CN112775946A - Profiling robot system based on pneumatics - Google Patents

Abstract

The invention relates to a pneumatic-based profiling robot system, which drives the movement of a robot joint by a cylinder, a pneumatic motor and pneumatic muscles and has the function of completely simulating the movement of the human joint. The pneumatic-based profiling robot system mainly comprises an air cylinder, a pneumatic motor, a worm gear, a worm, pneumatic muscles, a connecting piece and a joint control system. The waist joint is formed by constructing single muscle by a plurality of pneumatic muscles connected in series to form a parallel joint, the hip joint is driven by the combination of a pneumatic motor and a worm gear, the knee joint is combined with a rod structure by a swing cylinder and is combined with a linear cylinder, the ankle joint and the foot are driven by the linear cylinder, the shoulder joint is driven by the cylinder in parallel, the elbow joint is combined with the rod structure by the pneumatic motor, and the motion of the wrist joint is completely realized by a pneumatic claw. The invention is driven by pneumatic muscles, cylinders and pneumatic motors, has the characteristics of compact structure, various motion modes and wider motion range, and can be used for teaching and demonstration.

Description

Profiling robot system based on pneumatics

Technical Field

The invention relates to the technical field of bionic robot equipment, in particular to a pneumatic-based bionic robot system which is compact in structure, various in motion mode and wide in motion range.

Background

The air is used as a clean resource, is inexhaustible, has good explosion resistance and is widely applied to the field of industrial automation, particularly light industry.

Robot technology is a hot spot of recent development, replaces human beings to complete heavy work, and due to rapid development of computer technology, robot network and intelligent manufacturing technology are combined, assembly unmanned factories will be a future trend, but most of the current pneumatic joint robots are limited to point-to-point process and station control.

CN110936367B, application No.: 201911082363.3 relates to a pneumatic humanoid robot system, which uses a cylinder to drive the movement of the hip joint, knee joint, foot joint, waist joint, shoulder joint, elbow joint and wrist joint of the humanoid robot, and has the function of completely simulating the joint movement of a human. The device consists of a linear cylinder, a swing cylinder, a belt wheel, a screw rod, a bevel gear, a toothed belt, a toothed wheel and a connecting piece. The hip joint and the shoulder joint are driven by a swing cylinder through a belt wheel, the knee joint is driven by a screw rod and a cylinder combination, the foot joint is driven by a plurality of cylinders, the elbow joint is driven by the swing cylinder, and the wrist joint is composed of two groups of distance-variable swing components and a cylinder parallel mechanism; the hip joint, the knee joint, the foot joint, the waist joint, the shoulder joint, the elbow joint and the wrist joint have 2 degrees of freedom, 1 degree of freedom, 4 degrees of freedom, 6 degrees of freedom, 2 degrees of freedom, 1 degree of freedom and 4 degrees of freedom respectively, and the total body has 34 degrees of freedom.

CN110682305B, application No.: 201910995867.8 relates to a humanoid robot system, wherein upper limb devices are respectively arranged at two sides of a waist joint device, lower limb devices are respectively arranged at 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 by a cylinder, pneumatic muscle and spring combination body, 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.

CN110561457B, application No.: 201910890458.1, relating to a humanoid robot system based on air cylinders, wherein, two ends of a first waist connecting piece of an upper limb joint device are respectively connected with a humerus bracket in a rotatable way, and the humerus bracket is sequentially connected with a big 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 rigid humanoid robot joints are respectively designed, the joints are driven only in a mode that the execution elements are connected in parallel, the structure and the motion mode are single, and the motion space is limited. There is a need for a pneumatic-based replica robot system having a compact structure, multiple motion modes and a wide range of motion.

Disclosure of Invention

The invention aims to provide a pneumatic-based profiling robot system which is compact in structure, various in motion mode and wide in motion range.

A pneumatic-based replica robotic system comprising:

the waist joint is provided with upper limb joints which are mirror images of each other on two sides respectively, and lower limb joints which are mirror images of each other on the lower part respectively;

the chest connecting piece of the waist joint is fixedly connected with a waist joint upper side plate, the waist joint upper side plate is rotatably connected with an upper side pillar, the upper side pillar is fixedly connected with a waist joint middle plate, the waist joint middle plate is rotatably connected with a lower side pillar, the lower side pillar is fixedly connected with a waist joint lower side plate, the waist joint upper side plate, a pneumatic muscle I, a pneumatic muscle III, a pneumatic muscle V and a waist joint lower side plate are sequentially and rotatably connected, the waist joint upper side plate, the pneumatic muscle II, the pneumatic muscle IV, the pneumatic muscle VI and the waist joint lower side plate are sequentially and rotatably connected, and the waist joint upper side plate, the pneumatic muscle VII, the pneumatic muscle VIII and the waist joint lower side plate are sequentially and rotatably connected;

the hip joint connecting piece five of the lower limb joint is fixedly connected with a lower side plate of the waist joint, the hip joint connecting piece five is fixedly connected with a shell of a hip joint pneumatic motor three, a rotor of the hip joint pneumatic motor three is fixedly connected with a worm three, the worm three is respectively meshed with a worm wheel three and a worm wheel four, the worm wheel three and the worm wheel four are respectively rotatably connected with the hip joint connecting piece five, the worm wheel four or the worm wheel three is respectively fixedly connected with a hip joint connecting piece one, the hip joint connecting piece one is fixedly connected with the shell of the hip joint pneumatic motor one, the rotor of the hip joint pneumatic motor one is fixedly connected with a worm one, the worm one is meshed with the worm wheel one, the worm wheel one is rotatably connected with the hip joint connecting piece one, the worm wheel one is fixedly connected with the hip joint connecting piece two, and the hip joint connecting piece three are fixedly connected, the three hip joint connecting pieces are fixedly connected with a shell of a hip joint pneumatic motor II, a rotor of the hip joint pneumatic motor II is fixedly connected with a worm II, the three hip joint connecting pieces are rotatably connected with a worm wheel II, the worm wheel II is fixedly connected with a hip joint connecting piece IV, the four hip joint connecting pieces are fixedly connected with thigh connecting pieces, the thigh connecting pieces are rotatably connected with shank connecting pieces, the thigh connecting pieces are fixedly connected with a shell of a swing cylinder, a rotor of the swing cylinder is fixedly connected with a connecting rod III and a connecting rod V respectively, the connecting rod III is rotatably connected with a connecting rod IV, the connecting rod V is rotatably connected with a connecting rod VI, the connecting rod V is rotatably connected with the connecting rod IV respectively, the shank connecting pieces are rotatably connected with a foot intermediate plate, and the shank connecting pieces and the foot intermediate plate are rotatably connected with a shank cylinder I, a, The foot middle plate is respectively and rotatably connected with a foot front side plate and a foot rear side plate at two ends of a shank air cylinder II, the foot rear side plate is respectively and fixedly connected with a foot air cylinder I and a beriberi cylinder II, the foot air cylinder I is rotatably connected with the foot front side plate through a connecting rod I, and the beriberi cylinder II is rotatably connected with the foot front side plate through the connecting rod II;

the chest connecting piece is respectively and rotatably connected with a first big arm cylinder, a second big arm cylinder and a third big arm cylinder of the upper limb joint, the first large arm cylinder, the second large arm cylinder and the third large arm cylinder are respectively rotatably connected with a large arm middle rod, the large arm middle rod is rotatably connected with the chest connecting piece, the large arm middle rod is fixedly connected with the elbow joint connecting piece, the elbow joint connecting piece is fixedly connected with the forearm connecting piece, the elbow joint connecting piece is fixedly connected with a shell of the elbow joint pneumatic motor, the rotor of the elbow joint pneumatic motor is fixedly connected with a connecting rod seventh, the connecting rod seventh is rotatably connected with a connecting rod eighth, the eight connecting rod, the first threaded connecting rod, the ninth connecting rod and the wrist connecting piece are fixedly connected in sequence, the ninth connecting rod and the second threaded connecting rod are fixedly connected, the second threaded connecting rod is rotatably connected with the small arm connecting piece, and the wrist connecting piece is fixedly connected with the pneumatic claw;

and the computer is respectively connected with the upper limb joint control system, the waist joint control system and the lower limb joint control system.

The waist joint upper side plate, the waist joint middle plate and the waist joint lower side plate are respectively in a disc shape.

The third pneumatic muscle, the fourth pneumatic muscle and the eighth pneumatic muscle respectively penetrate through the waist joint middle plate, and the third pneumatic muscle, the fourth pneumatic muscle and the eighth pneumatic muscle are uniformly distributed around the waist joint middle plate.

Pneumatic muscle one, pneumatic muscle two, pneumatic muscle seven evenly distributed are around waist joint upper side plate, pneumatic muscle five, pneumatic muscle six, pneumatic muscle nine evenly distributed are around waist joint lower side plate, the upper side pillar both ends are located waist joint upper side plate, waist joint intermediate lamella center respectively, the lower side pillar both ends are located waist joint intermediate lamella, waist joint lower side plate center respectively.

The swing direction space of the hip joint connecting piece II is orthogonal to that of the hip joint connecting piece IV.

The thigh cylinder I and the thigh cylinder II are symmetrical about the central plane of the swing cylinder, the shank cylinder I and the shank cylinder II are symmetrical about the central plane of the swing cylinder, and the foot cylinder I and the beriberi cylinder II are symmetrical about the central plane of the swing cylinder.

The chest connecting piece is a hollow shell.

The first large arm cylinder, the second large arm cylinder and the third large arm cylinder are crossed in space and are uniformly distributed around the middle rod of the large arm.

The number of the forearm connecting pieces is two, one end of each forearm connecting piece is fixed on the elbow joint connecting piece, and the other end of each forearm connecting piece is rotatably connected with two ends of the second threaded connecting rod

The computer is a controller, and the upper limb joint control system respectively controls the large arm cylinder I, the large arm cylinder II, the large arm cylinder III, the elbow joint connecting piece and the pneumatic claw;

the lower limb joint control system respectively controls a hip joint pneumatic motor I, a hip joint pneumatic motor II, a hip joint pneumatic motor III, a swing cylinder, a thigh cylinder I, a thigh cylinder II, a shank cylinder I, a shank cylinder II, a beriberi cylinder I and a beriberi cylinder II;

the waist joint control system respectively controls a pneumatic muscle I, a pneumatic muscle III, a pneumatic muscle V, a pneumatic muscle II, a pneumatic muscle IV, a pneumatic muscle VI, a pneumatic muscle VII, a pneumatic muscle VIII and a pneumatic muscle VII.

The invention discloses a pneumatic-based profiling robot system, which drives the movement of a robot joint by a cylinder, a pneumatic motor and pneumatic muscles and has the function of completely simulating the movement of the human joint. The pneumatic-based profiling robot system mainly comprises an air cylinder, a pneumatic motor, a worm gear, a worm, pneumatic muscles, a connecting piece and a joint control system. The waist joint is formed by constructing single muscle by a plurality of pneumatic muscles connected in series to form a parallel joint, the hip joint is driven by the combination of a pneumatic motor and a worm gear, the knee joint is combined with a rod structure by a swing cylinder and is combined with a linear cylinder, the ankle joint and the foot are driven by the linear cylinder, the shoulder joint is driven by the cylinder in parallel, the elbow joint is combined with the rod structure by the pneumatic motor, and the motion of the wrist joint is completely realized by a pneumatic claw. The invention is driven by pneumatic muscles, cylinders and pneumatic motors, has the characteristics of compact structure, various motion modes and wider motion range, and can be used for teaching and demonstration.

The invention has the beneficial effects that:

1. the invention utilizes a plurality of pneumatic muscles connected in series to construct a single muscle to form a parallel joint, and can realize the movement of a plurality of joints in a plurality of directions;

2. the invention utilizes the combination of the swing cylinder and the rod structure, and combines the linear cylinder to drive the joint to move, thereby ensuring the diversification of the motion modes of the joint;

3. the hip joint, the knee joint, the ankle joint, the waist joint, the shoulder joint, the elbow joint and the wrist joint respectively have 2 degrees of freedom, 3 degrees of freedom, 2 degrees of freedom, 1 degree of freedom and 3 degrees of freedom, and can vividly simulate various actions which can be realized by the lower limbs of a human.

Drawings

FIG. 1 is a mechanical block diagram of the overall pneumatic-based mock robotic system;

FIG. 2 is a mechanical block diagram of a waist joint of a pneumatic-based replica robotic system;

FIG. 3 is a diagram of a dual lower limb mechanical structure of a pneumatic-based mock robotic system;

FIG. 4 is a front mechanical block diagram of a hip joint of a pneumatic-based mock robotic system;

FIG. 5 is a mechanical block diagram of the back of the hip joint of the pneumatic-based mock robotic system;

FIG. 6 is a mechanical structure diagram of a single lower limb of a pneumatic-based replica robotic system;

FIG. 7 is a mechanical block diagram of the upper arm of the pneumatic-based mock robotic system;

FIG. 8 is a mechanical block diagram of an forearm of a pneumatic-based mock robotic system;

FIG. 9 is a block schematic diagram of a pneumatic-based mock robotic system control system;

in the figure: an upper limb joint 1, a waist joint 2, a lower limb joint 3, a waist joint upper side plate 4, a pneumatic muscle I5, a pneumatic muscle II 6, an upper side pillar 7, a pneumatic muscle III 8, a pneumatic muscle IV 9, a lower side pillar 10, a pneumatic muscle V11, a pneumatic muscle VI 12, a waist joint lower side plate 13, a pneumatic muscle VII 14, a pneumatic muscle VIII 15, a waist joint intermediate plate 16, a pneumatic muscle VII 17, a hip joint pneumatic motor I18, a hip joint pneumatic motor II 18-2, a worm I19, a hip joint connecting piece I20, a worm wheel I21, a hip joint connecting piece II 22, a worm II 23, a worm wheel II 24, a hip joint connecting piece III 25, a hip joint connecting piece IV 26, a hip joint connecting piece V27, a hip joint pneumatic motor III 28, a hip joint III 29, a worm III 30, a worm wheel IV 31, a thigh connecting piece 32, a thigh cylinder I33, a thigh cylinder II 34, a shank connecting piece 35, the device comprises a first connecting rod 36, a second connecting rod 37, a front foot side plate 38, a middle foot plate 39, a swing cylinder 40, a third connecting rod 41, a fourth connecting rod 42, a fifth connecting rod 43, a sixth connecting rod 44, a first shank cylinder 45, a second shank cylinder 46, a first beriberi cylinder 47, a second beriberi cylinder 48, a rear foot side plate 49, a chest connecting piece 50, a first upper arm cylinder 51, a second upper arm cylinder 52, a middle upper arm rod 53, a third upper arm cylinder 54, an elbow joint connecting piece 55, an elbow joint pneumatic motor 56, a seventh connecting rod 57, an eighth connecting rod 58, a first threaded connecting rod 59, a second lower arm connecting piece 60, a ninth connecting rod 61, a second threaded connecting rod 62, a wrist connecting piece 63, an air claw 64, a computer 65, an upper limb joint control system 66, a waist joint control system 67 and a lower.

Detailed Description

The invention is further described below with reference to the following figures and specific examples.

A pneumatic-based replica robotic system comprising: the waist joint 2, the upper limb joint 1 which is a mirror image of each other is respectively arranged at the two sides of the waist joint 2, and the lower limb joint 3 which is a mirror image of each other is respectively arranged at the lower part of the waist joint 2; the chest connecting piece 50 of the waist joint 2 is fixedly connected with a waist joint upper side plate 4, the waist joint upper side plate 4 can be rotatably connected with an upper side pillar 7, the upper side pillar 7 is fixedly connected with a waist joint middle plate 16, the waist joint middle plate 16 can be rotatably connected with a lower side pillar 10, the lower side pillar 10 is fixedly connected with a waist joint lower side plate 13, the waist joint upper side plate 4, a pneumatic muscle I5, a pneumatic muscle III 8, a pneumatic muscle V11 and the waist joint lower side plate 13 are sequentially and rotatably connected, the waist joint upper side plate 4, a pneumatic muscle II 6, a pneumatic muscle IV 9, a pneumatic muscle VI 12 and the waist joint lower side plate 13 are sequentially and rotatably connected, and the waist joint upper side plate 4, a pneumatic muscle VII 14, a pneumatic muscle VIII 15, a pneumatic muscle IX 17 and the waist joint lower side plate;

a hip joint connecting piece five 27 of the lower limb joint 3 is fixedly connected with the lower side plate 13 of the waist joint, the hip joint connecting piece five 27 is fixedly connected with a shell of a hip joint pneumatic motor three 28, a rotor of the hip joint pneumatic motor three 28 is fixedly connected with a worm three 30, the worm three 30 is respectively meshed with a worm wheel three 29 and a worm wheel four 31, the worm wheel three 29 and the worm wheel four 31 are respectively rotatably connected with the hip joint connecting piece five 27, the worm wheel four 31 or the worm wheel three 29 is respectively fixedly connected with a hip joint connecting piece one 20, the hip joint connecting piece one 20 is fixedly connected with a shell of the hip joint pneumatic motor one 18, the rotor of the hip joint pneumatic motor one 18 is fixedly connected with a worm one 19, the worm one 19 is meshed with a worm wheel one 21, the one worm wheel one 21 is rotatably connected with the one hip joint connecting piece 20, the one worm wheel one 21 is fixedly connected with a hip joint connecting piece two 22, the hip joint connecting piece three 25 is fixedly connected with a shell of the hip joint pneumatic motor two 18-2, a rotor of the hip joint pneumatic motor two 18-2 is fixedly connected with the worm rod two 23, the hip joint connecting piece three 25 is rotatably connected with the worm wheel two 24, the worm wheel two 24 is fixedly connected with the hip joint connecting piece four 26, the hip joint connecting piece four 26 is fixedly connected with the thigh connecting piece 32, the thigh connecting piece 32 is rotatably connected with the shank connecting piece 35, the thigh connecting piece 32 is fixedly connected with a shell of the swing cylinder 40, rotors of the swing cylinder 40 are respectively fixedly connected with the connecting rod three 41 and the connecting rod five 43, the connecting rod three 41 is rotatably connected with the connecting rod four 42, the connecting rod five 43 is rotatably connected with the connecting rod six 44, the connecting rod five 43 and the connecting rod four 42 are respectively rotatably connected with the shank connecting piece 35, the shank connecting piece 35 is rotatably connected with the foot intermediate plate 39, the shank connecting piece, The foot middle plate 39 at the two ends of the shank cylinder II 46 is respectively and rotatably connected with a foot front side plate 38 and a foot rear side plate 49, the foot rear side plate 49 is respectively and fixedly connected with a foot cylinder I47 and a beriberi cylinder II 48, the foot cylinder I47 is rotatably connected with the foot front side plate 38 through a connecting rod I36, and the beriberi cylinder II 48 is rotatably connected with the foot front side plate 38 through a connecting rod II 37;

the chest connecting piece 50 is respectively and rotatably connected with a first big arm cylinder 51, a second big arm cylinder 52 and a third big arm cylinder 54 of the upper limb joint 1, the first big arm cylinder 51, the second big arm cylinder 52 and the third big arm cylinder 54 are respectively and rotatably connected with a middle big arm rod 53, the middle big arm rod 53 and the chest connecting piece 50 are rotatably connected, the middle big arm rod 53 is fixedly connected with an elbow joint connecting piece 55, the elbow joint connecting piece 55 is fixedly connected with a small arm connecting piece 60, the elbow joint connecting piece 55 is fixedly connected with a shell of an elbow joint pneumatic motor 56, a rotor of the elbow joint pneumatic motor 56 is fixedly connected with a connecting rod seven 57, the connecting rod seven 57 is rotatably connected with the connecting rod eight 58, the threaded connecting rod one 59, the connecting rod nine 61 and the wrist connecting piece 63 are sequentially and fixedly connected, the connecting rod nine 61 is fixedly connected with the threaded connecting rod two 62, the threaded connecting rod two 62 is rotatably connected with the small arm connecting piece 60, and the wrist connecting piece 63 is fixedly connected with the gas claw 64; the computer 65, the computer 65 is connected with an upper limb joint control system 66, a waist joint control system 67, and a lower limb joint control system 68, respectively.

The waist joint upper side plate 4, the waist joint middle plate 16 and the waist joint lower side plate 13 are respectively in a disc shape. The pneumatic muscle III 8, the pneumatic muscle IV 9 and the pneumatic muscle VIII 15 respectively penetrate through the waist joint middle plate 16, and the pneumatic muscle III 8, the pneumatic muscle IV 9 and the pneumatic muscle VIII 15 are uniformly distributed around the waist joint middle plate 16. Pneumatic muscle one 5, pneumatic muscle two 6 and pneumatic muscle seven 14 are evenly distributed around the waist joint upper side plate 4, pneumatic muscle five 11, pneumatic muscle six 12 and pneumatic muscle nine 17 are evenly distributed around the waist joint lower side plate 13, two ends of the upper side strut 7 are respectively located at the centers of the waist joint upper side plate 4 and the waist joint middle plate 16, and two ends of the lower side strut 10 are respectively located at the centers of the waist joint middle plate 16 and the waist joint lower side plate 13.

The swinging direction space of the second hip joint connector 22 is orthogonal to that of the fourth hip joint connector 26. The thigh cylinder I33 and the thigh cylinder II 34 are symmetrical about the central plane of the swing cylinder 40, the shank cylinder I45 and the shank cylinder II 46 are symmetrical about the central plane of the swing cylinder 40, and the beriberi cylinder I47 and the beriberi cylinder II 48 are symmetrical about the central plane of the swing cylinder 40.

The chest connector 50 is a hollow shell. The first large arm cylinder 51, the second large arm cylinder 52 and the third large arm cylinder 54 are crossed in space pairwise and are uniformly distributed around the middle rod 53 of the large arm. Two small arm connecting pieces 60 are provided, one end is fixed on the elbow joint connecting piece 55, the other end is respectively connected with two ends of a threaded connecting rod 62 in a rotatable way

The computer 65 is a controller, and the upper limb joint control system 66 respectively controls the first big arm cylinder 51, the second big arm cylinder 52, the third big arm cylinder 54, the elbow joint connecting piece 55 and the pneumatic claw 64; the lower limb joint control system 68 respectively controls the hip joint pneumatic motor I18, the hip joint pneumatic motor II 18-2, the hip joint pneumatic motor III 28, the swing cylinder 40, the thigh cylinder I33, the thigh cylinder II 34, the shank cylinder I45, the shank cylinder II 46, the beriberi cylinder I47 and the beriberi cylinder II 48; the waist joint control system 67 controls pneumatic muscle one 5, pneumatic muscle three 8, pneumatic muscle five 11, pneumatic muscle two 6, pneumatic muscle four 9, pneumatic muscle six 12, pneumatic muscle seven 14, pneumatic muscle eight 15, and pneumatic muscle nine 17, respectively.

A pneumatic-based profiling robot system mainly comprises upper limb joints 1, waist joints 2 and lower limb joints 3, wherein the number of the upper limb joints 1 and the number of the lower limb joints 3 are respectively 2, the structures of the two upper limb joints 1 are completely the same, and the structures of the two lower limb joints 3 are completely the same.

One end of the upper side strut 7 is rotatably connected with the waist joint upper side plate 4, the other end is fixedly connected with the waist joint middle plate 16, one end of the lower side strut 10 is rotatably connected with the waist joint middle plate 16, and the other end is fixedly connected with the waist joint lower side plate 13. Two ends of a pneumatic muscle III 8 are rotatably connected with a pneumatic muscle I5 and a pneumatic muscle V11 respectively, two ends of a pneumatic muscle IV 9 are rotatably connected with a pneumatic muscle II 6 and a pneumatic muscle VI 12 respectively, and two ends of a pneumatic muscle VIII 15 are rotatably connected with a pneumatic muscle VII 14 and a pneumatic muscle VII 17 respectively. The pneumatic muscles I5, the pneumatic muscles II 6 and the pneumatic muscles VII 14 are uniformly distributed on the circumference and are rotatably connected with the upper side plate 4 of the waist joint, and the pneumatic muscles V11, the pneumatic muscles VI 12 and the pneumatic muscles VII 17 are uniformly distributed on the circumference and are rotatably connected with the lower side plate 13 of the waist joint. The pneumatic muscle I5, the pneumatic muscle III 8 and the pneumatic muscle V11 form a branch chain I, the pneumatic muscle II 6, the pneumatic muscle IV 9 and the pneumatic muscle VI 12 form a branch chain II, and the pneumatic muscle VII 14, the pneumatic muscle VIII 15 and the pneumatic muscle VII 17 form a branch chain III; the first branch chain, the second branch chain and the third branch chain drive the relative rotation between the waist joint upper side plate 4 and the upper side strut 7, and between the lower side strut 10 and the waist joint middle plate 16 around the X axis and the Y axis.

The fifth hip joint connecting piece 27 is fixedly connected with the lower waist joint side plate 13, the shell of the third hip joint pneumatic motor 28 is fixedly connected with the fifth hip joint connecting piece 27, and the rotor of the third hip joint pneumatic motor 28 is fixedly connected with the third worm 30; the third worm wheel 29 and the fourth worm wheel 31 are rotatably connected with the fifth hip joint connecting piece 27, the third worm wheel 29 and the fourth worm wheel 31 are meshed with the third worm 30, and the third worm wheel 29 and the fourth worm wheel 31 drive the two single lower limbs to rotate around the Z axis respectively. The fourth worm wheel 31 is fixedly connected with the first hip joint connector 20, the shell of the first hip joint pneumatic motor 18 is fixedly connected with the first hip joint connector 20, and the first worm 19 is fixedly connected with the rotor of the first hip joint pneumatic motor 18 and is meshed with the first worm wheel 21; the first worm wheel 21 is rotatably connected with the first hip joint connecting piece 20, and the second hip joint connecting piece 22 is fixedly connected with the first worm wheel 21; the hip joint pneumatic motor I18 drives the worm wheel I21 to rotate around the X axis relative to the hip joint connecting piece I20 through the worm rod I19 and the worm wheel I21. The hip joint connecting piece II 22 is fixedly connected with the hip joint connecting piece III 25, the shell of the hip joint pneumatic motor II 18-2 is fixedly connected with the hip joint connecting piece III 25, the rotor of the hip joint pneumatic motor II 18-2 is fixedly connected with the worm II 23, the worm gear II 24 is rotatably connected with the hip joint connecting piece III 25, the hip joint connecting piece IV 26 is fixedly connected with the worm gear II 24, and the hip joint pneumatic motor II 18-2 drives the worm gear II 24 to rotate around the X axis relative to the hip joint connecting piece III 25 through the worm II 23 and the worm gear II 24.

The hip joint connector IV 26 is fixedly connected with a thigh connector 32, and the thigh connector 32 is rotatably connected with a shank connector 35; the swing cylinder 40 is fixedly connected with the thigh connecting piece 32, the connecting rod three 41 and the connecting rod five 43 are fixedly connected with the swing cylinder 40, the connecting rod five 43 is rotatably connected with the connecting rod six 44, the connecting rod three 41 is rotatably connected with the connecting rod four 42, and the swing cylinder 40 is rotatably connected with the shank connecting piece 35 through the connecting rod five 43, the connecting rod six 44, the connecting rod three 41 and the connecting rod four 42 in sequence in the positive and negative directions of the X axis. The thigh cylinder I33 and the thigh cylinder II 34 are used as active elements to drive the thigh connecting piece 32 and the shank connecting piece 35 to rotate around the X axis, the Y axis and the Z axis; the length of the thigh cylinder I33 and the length of the thigh cylinder II 34 are kept unchanged, and the swing cylinder 40 drives the thigh connecting piece 32 and the shank connecting piece 35 to rotate around the X axis and the Y axis relatively through the connecting rod five 43, the connecting rod six 44, the connecting rod three 41 and the connecting rod four 42. The shank connecting piece 35 is rotatably connected with the foot middle plate 39, and two ends of the shank air cylinder I45 and the shank air cylinder II 46 are respectively rotatably connected with the shank connecting piece 35 and the foot middle plate 39 to drive the shank connecting piece 35 and the foot middle plate 39 to rotate around an X axis, a Y axis and a Z axis. The two ends of the foot middle plate 39 are respectively connected with the foot front side plate 38 and the foot rear side plate 49 in a rotatable manner, the beriberi cylinder I47 and the beriberi cylinder II 48 are simultaneously fixedly connected with the foot rear side plate 49, and the beriberi cylinder I47 and the beriberi cylinder II 48 are respectively connected with the foot front side plate 38 in a rotatable manner through the connecting rod I36 and the connecting rod II 37; the foot cylinder I47 and the beriberi cylinder II 48 drive the foot front side plate 38, the foot middle plate 39 and the foot rear side plate 49 to rotate relatively around an X axis.

The chest connecting piece 50 is fixedly connected with the waist joint upper side plate 4, the large arm middle rod 53 is rotatably connected with the chest connecting piece 50, and two ends of the large arm cylinder I51, the large arm cylinder II 52 and the large arm cylinder III 54 are respectively rotatably connected with the chest connecting piece 50 and the large arm middle rod 53 to drive the large arm middle rod 53 to rotate around the X axis and the Y axis relative to the chest connecting piece 50.

The elbow joint connecting piece 55 is fixedly connected with the upper arm middle rod 53, the small arm connecting piece 60 is fixedly connected with the elbow joint connecting piece 55, the shell of the elbow joint pneumatic motor 56 is fixedly connected with the elbow joint connecting piece 55, and the rotor of the elbow joint pneumatic motor 56 is connected with the wrist connecting piece 63 through a connecting rod seven 57, a connecting rod eight 58, a threaded connecting rod one 59 and a connecting rod nine 61 in sequence. One end of a connecting rod seven 57 is fixedly connected with a rotor of the elbow joint pneumatic motor 56, the other end of the connecting rod seven 57 is rotatably connected with a connecting rod eight 58, two ends of a threaded connecting rod one 59 are fixedly connected with a connecting rod eight 58 and a connecting rod nine 61 respectively, the connecting rod nine 61 is fixedly connected with a threaded connecting rod two 62 and a wrist connecting piece 63, the threaded connecting rod two 62 is rotatably connected with a forearm connecting piece 60, and the wrist connecting piece 63 is fixedly connected with an air claw 64. The elbow joint pneumatic motor 56 drives the small arm connecting piece 60 and the wrist connecting piece 63 to relatively rotate around the Y axis through a connecting rod seven 57, a connecting rod eight 58, a threaded connecting rod one 59 and a connecting rod nine 61; the gas claw 64 has rotation about the X-axis and linear motion along the Y-axis and Z-axis.

The computer 65 communicates with the upper limb joint control system 66, the waist joint control system 67, and the lower limb joint control system 68 via an upper computer program and kinematics, dynamics, and controller, and further controls the upper limb joint 1, the waist joint 2, and the lower limb joint 3.

The upper limb joint control system 66, the waist joint control system 67 and the lower limb joint control system 68 control the high-speed switch valve or the pneumatic proportional pressure valve to inflate or deflate each pneumatic muscle, so as to realize that each joint of the robot and the whole robot move to a preset pose.

According to the invention, the control of the pose of the pneumatic-based profiling robot system is realized by controlling the air cylinders, the pneumatic muscles and the pneumatic motors of all joints, the action of a human can be simulated dynamically and vividly, and the accurate track control can be realized.

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 (10)

1. A pneumatic-based replica robotic system, comprising:

the waist joint (2), the two sides of the waist joint (2) are respectively provided with upper limb joints (1) which are mirror images of each other, and the lower parts of the waist joint (2) are respectively provided with lower limb joints (3) which are mirror images of each other;

chest connecting piece (50) fixed connection waist joint epipleural (4) of waist joint (2), waist joint epipleural (4) rotatable coupling goes up collateral branch post (7), upside pillar (7) fixed connection waist joint intermediate lamella (16), waist joint intermediate lamella (16) rotatable coupling downside pillar (10), downside pillar (10) fixed connection waist joint lower plate (13), waist joint epipleural (4), pneumatic muscle one (5), pneumatic muscle three (8), pneumatic muscle five (11), waist joint lower plate (13) rotatable coupling in proper order, waist joint epipleural (4), pneumatic muscle two (6), pneumatic muscle four (9), pneumatic muscle six (12), waist joint lower plate (13) rotatable coupling in proper order, waist joint epipleural (4), pneumatic muscle seven (14) upper plate, The pneumatic muscle eight (15), the pneumatic muscle nine (17) and the lower side plate (13) of the waist joint are sequentially and rotatably connected;

a hip joint connecting piece five (27) of the lower limb joint (3) is fixedly connected with a waist joint lower side plate (13), the hip joint connecting piece five (27) is fixedly connected with a shell of a hip joint pneumatic motor three (28), a rotor of the hip joint pneumatic motor three (28) is fixedly connected with a worm three (30), the worm three (30) is respectively meshed with a worm wheel three (29) and a worm wheel four (31), the worm wheel three (29) and the worm wheel four (31) are respectively rotatably connected with the hip joint connecting piece five (27), the worm wheel four (31) or the worm wheel three (29) is respectively fixedly connected with a hip joint connecting piece one (20), the hip joint connecting piece one (20) is fixedly connected with the shell of the hip joint pneumatic motor one (18), a rotor of the hip joint pneumatic motor one (18) is fixedly connected with a worm one (19), and the worm one (19) is meshed with a worm wheel one (21), the first worm wheel (21) is rotatably connected with the first hip joint connecting piece (20), the first worm wheel (21) is fixedly connected with the second hip joint connecting piece (22), the second hip joint connecting piece (22) is fixedly connected with the third hip joint connecting piece (25), the third hip joint connecting piece (25) is fixedly connected with a shell of the second hip joint pneumatic motor (18-2), a rotor of the second hip joint pneumatic motor (18-2) is fixedly connected with the second worm (23), the third hip joint connecting piece (25) is rotatably connected with the second worm wheel (24), the second worm wheel (24) is fixedly connected with the fourth hip joint connecting piece (26), the fourth hip joint connecting piece (26) is fixedly connected with the thigh connecting piece (32), the thigh connecting piece (32) is rotatably connected with the shank connecting piece (35), and the thigh connecting piece (32) is fixedly connected with the shell of the swing cylinder (40), the rotor of the swing cylinder (40) is respectively fixedly connected with a connecting rod three (41) and a connecting rod five (43), the connecting rod three (41) is rotatably connected with a connecting rod four (42), the connecting rod five (43) is rotatably connected with a connecting rod six (44), the connecting rod five (43) and the connecting rod four (42) are respectively rotatably connected with a shank connecting piece (35), the shank connecting piece (35) is rotatably connected with a foot intermediate plate (39), the shank connecting piece (35) and the foot intermediate plate (39) are respectively rotatably connected with two ends of a shank cylinder I (45) and a shank cylinder II (46), the foot intermediate plate (39) is respectively rotatably connected with a foot front side plate (38) and a foot rear side plate (49), the foot rear side plate (49) is respectively fixedly connected with a foot cylinder I (47) and a foot cylinder II (48), the foot cylinder I (47) is rotatably connected with a foot front side plate (38) through a connecting rod I (36), the second foot cylinder (48) is rotatably connected with the front foot side plate (38) through a second connecting rod (37);

chest connecting piece (50) is rotatable coupling upper limbs cylinder one (51), big arm cylinder two (52), big arm cylinder three (54) of joint (1) respectively, big arm cylinder one (51), big arm cylinder two (52), big arm cylinder three (54) are rotatable coupling big arm intermediate lever (53) respectively, big arm intermediate lever (53) and chest connecting piece (50) rotatable coupling, big arm intermediate lever (53) fixed connection elbow joint connecting piece (55), elbow joint connecting piece (55) fixed connection forearm connecting piece (60), the casing of elbow joint connecting piece (55) fixed connection elbow joint pneumatic motor (56), the rotor fixed connection connecting rod seven (57) of elbow joint pneumatic motor (56), connecting rod seven (57) rotatable connection connecting rod eight (58), threaded connection rod one (59), A connecting rod nine (61) and a wrist connecting piece (63) are fixedly connected in sequence, the connecting rod nine (61) is fixedly connected with a threaded connecting rod II (62), the threaded connecting rod II (62) is rotatably connected with a small arm connecting piece (60), and the wrist connecting piece (63) is fixedly connected with a pneumatic claw (64);

and the computer (65), wherein the computer (65) is respectively connected with an upper limb joint control system (66), a waist joint control system (67) and a lower limb joint control system (68).

2. The pneumatic-based replica robot system of claim 1, wherein said waist joint upper plate (4), waist joint middle plate (16), waist joint lower plate (13) are each disc-shaped.

3. The pneumatic-based replica robot system of claim 1, wherein the pneumatic muscles three (8), four (9) and eight (15) respectively pass through the waist joint middle plate (16), and the pneumatic muscles three (8), four (9) and eight (15) are uniformly distributed around the waist joint middle plate (16).

4. The pneumatic-based profiling robot system according to claim 1, wherein the pneumatic muscles I (5), II (6) and VII (14) are uniformly distributed around the waist joint upper side plate (4), the pneumatic muscles V (11), VI (12) and IX (17) are uniformly distributed around the waist joint lower side plate (13), two ends of the upper side strut (7) are respectively located at the centers of the waist joint upper side plate (4) and the waist joint middle plate (16), and two ends of the lower side strut (10) are respectively located at the centers of the waist joint middle plate (16) and the waist joint lower side plate (13).

5. The pneumatic-based robotic replica system of claim 1 wherein the direction of oscillation of the hip joint connection two (22) and hip joint connection four (26) are spatially orthogonal.

6. The pneumatic-based replica robot system of claim 1, wherein the thigh cylinder I (33) and the thigh cylinder II (34) are symmetrical about a central plane of the swing cylinder (40), the shank cylinder I (45) and the shank cylinder II (46) are symmetrical about a central plane of the swing cylinder (40), and the foot cylinder I (47) and the beriberi cylinder II (48) are symmetrical about a central plane of the swing cylinder (40).

7. The pneumatic-based replica robotic system of claim 1, wherein said chest link (50) is a hollow housing.

8. The pneumatic-based profiling robot system according to claim 1, wherein the first large arm cylinder (51), the second large arm cylinder (52) and the third large arm cylinder (54) are spatially intersected in pairs and uniformly distributed around the middle rod (53) of the large arm.

9. The pneumatic-based profiling robot system according to claim 1, wherein the number of the small arm connecting pieces (60) is two, one end of each small arm connecting piece is fixed on the elbow joint connecting piece (55), and the other end of each small arm connecting piece is rotatably connected with two ends of the threaded connecting rod two (62).

10. The pneumatic-based replica robot system of claim 1, wherein said computer (65) is a controller, and said upper limb joint control system (66) controls said upper limb cylinder one (51), said upper limb cylinder two (52), said upper limb cylinder three (54), said elbow joint connector (55), said air gripper (64);

the lower limb joint control system (68) respectively controls a hip joint pneumatic motor I (18), a hip joint pneumatic motor II (18-2), a hip joint pneumatic motor III (28), a swing cylinder (40), a thigh cylinder I (33), a thigh cylinder II (34), a shank cylinder I (45), a shank cylinder II (46), a beriberi cylinder I (47) and a beriberi cylinder II (48);

the waist joint control system (67) respectively controls the pneumatic muscle I (5), the pneumatic muscle III (8), the pneumatic muscle V (11), the pneumatic muscle II (6), the pneumatic muscle IV (9), the pneumatic muscle VI (12), the pneumatic muscle VII (14), the pneumatic muscle VIII (15) and the pneumatic muscle VIII (17).

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