, the Y-axis and the Z-axis relative to the large arm connecting piece one 10. The pneumatic muscle group 18 and the large arm cylinder four 20 can be kept still and used as support rods respectively, and the other one drives the joint to rotate.
Two ends of the first forearm pneumatic muscle 22, the second forearm pneumatic muscle 23 and the third forearm pneumatic muscle 24 are rotatably connected with the second forearm connecting piece 21 and the third forearm connecting piece 25 respectively, and the third forearm connecting piece 25 and the pneumatic claw 26 are driven to move in the X-axis direction and rotate around the Y-axis direction and the Z-axis direction relative to the second forearm connecting piece 21. The pneumatic gripper 26 is fixedly connected to the small arm link three 25, and has rotation about the X-axis and movement about the Y-axis or Z-axis.
The upper surface of the first waist joint layer connecting plate 27 is fixedly connected with the lower surface of the chest connecting piece 4, two ends of a first single joint pneumatic muscle 28 are rotatably connected with the first waist joint layer connecting plate 27 and a second waist joint layer connecting plate 34, and a first spring 32 is sleeved outside the first single joint pneumatic muscle 28; two ends of the second single-joint pneumatic muscle 30 are rotatably connected with the second waist joint layer connecting plate 34 and the third waist joint layer connecting plate 36, and the second spring 35 is sleeved outside the second single-joint pneumatic muscle 30; two ends of the first multi-joint pneumatic muscle 29, the second multi-joint pneumatic muscle 31 and the third multi-joint pneumatic muscle 33 are respectively and rotatably connected with the first waist joint layer connecting plate 27 and the third waist joint layer connecting plate 36. The first multi-joint pneumatic muscle 29, the second multi-joint pneumatic muscle 31 and the third multi-joint pneumatic muscle 33 which are used as multi-joint pneumatic muscles are not only used for driving the rigidity distribution of the first waist joint layer connecting plate 27, the chest connecting piece 4, the upper limb joint 1, the third waist joint layer connecting plate 36 and the posture of the lower limb joint 3, or the first waist joint layer connecting plate 27, the second waist joint layer connecting plate 34 and the third waist joint layer connecting plate 36, but also used as a support rod, or used as a power element by stretching together with the first multi-joint pneumatic muscle 28, the second single-joint pneumatic muscle 30, the first spring 32 and the second spring 35. The movement in the Z-axis direction and the rotation around the X-axis and the Y-axis can be realized.
Two ends of a single-joint cylinder I37 and a single-joint cylinder II 39 are respectively and rotatably connected with the waist joint third layer connecting plate 36 and the thigh middle connecting piece 38, two ends of a single-joint cylinder III 40 are respectively and rotatably connected with the thigh middle connecting piece 38 and the knee joint middle connecting piece 43, and two ends of a multi-joint cylinder I41 and a multi-joint cylinder II 42 are respectively and rotatably connected with the waist joint third layer connecting plate 36 and the knee joint middle connecting piece 43. Wherein the single joint cylinder I37, the single joint cylinder II 39 and the single joint cylinder III 40 are arranged at the outer side, and the multi-joint cylinder I41 and the multi-joint cylinder II 42 are arranged at the inner side; the drive mechanism not only can drive the thigh middle connecting piece 38, the single joint cylinder three 40, the multi-joint cylinder one 41, the multi-joint cylinder two 42, the knee joint middle connecting piece 43, the shank cylinder one 44, the shank cylinder two 45, the shank cylinder three 46, the shank middle strut 47 and the foot 48 to move along the Z axis and rotate around the X axis, the Y axis and the Z axis relative to the waist joint third layer connecting plate 36, but also can drive the knee joint middle connecting piece 43, the shank cylinder one 44, the shank cylinder two 45, the shank cylinder three 46, the shank middle strut 47 and the foot 48 to move along the Z axis and rotate around the X axis, the Y axis and the Z axis relative to the waist joint third layer connecting plate 36. The single joint cylinder I37, the single joint cylinder II 39 and the single joint cylinder III 40 are combined with the multi-joint cylinder I41 and the multi-joint cylinder II 42 for use.
One end of the shank middle strut 47 is fixedly connected with the knee joint middle connecting piece 43, and the other end is rotatably connected with the foot 48; two ends of the lower leg cylinder I44, the lower leg cylinder II 45 and the lower leg cylinder III 46 are respectively and rotatably connected with the knee joint middle connecting piece 43 and the foot 48. The first shank air cylinder 44, the second shank air cylinder 45 and the third shank air cylinder 46 drive the foot 48 to rotate around the X axis, the Y axis and the Z axis together.
The invention realizes the control of the pose of the profiling robot by controlling each air cylinder and pneumatic muscle, can dynamically and vividly simulate the action of a human, can realize accurate track control, and has the advantages which cannot be compared with other profiling 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 (1)
1. A replica robot system based on pneumatic muscles and cylinders, comprising:
the waist joint (2), the upper limb joints (1) are respectively arranged at the two sides of the upper part of the waist joint (2), and the lower limb joints (3) are respectively symmetrically arranged at the lower part of the waist joint;
the waist joint (2) is characterized in that two sides above a chest connecting piece (4) are respectively and rotatably connected with a first large-arm branched chain (6), a second large-arm branched chain (7), a third large-arm branched chain (12) and a fourth large-arm branched chain (13), the first large-arm branched chain (6), the second large-arm branched chain (7), the third large-arm branched chain (12) and the fourth large-arm branched chain (13) are respectively and rotatably connected with a first large-arm connecting piece (10), the first large-arm branched chain (6) and the third large-arm branched chain (12) are identical in structure and respectively are a second large-arm pneumatic muscle (11), a third large-arm air cylinder (14) and a third large-arm pneumatic muscle (15), and the second large-arm branched chain (7) and the fourth large-arm branched chain (13) are identical in structure and respectively are a first large-arm air cylinder (5), a first large-;
the pneumatic arm comprises a large arm connecting piece I (10), a middle connecting piece (16), a large arm connecting piece II (17), a pneumatic muscle group (18), a small arm connecting piece I (19), a small arm connecting piece II (21), a large arm connecting piece I (10), a large arm cylinder IV (20), a small arm connecting piece II (21), a small arm pneumatic muscle I (22), a small arm pneumatic muscle II (23) and a small arm pneumatic muscle III (24), wherein the large arm connecting piece I (22), the small arm pneumatic muscle II (23) and the small arm pneumatic muscle III (24) are respectively, and rotatably connected with a small arm connecting piece III (25), a pneumatic claw (26) is arranged on the small arm connecting piece III (25);
the chest connecting piece (4) is characterized in that a waist joint first layer connecting plate (27) is fixed below the chest connecting piece (4), the waist joint first layer connecting plate (27) is respectively rotatably connected with a single joint pneumatic muscle I (28), a multi-joint pneumatic muscle I (29), a multi-joint pneumatic muscle II (31) and a multi-joint pneumatic muscle III (33), the single joint pneumatic muscle I (28), the multi-joint pneumatic muscle I (29), the multi-joint pneumatic muscle II (31) and the multi-joint pneumatic muscle III (33) are respectively rotatably connected with a waist joint second layer connecting plate (34), the waist joint second layer connecting plate (34) is respectively rotatably connected with a single joint pneumatic muscle II (30), a multi-joint pneumatic muscle I (29), a multi-joint pneumatic muscle II (31) and a multi-joint pneumatic muscle III (33) below the waist joint second layer connecting plate (34), the single joint pneumatic muscle II (30), the multi-joint pneumatic muscle I (29) and the multi-joint pneumatic muscle III, The second multi-joint pneumatic muscle (31) and the third multi-joint pneumatic muscle (33) are rotatably connected with a third layer connecting plate (36) of the waist joint, the first single-joint pneumatic muscle (28) is sleeved with a first spring (32), and the second single-joint pneumatic muscle (30) is sleeved with a second spring (35);
the waist joint third layer connecting plate (36) of the waist joint (2) is rotatably connected with a single joint cylinder I (37), a single joint cylinder II (39), a multi-joint cylinder I (41) and a multi-joint cylinder II (42), the joint cylinder I (37) and the single joint cylinder II (39) are rotatably connected with a thigh intermediate connecting piece (38), the thigh intermediate connecting piece (38) is rotatably connected with a single joint cylinder III (40), the multi-joint cylinder I (41) and the multi-joint cylinder II (42) are rotatably connected with a knee joint intermediate connecting piece (43) and rotatably connected with a shank cylinder I (44), a shank cylinder II (45) and a shank cylinder III (46), the shank cylinder I (44), the shank cylinder II (45) and the shank cylinder III (46) are rotatably connected with a foot (48), and the knee joint intermediate connecting piece (43) is fixedly connected with a shank intermediate strut (47), the shank middle strut (47) is rotatably connected with a foot (48);
the chest connecting piece (4) is a triangular hollow piece;
the lengths of the first large-arm branched chain (6), the second large-arm branched chain (7), the third large-arm branched chain (12) and the fourth large-arm branched chain (13) are the same;
the large arm cylinder I (5) is close to the chest connecting piece (4), and the large arm pneumatic muscle III (15) is close to the large arm connecting piece I (10);
the waist joint pneumatic muscle I, the waist joint pneumatic muscle II, the waist joint pneumatic muscle III and the waist joint pneumatic muscle III are uniformly distributed around the single joint pneumatic muscle I (28) between the waist joint first-layer connecting plate (27) and the waist joint second-layer connecting plate (34), the waist joint third-layer connecting plate (36) and the waist joint second-layer connecting plate (34), and the waist joint pneumatic muscle I, the waist joint pneumatic muscle II, the waist joint pneumatic muscle III and the waist joint pneumatic muscle III (29, 31) and the waist joint pneumatic muscle III (33) are uniformly distributed around the single joint pneumatic muscle II (30);
the first shank cylinder (44), the second shank cylinder (45) and the third shank cylinder (46) are uniformly distributed around the shank middle strut (47).
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| CN113146581B (en) * | 2021-04-27 | 2022-03-08 | 嘉兴学院 | Robot system based on pneumatic muscle and cylinder redundancy |
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