CN112775950A - Humanoid robot based on pneumatics - Google Patents

Abstract

The invention relates to a pneumatic-based humanoid robot, which uses pneumatic muscles to simulate the muscles of a human to drive the movement of hip joints, knee joints, ankle joints, waist joints, shoulder joints, elbow joints and wrist joints, and has the function of completely simulating the joint movement of the human. The humanoid robot based on pneumatics mainly comprises pelvis, ribs, vertebrae, pneumatic muscles, belt wheels, pneumatic claws, connecting pieces and a joint control system. The skeleton of the waist joint is constructed by vertebrae, ribs, a chest knot component and pelvis, and long pneumatic muscles, middle pneumatic muscles and short pneumatic muscles drive the waist joint to move together; the combination of single-joint pneumatic muscles and multi-joint pneumatic muscles in the joints of the lower limbs and the cross combination of the multi-joint pneumatic muscles and the multi-joint pneumatic muscles drive the joints of the lower limbs to move. The pneumatic muscle training device is driven by pneumatic muscles, has the characteristics of compact structure, good flexibility and various pneumatic muscle states, and can be used for teaching and demonstration.

Description

Humanoid robot based on pneumatics

Technical Field

The invention relates to the technical field of robot equipment, in particular to a pneumatic-based humanoid robot which is compact in structure, good in flexibility and various in pneumatic muscle state.

Background

The soft robot is a novel soft robot, can adapt to various unstructured environments, can realize flexible bending and torsion, and can not generate great impact even if being impacted by the outside, so the soft robot is a hotspot for the research in the field of robots in recent years.

At present, most of soft robots are designed to imitate various organisms in the nature, and pneumatic muscles have characteristics of equal pressure, equal tension and equal length due to the characteristics similar to the muscles of people; the pneumatic muscle can be better applied to the design of the soft robot because the pneumatic muscle can absorb oxygen of the body and discharge carbon dioxide in the movement process and the pneumatic muscle realizes the action by controlling the pneumatic valve to inflate and deflate.

CN110936367B, application No.: 201911082363.3, filing date: 2019-11-07 discloses a pneumatic humanoid robot system which drives the movements of hip joints, knee joints, foot joints, waist joints, shoulder joints, elbow joints and wrist joints of a humanoid robot by cylinders 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, filing date: 2019-10-18, which discloses 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 muscle and spring combination bodies, so that the humanoid robot system has the function of completely simulating the 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. CN110561457B, application No.: 201910890458.1, filing date: 2019-09-20, which discloses 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.

CN110936367B, CN110682305B and CN110561457B respectively design rigid humanoid robot joints.

CN108466256B, application No.: 201810344584.2, filing date: 2018-04-17, which discloses a humanoid robot system based on pneumatic muscles and cylinders, wherein the pneumatic muscles and cylinders are used for driving the movements of shoulder joints, elbow joints, waist joints, hip joints, knee joints and ankle joints of the humanoid robot, and the robot mainly comprises a skull, vertebrae, ribs, humerus, radius, fixing parts, thighbones, fibulas, pneumatic muscles, cylinders and feet. The shoulder joint, the elbow joint, the waist joint, the hip joint, the knee joint and the ankle joint have 3 degrees of freedom, 4 degrees of freedom, 3 degrees of freedom and 4 degrees of freedom respectively, the whole system has 34 degrees of freedom, wherein the shoulder joint is distributed and drives the shoulder joint in a flexible redundant mode by 9 pneumatic muscles from vertebrae, the shank joint is formed by a parallel mechanism which is uniformly distributed with three cylinders at the periphery and supported by one cylinder in the middle, and free switching of rotation and movement is realized. Only a single flexible parallel joint and a single rigid parallel-series humanoid robot joint are designed, and the joints are driven only in a mode that the execution elements are connected in parallel, so that the motion characteristics of human joint muscles cannot be reflected relatively truly.

There is a need for a pneumatically-based humanoid robot having a compact structure, good flexibility, and multiple pneumatic muscle states.

Disclosure of Invention

The invention aims to provide a pneumatic-based humanoid robot which is compact in structure, good in flexibility and diverse in pneumatic muscle state.

A pneumatically based humanoid robot comprising:

the camera is rotatably connected to a waist joint, two sides of the waist joint are rotatably connected with upper limb joints which are mirror images of each other, lower limb joints which are mirror images of each other are rotatably connected below the waist joint, the camera and the waist joint are connected with each other, the upper limb joints and the waist joint are respectively connected by a pneumatic motor, a shell of the pneumatic motor is respectively fixed on the waist joint, and a rotor of the pneumatic motor is respectively fixed with the camera and the upper limb joints;

the lumbar joint comprises a chest knot component, a first vertebra, a second vertebra, a third vertebra, a fourth vertebra, a fifth vertebra, a sixth vertebra, a seventh vertebra, an eighth vertebra and a pelvis of the lumbar joint, wherein the chest knot component, the first vertebra, the second vertebra, the third vertebra, the fourth vertebra, the fifth vertebra, the seventh vertebra and the pelvis are sequentially and rotatably connected from top to bottom, the second vertebra is fixedly connected with the first rib, the fourth vertebra is fixedly connected with the second rib, the fifth vertebra is fixedly connected with the third rib, the eighth vertebra is fixedly connected with the fourth rib, the chest knot component and the pelvis are respectively and rotatably connected with two ends of a first long pneumatic muscle, a second long pneumatic muscle, a third long pneumatic muscle and a fourth long pneumatic muscle, the fifth long pneumatic muscle, the sixth pneumatic muscle, the seventh long pneumatic muscle and the eighth muscle are respectively and rotatably connected between the first rib and the fourth rib, and a first pneumatic muscle, a second pneumatic muscle, a third pneumatic muscle, a middle pneumatic muscle, a fifth muscle, a, The middle pneumatic muscle is six, the middle pneumatic muscle is seven, and the middle pneumatic muscle is eight, two ends of a short pneumatic muscle I, a short pneumatic muscle II, a short pneumatic muscle III, a short pneumatic muscle IV, a short pneumatic muscle IX, a short pneumatic muscle VIII, and a short pneumatic muscle twelfth are respectively and rotatably connected between the rib II and the chest knot component, and a short pneumatic muscle V, a short pneumatic muscle VI, a short pneumatic muscle VII, a short pneumatic muscle VIII, a short pneumatic muscle thirteen, a short pneumatic muscle fourteen, a short pneumatic muscle fifteen, and a short pneumatic muscle sixteen are respectively and rotatably connected between the rib III and the pelvis;

the first thigh section and the pelvis rotatable connection of the lower limb joint, the first thigh section is respectively fixedly connected with a first pneumatic muscle connecting plate and a second thigh section, the second thigh section is rotatably connected with a first shank section, the first shank section is respectively fixedly connected with a second pneumatic muscle connecting plate and a second shank section, the second shank section is rotatably connected with feet, the first pelvis is connected with the first pneumatic muscle connecting plate in a rotatable manner, the second thigh pneumatic muscle, the third thigh pneumatic muscle and the fourth shank pneumatic muscle are respectively connected with two ends of the first pneumatic muscle, the second shank pneumatic muscle, the third shank pneumatic muscle and the fourth shank pneumatic muscle are respectively connected between the second feet and the pneumatic muscle connecting plates in a rotatable manner, and the fifth thigh pneumatic muscle, the sixth thigh pneumatic muscle, the fifth thigh pneumatic muscle, the sixth pneumatic muscle, the fifth pneumatic muscle, the pneumatic muscle connecting plate I and the foot are respectively and rotatably connected with two ends of a calf pneumatic muscle five, a calf pneumatic muscle six, a calf pneumatic muscle seven and a calf pneumatic muscle eight;

the shoulder joint connecting piece of the upper limb joint passes through the chest node component of pneumatic motor rotatable connection waist joint, shoulder joint connecting piece rotatable coupling threaded rod one, threaded rod one is fixed connection big arm intermediate lever, band pulley one, band pulley three respectively, big arm intermediate lever and two rotatable couplings of threaded rod, big arm intermediate lever is fixed connection band pulley two, band pulley four, elbow joint connecting rod respectively, band pulley one and two both ends that mesh big arm pneumatic muscle one, big arm pneumatic muscle two respectively of band pulley three and band pulley four mesh big arm pneumatic muscle three, big arm pneumatic muscle four both ends respectively, elbow joint connecting rod fixed connection forearm connecting plate, forearm connecting plate rotatable connection forearm pneumatic muscle one, forearm pneumatic muscle two, forearm pneumatic muscle three respectively, forearm pneumatic muscle one, forearm pneumatic muscle two, The forearm pneumatic muscle III is respectively and rotatably connected with a wrist joint connecting plate, and the wrist joint connecting plate is fixedly connected with a pneumatic claw;

the myoelectric signal acquisition system is respectively connected with the upper limb joint control system, the waist joint control system and the lower limb joint control system.

The chest knot component is hollow, and the cross section is inverted trapezoid.

The first rib, the second rib, the third rib and the fourth rib are rectangular rings respectively.

The long pneumatic muscle I, the long pneumatic muscle II, the long pneumatic muscle III and the long pneumatic muscle IV are respectively positioned at the outer sides of the rib I, the rib II, the rib III and the rib IV, the long pneumatic muscle I, the long pneumatic muscle II, the long pneumatic muscle III and the long pneumatic muscle IV are respectively positioned at the periphery of the chest knot component and the pelvis, and the long pneumatic muscle V, the long pneumatic muscle VI, the long pneumatic muscle VII and the long pneumatic muscle VIII are arranged in groups and are respectively positioned at the inner sides of the rib I, the rib II, the rib III and the rib IV.

The middle pneumatic muscle I, the middle pneumatic muscle II, the middle pneumatic muscle III and the middle pneumatic muscle IV are arranged on the left sides of the rib I and the rib IV in groups, the middle pneumatic muscle V, the middle pneumatic muscle VI, the middle pneumatic muscle VII and the middle pneumatic muscle VIII are arranged on the right sides of the rib I and the rib IV in groups, the middle pneumatic muscle I, the middle pneumatic muscle II, the middle pneumatic muscle III, the middle pneumatic muscle IV, the middle pneumatic muscle V, the middle pneumatic muscle VI, the middle pneumatic muscle VII and the middle pneumatic muscle VIII are respectively arranged on the outer sides of the rib II and the rib III, the short pneumatic muscle I, the short pneumatic muscle II, the short pneumatic muscle III and the short pneumatic muscle IV are arranged on the left sides of the bottom of the rib II and the chest node component in groups, the short pneumatic muscle III and the short pneumatic muscle twelve are arranged on the right sides of the bottom of the rib II and the chest node component in groups, the short pneumatic muscles I, the short pneumatic muscles II, the short pneumatic muscles III, the short pneumatic muscles IV, the short pneumatic muscles Jiu, the short pneumatic muscles Ten, the short pneumatic muscles eleven and the short pneumatic muscles twelve are respectively arranged on the inner sides of the ribs I, the short pneumatic muscles V, the short pneumatic muscles VI, the short pneumatic muscles VII and the short pneumatic muscles VIII are arranged on the left sides of the rib III and the upper part of the pelvis in groups, the short pneumatic muscles thirteen, the short pneumatic muscles fourteen, the short pneumatic muscles fifteen and the short pneumatic muscles sixteen are arranged on the right sides of the rib III and the upper part of the pelvis in groups, and the short pneumatic muscles V, the short pneumatic muscles VI, the short pneumatic muscles VII, the short pneumatic muscles VIII, the short pneumatic muscles thirteen, the short pneumatic muscles fourteen, the short pneumatic muscles fifteen and the short pneumatic muscles sixteen are respectively arranged on the inner sides of the rib IV.

The pneumatic muscle connecting plate I and the pneumatic muscle connecting plate II are respectively in a cross shape.

The pneumatic thigh muscle I, the pneumatic thigh muscle II, the pneumatic thigh muscle III and the pneumatic thigh muscle IV are respectively positioned around the first thigh section, the pneumatic calf muscle I, the pneumatic calf muscle II, the pneumatic calf muscle III and the pneumatic calf muscle IV are respectively positioned around the second calf section, the pneumatic thigh muscle V, the pneumatic thigh muscle VI, the pneumatic thigh muscle VII and the pneumatic thigh muscle VIII are respectively positioned around the first thigh section, and the pneumatic calf muscle V, the pneumatic calf muscle VI, the pneumatic calf muscle VII and the pneumatic calf muscle VIII are respectively positioned around the pneumatic muscle connecting plate I and the foot.

The forearm connecting plate and the wrist joint connecting plate are respectively disc-shaped.

The first forearm pneumatic muscle, the second forearm pneumatic muscle and the third forearm pneumatic muscle are uniformly distributed around the forearm connecting plate and the wrist joint connecting plate respectively.

The electromyographic signal acquisition system is a controller, and the upper limb joint control system respectively controls a first large-arm pneumatic muscle, a second large-arm pneumatic muscle, a third large-arm pneumatic muscle, a fourth large-arm pneumatic muscle, a first small-arm pneumatic muscle, a second small-arm pneumatic muscle, a third small-arm pneumatic muscle and an air claw;

the waist joint control system respectively controls the pneumatic motor at the camera, the pneumatic motor at the upper limb joint and the waist joint, the long pneumatic muscle I, the long pneumatic muscle II, the long pneumatic muscle III, the long pneumatic muscle IV, the long pneumatic muscle V, the long pneumatic muscle VI, the long pneumatic muscle VII, the long pneumatic muscle VIII, the middle pneumatic muscle I, the middle pneumatic muscle II, the middle pneumatic muscle III, the middle pneumatic muscle IV, the middle pneumatic muscle V, the middle pneumatic muscle VI, the middle pneumatic muscle VII, the middle pneumatic muscle VIII, the short pneumatic muscle I, the short pneumatic muscle II, the short pneumatic muscle III, the short pneumatic muscle IV, the short pneumatic muscle VIII, the short pneumatic muscle VII, the short pneumatic muscle fifteen, the short pneumatic muscle VIII, the air-blood vessel, the apparatus, the medical instrument, the, Sixteen short pneumatic muscles;

the lower limb joint control system respectively controls a first thigh pneumatic muscle, a second thigh pneumatic muscle, a third thigh pneumatic muscle, a fourth thigh pneumatic muscle, a first shank pneumatic muscle, a second shank pneumatic muscle, a third shank pneumatic muscle, a fourth shank pneumatic muscle, a fifth thigh pneumatic muscle, a sixth thigh pneumatic muscle, a seventh thigh pneumatic muscle, an eighth thigh pneumatic muscle, a fifth shank pneumatic muscle, a sixth shank pneumatic muscle, a seventh shank pneumatic muscle and an eighth shank pneumatic muscle.

The invention discloses a pneumatic-based humanoid robot, which uses pneumatic muscles to simulate the muscles of a human to drive the movement of hip joints, knee joints, ankle joints, waist joints, shoulder joints, elbow joints and wrist joints, and has the function of completely simulating the joint movement of the human. The humanoid robot based on pneumatics mainly comprises pelvis, ribs, vertebrae, pneumatic muscles, belt wheels, pneumatic claws, connecting pieces and a joint control system. The skeleton of the waist joint is constructed by vertebrae, ribs, a chest knot component and pelvis, and long pneumatic muscles, middle pneumatic muscles and short pneumatic muscles drive the waist joint to move together; the combination of single-joint pneumatic muscles and multi-joint pneumatic muscles in joints of the lower limbs and the cross combination of the multi-joint pneumatic muscles and the multi-joint pneumatic muscles drive the joints of the lower limbs to move; the multi-joint pneumatic muscles in the upper limb joint form antagonistic muscles to drive the shoulder joint and the elbow joint to move, and the wrist joint is driven by the parallel pneumatic muscles. The pneumatic muscle training device is driven by pneumatic muscles, has the characteristics of compact structure, good flexibility and various pneumatic muscle states, and can be used for teaching and demonstration.

The invention has the beneficial effects that:

1. the invention utilizes a plurality of single joints and a plurality of multi-joint pneumatic muscles to drive the joints to form the flexible redundant hybrid robot joint, and can simultaneously realize the movement of the joints in a plurality of directions;

2. the pneumatic muscle driving device has the advantages of large power/mass ratio, good flexibility, compact structure and the like by utilizing pneumatic muscle driving;

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, 1 degree of freedom and 5 degrees of freedom, can vividly simulate various actions realized by all joints of a human body, and are beneficial to understanding of the human body structure and the action of each muscle of the human body in joint movement.

Drawings

FIG. 1 is a mechanical structure diagram of a pneumatic-based humanoid robot;

FIG. 2 is a view of the overall mechanical structure of the waist joint of the pneumatic humanoid robot;

FIG. 3 is a mechanical structure diagram of a waist joint skeleton of a pneumatic-based humanoid robot;

FIG. 4 is a mechanical structure diagram of long pneumatic muscles on two sides of a waist joint of a pneumatic-based humanoid robot;

FIG. 5 is a mechanical structure diagram of a middle long pneumatic muscle of a waist joint of a pneumatic-based humanoid robot;

FIG. 6 is a pneumatic muscle mechanical structure diagram in the waist joint of the pneumatic-based humanoid robot;

FIG. 7 is a diagram of a pneumatic-based robot waist joint short pneumatic muscle mechanism;

FIG. 8 is a mechanical structure diagram of a pneumatic humanoid robot with two lower limbs;

FIG. 9 is a mechanical diagram of a single lower limb of a pneumatic-based humanoid robot;

FIG. 10 is a pneumatic-based humanoid robot thigh and shank single joint pneumatic muscle mechanical structure diagram;

FIG. 11 is a mechanical structure diagram of thigh multi-joint pneumatic muscles of a pneumatic-based humanoid robot;

FIG. 12 is a pneumatic-based multi-joint pneumatic muscle mechanical structure diagram of a crus of a humanoid robot;

FIG. 13 is a mechanical block diagram of a single upper limb of a pneumatically operated humanoid robot;

FIG. 14 is a block schematic diagram of a pneumatically based humanoid robot control system;

in the figure: the device comprises a camera 1, an upper limb joint 2, a waist joint 3, a lower limb joint 4, a first rib 5, a second rib 6, a third rib 7, a fourth rib 8, a chest knot component 9, a first vertebra 10, a second vertebra 11, a third vertebra 12, a fourth vertebra 13, a fifth vertebra 14, a sixth vertebra 15, a seventh vertebra 16, a eighth vertebra 17, a pelvis 18, a first long pneumatic muscle 19, a second long pneumatic muscle 20, a third long pneumatic muscle 21, a fourth long pneumatic muscle 22, a fifth long pneumatic muscle 23, a sixth long pneumatic muscle 24, a seventh long pneumatic muscle 25, a eighth long pneumatic muscle 26, a first middle pneumatic muscle 27, a second middle pneumatic muscle 28, a third middle pneumatic muscle 29, a fourth middle pneumatic muscle 30, a fifth middle pneumatic muscle 31, a sixth middle pneumatic muscle 32, a seventh middle pneumatic muscle 33, an eighth middle pneumatic muscle 34, a first short pneumatic muscle 35, a second short pneumatic muscle 36, a third short pneumatic muscle 37, a fourth short pneumatic muscle 38, a fifth short pneumatic muscle 39, a fifth pneumatic muscle 39, a long pneumatic muscle 19, a long, Six short pneumatic muscles 40, seven short pneumatic muscles 41, eight short pneumatic muscles 42, nine short pneumatic muscles 43, ten short pneumatic muscles 44, eleven short pneumatic muscles 45, twelve short pneumatic muscles 46, thirteen short pneumatic muscles 47, fourteen short pneumatic muscles 48, fifteen short pneumatic muscles 49, sixteen short pneumatic muscles 50, first thigh pneumatic muscles 51, second thigh pneumatic muscles 52, first thigh section 53, first pneumatic muscle connecting plate 54, first shank pneumatic muscles 55, second shank pneumatic muscles 56, feet 57, third thigh pneumatic muscles 58, fourth thigh pneumatic muscles 59, second thigh section 60, first shank section 61, second pneumatic muscle connecting plate 62, second shank section 63, third shank pneumatic muscles 64, fourth shank pneumatic muscles 65, fifth thigh pneumatic muscles 66, six thigh pneumatic muscles 67, seven thigh pneumatic muscles 68, eight thigh pneumatic muscles 69, five calf pneumatic muscles 70, five thigh muscles 70, five pneumatic muscles 70, Six pneumatic muscles of the lower leg 71, seven pneumatic muscles of the lower leg 72, eight pneumatic muscles of the lower leg 73, shoulder joint connecting pieces 74, belt wheels 75, large arm pneumatic muscles 76, large arm pneumatic muscles 77, large arm middle rods 78, threaded rods 78-2, belt wheels 79, elbow joint connecting rods 80, threaded rods 80-2, small arm connecting plates 81, small arm pneumatic muscles 82, small arm pneumatic muscles 83, wrist joint connecting plates 84, pneumatic claws 85, belt wheels 86, large arm pneumatic muscles 87, large arm pneumatic muscles 88, belt wheels 89, small arm pneumatic muscles 90, myoelectric signal acquisition systems 91, upper limb joint control systems 92, waist joint control systems 93 and lower limb joint control systems 94.

Detailed Description

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

A pneumatically based humanoid robot comprising: the device comprises a camera 1, wherein the camera 1 is rotatably connected to a waist joint 3, two sides of the waist joint 3 are rotatably connected with upper limb joints 2 which are mirror images of each other, a lower limb joint 4 which is mirror images of each other is rotatably connected below the waist joint 3, the camera 1 is connected with the waist joint 3, the upper limb joints 2 are connected with the waist joint 3 through pneumatic motors respectively, shells of the pneumatic motors are fixed on the waist joint 3 respectively, and rotors of the pneumatic motors are fixed with the camera 1 and the upper limb joints 2 respectively;

the chest knot component 9, the first vertebra 10, the second vertebra 11, the third vertebra 12, the fourth vertebra 13, the fifth vertebra 14, the sixth vertebra 15, the seventh vertebra 16, the eighth vertebra 17 and the pelvis 18 of the waist joint 3 are sequentially and rotatably connected from top to bottom, the second vertebra 11 is fixedly connected with the first rib 5, the fourth vertebra 13 is fixedly connected with the second rib 6, the fifth vertebra 14 is fixedly connected with the third rib 7, the eighth vertebra 17 is fixedly connected with the fourth rib 8, the first long pneumatic muscle 19, the second long pneumatic muscle 20, the third long pneumatic muscle 21 and the fourth long pneumatic muscle 22 are respectively and rotatably connected between the chest knot component 9 and the pelvis 18, the fifth long pneumatic muscle 23, the sixth long pneumatic muscle 24, the seventh long pneumatic muscle 25, the eighth long rib pneumatic muscle 26 and the first pneumatic muscle 27, the second middle pneumatic muscle 28, the fifth pneumatic muscle 28, the sixth vertebra 5 and the fourth rib 8 are respectively and rotatably connected between the chest knot component 9 and the pelvis 18, Middle pneumatic muscle three 29, middle pneumatic muscle four 30, middle pneumatic muscle five 31, middle pneumatic muscle six 32, middle pneumatic muscle seven 33, middle pneumatic muscle eight 34, short pneumatic muscle three 37, short pneumatic muscle four 38, short pneumatic muscle nine 43, short pneumatic muscle ten 44, short pneumatic muscle eleven 45, two ends of short pneumatic muscle twelve 46, short pneumatic muscle five 39, short pneumatic muscle six 40, short pneumatic muscle seven 41, short pneumatic muscle eight 42, short pneumatic muscle thirteen 47, short pneumatic muscle fourteen 48, short pneumatic muscle fifteen 49, short pneumatic muscle sixteen 50;

a first thigh section 53 of the lower limb joint 4 is rotatably connected with the pelvis 18, the first thigh section 53 is fixedly connected with a first pneumatic muscle connecting plate 54 and a second thigh section 60 respectively, the second thigh section 60 is rotatably connected with a first calf section 61, the first calf section 61 is fixedly connected with a second pneumatic muscle connecting plate 62 and a second calf section 63 respectively, the second calf section 63 is rotatably connected with the foot 57, the pelvis 18 and the first pneumatic muscle connecting plate 54 are rotatably connected with the two ends of a first thigh pneumatic muscle 51, a second thigh pneumatic muscle 52, a third thigh pneumatic muscle 58 and a fourth thigh pneumatic muscle 59 respectively, the foot 57 and the second pneumatic muscle connecting plate 62 are rotatably connected with the two ends of a first calf pneumatic muscle 55, a second calf pneumatic muscle 56, a third calf pneumatic muscle 64 and a fourth calf pneumatic muscle 65 respectively, and a fifth pneumatic muscle 66 are rotatably connected between the pelvis 18 and the second pneumatic muscle connecting plate 62 respectively, Two ends of a thigh pneumatic muscle six 67, a thigh pneumatic muscle seven 68 and a thigh pneumatic muscle eight 69, and two ends of a shank pneumatic muscle five 70, a shank pneumatic muscle six 71, a shank pneumatic muscle seven 72 and a shank pneumatic muscle eight 73 are respectively and rotatably connected between the pneumatic muscle connecting plate one 54 and the foot 57;

the shoulder joint connecting piece 74 of the upper limb joint 2 is rotatably connected with the chest knot component 9 of the waist joint 3 through a pneumatic motor, the shoulder joint connecting piece 74 is rotatably connected with a first threaded rod 78-2, the first threaded rod 78-2 is respectively and fixedly connected with a first upper arm middle rod 78, a first belt wheel 75 and a third belt wheel 86, the first upper arm middle rod 78 and a second threaded rod 80-2 are rotatably connected, the first upper arm middle rod 78 is respectively and fixedly connected with a second belt wheel 79, a fourth belt wheel 89 and an elbow joint connecting rod 80, the first belt wheel 75 and the second belt wheel 79 are respectively engaged with the first upper arm pneumatic muscle 76 and the two ends of a second upper arm pneumatic muscle 77, the third belt wheel 86 and the fourth belt wheel 89 are respectively engaged with the third upper arm pneumatic muscle 87 and the two ends of a fourth upper arm pneumatic muscle 88, the elbow joint connecting rod 80 is fixedly connected with a small arm connecting plate 81, and the small arm connecting, The forearm pneumatic muscle III 90, the forearm pneumatic muscle I82, the forearm pneumatic muscle II 83 and the forearm pneumatic muscle III 90 are respectively and rotatably connected with a wrist joint connecting plate 84, and the wrist joint connecting plate 84 is fixedly connected with a pneumatic claw 85; the electromyographic signal acquisition system 91 is connected with the upper limb joint control system 92, the waist joint control system 93 and the lower limb joint control system 94 respectively, and the electromyographic signal acquisition system 91 is connected with the lower limb joint control system 94 respectively.

The chest structure 10 is hollow and has an inverted trapezoidal cross section. The first rib 5, the second rib 6, the third rib 7 and the fourth rib 8 are rectangular rings respectively. The long pneumatic muscle I19, the long pneumatic muscle II 20, the long pneumatic muscle III 21 and the long pneumatic muscle IV 22 are respectively positioned at the outer sides of the rib I5, the rib II 6, the rib III 7 and the rib IV 8, the long pneumatic muscle I19, the long pneumatic muscle II 20, the long pneumatic muscle III 21 and the long pneumatic muscle IV 22 are respectively positioned at the periphery of the chest knot component 9 and the pelvis 18, and the long pneumatic muscle V23, the long pneumatic muscle VI 24, the long pneumatic muscle VII 25 and the long pneumatic muscle VIII 26 are arranged in groups and are respectively positioned at the inner sides of the rib I5, the rib II 6, the rib III 7 and the rib IV 8. The middle pneumatic muscle I27, the middle pneumatic muscle II 28, the middle pneumatic muscle III 29 and the middle pneumatic muscle IV 30 are arranged on the left sides of the rib I5 and the rib IV 8 in groups, the middle pneumatic muscle V31, the middle pneumatic muscle VI 32, the middle pneumatic muscle VII 33 and the middle pneumatic muscle VIII 34 are arranged on the right sides of the rib I5 and the rib IV 8 in groups, the middle pneumatic muscle I27, the middle pneumatic muscle II 28, the middle pneumatic muscle III 29, the middle pneumatic muscle IV 30, the middle pneumatic muscle V31, the middle pneumatic muscle VI 32, the middle pneumatic muscle VII 33 and the middle pneumatic muscle VIII 34 are respectively arranged on the outer sides of the rib II 6 and the rib III 7, the short pneumatic muscle I35, the short pneumatic muscle II 36, the short pneumatic muscle III 37 and the short pneumatic muscle IV 38 are arranged on the left sides of the bottoms of the rib II 6 and the chest node component 9 in groups, the short pneumatic muscle III 43, the short pneumatic muscle III 44, the short pneumatic muscle IV 45 and the short pneumatic muscle VII are arranged on the right sides of the bottom of the rib II 6 and the chest node component 9 in groups, the short pneumatic muscle I35, the short pneumatic muscle II 36, the short pneumatic muscle III 37, the short pneumatic muscle IV 38, the short pneumatic muscle IX 43, the short pneumatic muscle VIII 44, the short pneumatic muscle VIII 45 and the short pneumatic muscle VIII are respectively arranged on the inner side of the rib I5, the short pneumatic muscles five 39, the short pneumatic muscles six 40, the short pneumatic muscles seven 41 and the short pneumatic muscles eight 42 are arranged on the left sides of the upper parts of the ribs three 7 and the pelvis 18 in groups, the short pneumatic muscles thirteen 47, the short pneumatic muscles fourteen 48, the short pneumatic muscles fifteen 49 and the short pneumatic muscles sixteen 50 are arranged on the right sides of the upper parts of the ribs three 7 and the pelvis 18 in groups, the short pneumatic muscle five 39, the short pneumatic muscle six 40, the short pneumatic muscle seven 41, the short pneumatic muscle eight 42, the short pneumatic muscle thirteen 47, the short pneumatic muscle fourteen 48, the short pneumatic muscle fifteen 49, and the short pneumatic muscle sixteen 50 are respectively arranged on the inner side of the rib four 8.

The first pneumatic muscle connecting plate 54 and the second pneumatic muscle connecting plate 62 are respectively in a cross shape. The first thigh pneumatic muscle 51, the second thigh pneumatic muscle 52, the third thigh pneumatic muscle 58 and the fourth thigh pneumatic muscle 59 are respectively located around the first thigh section 53, the first calf pneumatic muscle 55, the second calf pneumatic muscle 56, the third calf pneumatic muscle 64 and the fourth calf pneumatic muscle 65 are respectively located around the second calf section 63, the fifth thigh pneumatic muscle 66, the sixth thigh pneumatic muscle 67, the seventh thigh pneumatic muscle 68 and the eighth thigh pneumatic muscle 69 are respectively located around the first thigh section 53, and the fifth calf pneumatic muscle 70, the sixth calf pneumatic muscle 71, the seventh calf pneumatic muscle 72 and the eighth calf pneumatic muscle 73 are respectively located around the first pneumatic muscle connecting plate 54 and the feet 57. The forearm connecting plate 81 and the wrist joint connecting plate 84 are respectively disc-shaped. The first forearm pneumatic muscle 82, the second forearm pneumatic muscle 83 and the third forearm pneumatic muscle 90 are respectively and uniformly distributed around the forearm connecting plate 81 and the wrist joint connecting plate 84.

The electromyographic signal acquisition system 91 is a controller, and the upper limb joint control system 92 respectively controls a first large arm pneumatic muscle 76, a second large arm pneumatic muscle 77, a third large arm pneumatic muscle 87, a fourth large arm pneumatic muscle 88, a first small arm pneumatic muscle 82, a second small arm pneumatic muscle 83, a third small arm pneumatic muscle 90 and an air claw 85; the waist joint control system 93 controls the pneumatic motor at the camera 1, the pneumatic motors at the upper limb joint 2 and the waist joint 3, the long pneumatic muscle I19, the long pneumatic muscle II 20, the long pneumatic muscle III 21, the long pneumatic muscle IV 22, the long pneumatic muscle V23, the long pneumatic muscle VI 24, the long pneumatic muscle VII 25, the long pneumatic muscle VIII 26, the middle pneumatic muscle I27, the middle pneumatic muscle II 28, the middle pneumatic muscle III 29, the middle pneumatic muscle IV 30, the middle pneumatic muscle V31, the middle pneumatic muscle VI 32, the middle pneumatic muscle VII 33, the middle pneumatic muscle VIII 34, the short pneumatic muscle I35, the short pneumatic muscle II 36, the short pneumatic muscle III 37, the short pneumatic muscle IV 38, the short pneumatic muscle VII 43, the short pneumatic muscle VIII 44, the short pneumatic muscle VIII, the short pneumatic muscle VII, the short pneumatic muscle VIII, the seventh pneumatic muscle 41, the air-short pneumatic muscle IV, Eight 42 short pneumatic muscles, thirteen 47 short pneumatic muscles, fourteen 48 short pneumatic muscles, fifteen 49 short pneumatic muscles and sixteen 50 short pneumatic muscles; the lower limb joint control system 94 controls a first thigh pneumatic muscle 51, a second thigh pneumatic muscle 52, a third thigh pneumatic muscle 58, a fourth thigh pneumatic muscle 59, a first calf pneumatic muscle 55, a second calf pneumatic muscle 56, a third calf pneumatic muscle 64, a fourth calf pneumatic muscle 65, a fifth thigh pneumatic muscle 66, a sixth thigh pneumatic muscle 67, a seventh thigh pneumatic muscle 68, an eighth thigh pneumatic muscle 69, a fifth calf pneumatic muscle 70, a sixth calf pneumatic muscle 71, a seventh calf pneumatic muscle 72 and an eighth calf pneumatic muscle 73 respectively.

A humanoid robot based on pneumatics mainly includes camera 1, upper limbs joint 2, waist joint 3, lower limbs joint 4 to the quantity of upper limbs joint 2, lower limbs joint 4 is 2 respectively, and the structure of two upper limbs joints 2 is identical, and the structure of two lower limbs joint 4 is identical. The camera 1, the upper limb joint 2 and the chest node member 9 are rotatably connected, the rotatable connection is driven by a pneumatic motor, a shell of the pneumatic motor is fixedly connected with the chest node member 9, and a rotor of the pneumatic motor is fixedly connected with the camera 1 and the upper limb joint 2.

The thoracic node member 9 and the pelvis 18 are connected by a vertebra I10, a vertebra II 11, a vertebra III 12, a vertebra IV 13, a vertebra V14, a vertebra VI 15, a vertebra VII 16 and a vertebra VIII 17 in sequence, and the thoracic node member 9, the vertebra I10, the vertebra II 11, the vertebra III 12, the vertebra IV 13, the vertebra V14, the vertebra VI 15, the vertebra VII 16, the vertebra VIII 17 and the pelvis 18 are rotatably connected. The first rib 5 is fixedly connected with the second vertebra 11, the second rib 6 is fixedly connected with the fourth vertebra 13, the third rib 7 is fixedly connected with the fifth vertebra 14, and the fourth rib 8 is fixedly connected with the eighth vertebra 17.

Two ends of the long pneumatic muscle I19, the long pneumatic muscle II 20, the long pneumatic muscle III 21 and the long pneumatic muscle IV 22 are respectively and rotatably connected with the chest knot component 9 and the pelvis 18; the long pneumatic muscles I19 and II 20, the long pneumatic muscles III 21 and IV 22 form a muscle group in a row in the Y direction respectively, the long pneumatic muscles I19 and II 20 are on the left side, and the long pneumatic muscles III 21 and IV 22 are on the right side; the first long pneumatic muscle 19 and the fourth long pneumatic muscle 22, the second long pneumatic muscle 20 and the third long pneumatic muscle 21 form a muscle group in a row in the X direction, the first long pneumatic muscle 19 and the fourth long pneumatic muscle 22 are arranged on the rear side, and the second long pneumatic muscle 20 and the third long pneumatic muscle 21 are arranged on the front side. The five long pneumatic muscles 23, the six long pneumatic muscles 24, the seven long pneumatic muscles 25 and the eight long pneumatic muscles 26 are sequentially arranged from back to front, and the two ends of the long pneumatic muscles are respectively and rotatably connected with the chest knot component 9 and the pelvis 18. The first long pneumatic muscle 19, the second long pneumatic muscle 20, the third long pneumatic muscle 21, the fourth long pneumatic muscle 22, the fifth long pneumatic muscle 23, the sixth long pneumatic muscle 24, the seventh long pneumatic muscle 25 and the eighth long pneumatic muscle 26 form a flexible redundant muscle group based on pneumatic muscles, and the flexible redundant muscle group drives the relative rotation between the chest knot component 9, the first vertebra 10, the second vertebra 11, the third vertebra 12, the fourth vertebra 13, the fifth vertebra 14, the sixth vertebra 15, the seventh vertebra 16, the eighth vertebra 17 and the pelvis 18 around the X axis and the Y axis.

The two ends of the middle pneumatic muscle I27, the middle pneumatic muscle II 28, the middle pneumatic muscle IV 30, the middle pneumatic muscle III 29, the middle pneumatic muscle V31, the middle pneumatic muscle VI 32, the middle pneumatic muscle VII 33 and the middle pneumatic muscle VIII 34 are respectively rotatably connected with the rib I5 and the rib IV 8; the middle pneumatic muscle I27, the middle pneumatic muscle II 28, the middle pneumatic muscle IV 30, the middle pneumatic muscle III 29, the middle pneumatic muscle V31, the middle pneumatic muscle VI 32, the middle pneumatic muscle VII 33 and the middle pneumatic muscle VIII 34 form a muscle group in a row in the Y direction respectively; the middle pneumatic muscle I27, the middle pneumatic muscle II 28, the middle pneumatic muscle IV 30, the middle pneumatic muscle III 29 are arranged on the left side, and the middle pneumatic muscle V31, the middle pneumatic muscle VI 32, the middle pneumatic muscle VII 33 and the middle pneumatic muscle VIII 34 are arranged on the right side; the middle pneumatic muscle I27, the middle pneumatic muscle II 28, the middle pneumatic muscle III 32, the middle pneumatic muscle IV 30, the middle pneumatic muscle VII 33, the middle pneumatic muscle III 29 and the middle pneumatic muscle VIII 34 form a muscle group in a row in the X direction respectively; the middle pneumatic muscle I27 and the middle pneumatic muscle II 31 are arranged at the rear side, the middle pneumatic muscle II 28 and the middle pneumatic muscle III 32 are arranged at the middle rear side, the middle pneumatic muscle IV 30 and the middle pneumatic muscle VII are arranged at the middle front side, and the middle pneumatic muscle III 29 and the middle pneumatic muscle VIII 34 are arranged at the front side. The middle pneumatic muscle I27, the middle pneumatic muscle II 28, the middle pneumatic muscle IV 30, the middle pneumatic muscle III 29, the middle pneumatic muscle V31, the middle pneumatic muscle VI 32, the middle pneumatic muscle VII 33 and the middle pneumatic muscle VIII 34 form a flexible redundant muscle group based on pneumatic muscles together, and the flexible redundant muscle group drives the vertebrae II 11, the vertebrae III 12, the vertebrae IV 13, the vertebrae V14, the vertebrae VI 15, the vertebrae VII 16 and the vertebrae VIII 17 to rotate around the X axis and the Y axis relatively.

Two ends of the short pneumatic muscle four 38, the short pneumatic muscle three 37, the short pneumatic muscle two 36, the short pneumatic muscle one 35, the short pneumatic muscle twelve 46, the short pneumatic muscle eleven 45, the short pneumatic muscle nine 43 and the short pneumatic muscle ten 44 are respectively rotatably connected with the rib two 6 and the chest knot component 9; two ends of the short pneumatic muscle eight 42, the short pneumatic muscle seven 41, the short pneumatic muscle six 40, the short pneumatic muscle five 39, the short pneumatic muscle thirteen 47, the short pneumatic muscle fourteen 48, the short pneumatic muscle sixteen 50 and the short pneumatic muscle fifteen 49 are respectively connected with the rib three 7 and the pelvis 18 in a rotating way. The short pneumatic muscle group comprises four short pneumatic muscles 38, three short pneumatic muscles 37, two short pneumatic muscles 36, one short pneumatic muscle 35, eight short pneumatic muscles 42, seven short pneumatic muscles 41, six short pneumatic muscles 40, five short pneumatic muscles 39, twelve short pneumatic muscles 46, eleven short pneumatic muscles 45, nine short pneumatic muscles 43, ten short pneumatic muscles 44, thirteen short pneumatic muscles 47, fourteen short pneumatic muscles 48, sixteen short pneumatic muscles 50 and fifteen short pneumatic muscles 49 which are respectively arranged in a row in the Y direction to form a muscle group; short pneumatic muscle four 38, short pneumatic muscle three 37, short pneumatic muscle two 36, short pneumatic muscle one 35, short pneumatic muscle eight 42, short pneumatic muscle seven 41, short pneumatic muscle six 40, short pneumatic muscle five 39 on the left side, short pneumatic muscle twelve 46, short pneumatic muscle eleven 45, short pneumatic muscle nine 43, short pneumatic muscle ten 44, short pneumatic muscle thirteen 47, short pneumatic muscle fourteen 48, short pneumatic muscle sixteen 50, short pneumatic muscle fifteen 49 on the right side. The short pneumatic muscle group comprises four short pneumatic muscles 38, twelve short pneumatic muscles 46, eight short pneumatic muscles 42, thirteen short pneumatic muscles 47, three short pneumatic muscles 37, eleven short pneumatic muscles 45, seven short pneumatic muscles 41, fourteen short pneumatic muscles 48, two short pneumatic muscles 36, nine short pneumatic muscles 43, six short pneumatic muscles 40, sixteen short pneumatic muscles 50, one short pneumatic muscle 35, ten short pneumatic muscles 44, five short pneumatic muscles 39 and fifteen short pneumatic muscles 49 which form a muscle group in a row in the X direction respectively; short pneumatic muscle four 38, short pneumatic muscle twelve 46, short pneumatic muscle eight 42, short pneumatic muscle thirteen 47 on the rear side, short pneumatic muscle three 37, short pneumatic muscle eleven 45, short pneumatic muscle seven 41, short pneumatic muscle fourteen 48 on the medial rear side, short pneumatic muscle two 36, short pneumatic muscle nine 43, short pneumatic muscle six 40, short pneumatic muscle sixteen 50 on the medial front side, short pneumatic muscle one 35, short pneumatic muscle ten 44, short pneumatic muscle five 39, short pneumatic muscle fifteen 49 on the front side. The short pneumatic muscle four 38, the short pneumatic muscle three 37, the short pneumatic muscle two 36, the short pneumatic muscle one 35, the short pneumatic muscle twelve 46, the short pneumatic muscle eleven 45, the short pneumatic muscle nine 43 and the short pneumatic muscle ten 44 form a flexible redundant muscle group based on pneumatic muscles, and the flexible redundant muscle group drives the chest knot component 9, the vertebra one 10, the vertebra two 11, the vertebra three 12 and the vertebra four 13 to relatively rotate around the X axis and the Y axis. Eight short pneumatic muscles 42, seven short pneumatic muscles 41, six short pneumatic muscles 40, five short pneumatic muscles 39, thirteen short pneumatic muscles 47, fourteen short pneumatic muscles 48, sixteen short pneumatic muscles 50 and fifteen short pneumatic muscles 49 form a flexible redundant muscle group based on pneumatic muscles, and the flexible redundant muscle group drives the five vertebrae 14, the six vertebrae 15, the seven vertebrae 16, the eight vertebrae 17 and the pelvis 18 to rotate relatively around an X axis and a Y axis.

One end of the first thigh section 53 is rotatably connected with the pelvis 18, and the other end is fixedly connected with the first pneumatic muscle connecting plate 54 and the second thigh section 60; one end of the first shank section 61 is rotatably connected with the second thigh section 60, and the other end is fixedly connected with the second pneumatic muscle connecting plate 62 and the second shank section 63; the second calf section 63 is pivotally connected to the foot 57. Two ends of a first thigh pneumatic muscle 51, a second thigh pneumatic muscle 52, a third thigh pneumatic muscle 58 and a fourth thigh pneumatic muscle 59 are rotatably connected with the pelvis 18 and the first pneumatic muscle connecting plate 54 respectively, and the first thigh pneumatic muscle 51, the second thigh pneumatic muscle 52, the third thigh pneumatic muscle 58 and the fourth thigh pneumatic muscle 59 are single-joint pneumatic muscles and drive the pelvis 18 and the first thigh section 53 to rotate relatively around the X axis and the Y axis. Two ends of the first pneumatic calf muscle 55, the second pneumatic calf muscle 56, the third pneumatic calf muscle 64 and the fourth pneumatic calf muscle 65 are rotatably connected with the second pneumatic muscle connecting plate 62 and the foot 57 respectively, and the first pneumatic calf muscle 55, the second pneumatic calf muscle 56, the third pneumatic calf muscle 64 and the fourth pneumatic calf muscle 65 are single-joint pneumatic muscles and drive the second calf section 63 and the foot 57 to rotate relatively around the X axis and the Y axis. Two ends of a thigh pneumatic muscle five 66, a thigh pneumatic muscle six 67, a thigh pneumatic muscle seven 68 and a thigh pneumatic muscle eight 69 are respectively rotatably connected with the pneumatic muscle connecting plate two 62 and the pelvis 18, and the thigh pneumatic muscle five 66, the thigh pneumatic muscle six 67, the thigh pneumatic muscle seven 68 and the thigh pneumatic muscle eight 69 are multi-joint pneumatic muscles and drive the pelvis 18 and the thigh first section 53 and the thigh second section 60 and the shank first section 61 to rotate relatively around an X axis and a Y axis. The pneumatic muscle five 70 of the lower leg, the pneumatic muscle six 71 of the lower leg, the pneumatic muscle seven 72 of the lower leg and the pneumatic muscle eight 73 of the lower leg are rotatably connected with the pneumatic muscle connecting plate I54 and the foot 57 respectively, the pneumatic muscle five 70 of the lower leg, the pneumatic muscle six 71 of the lower leg, the pneumatic muscle seven 72 of the lower leg and the pneumatic muscle eight 73 of the lower leg are multi-joint pneumatic muscles, and the thigh second section 60 and the lower leg first section 61, and the lower leg second section 63 and the foot 57 are driven to rotate relatively around an X axis and a Y axis together.

The shoulder joint connecting piece 74 is rotatably connected with the chest node component 9, the threaded rod I78-2 is fixedly connected with the large arm middle rod 78, meanwhile, the two ends of the threaded rod I are fixedly connected with the belt wheel I75 and the belt wheel III 86, and the shoulder joint connecting piece 74 is rotatably connected with the threaded rod I78-2. The second threaded rod 80-2 is fixedly connected with the elbow joint connecting rod 80, the two ends of the second threaded rod are fixedly connected with the second belt wheel 79 and the fourth belt wheel 89, and the large arm middle rod 78 is rotatably connected with the second threaded rod 80-2. An antagonistic muscle formed by the first pneumatic muscle 76 and the second pneumatic muscle 77 of the big arm is meshed with the first belt wheel 75 and the second belt wheel 79, and an antagonistic muscle formed by the third pneumatic muscle 87 of the big arm and the fourth pneumatic muscle 88 of the big arm is meshed with the third belt wheel 86 and the fourth belt wheel 89; the first large-arm pneumatic muscle 76, the second large-arm pneumatic muscle 77, the third large-arm pneumatic muscle 87 and the fourth large-arm pneumatic muscle 88 drive the first belt wheel 75, the third belt wheel 86, the second belt wheel 79 and the fourth belt wheel 89 to rotate positively and negatively, and finally the shoulder joint connecting piece 74, the large-arm middle rod 78 and the elbow joint connecting rod 80 and the large-arm middle rod 78 rotate relatively around the Y axis. The forearm connecting plate 81 is fixedly connected with the elbow joint connecting rod 80, two ends of the first forearm pneumatic muscle 82, the second forearm pneumatic muscle 83 and the third forearm pneumatic muscle 90 are respectively and rotatably connected with the forearm connecting plate 81 and the wrist joint connecting plate 84, and the first forearm pneumatic muscle 82, the second forearm pneumatic muscle 83 and the third forearm pneumatic muscle 90 drive the relative rotation around the Y axis and the Z axis and the relative movement along the X axis between the forearm connecting plate 81 and the wrist joint connecting plate 84. The pneumatic claw 85 is fixedly connected with the wrist joint connecting plate 84, and the pneumatic claw 85 rotates around the X axis and moves linearly along the Y axis and the Z axis.

The electromyographic signal acquisition system 91 is configured to communicate with the upper limb joint control system 92, the waist joint control system 93, and the lower limb joint control system 94 by acquiring an electromyographic signal of a muscle of the human body as an input, thereby controlling the upper limb joint 2, the waist joint 3, and the lower limb joint 4.

The upper limb joint control system 92, the waist joint control system 93 and the lower limb joint control system 94 control the high-speed switch valve or the pneumatic proportional pressure valve to inflate or deflate each pneumatic muscle, so that each joint of the robot and the whole robot move to a preset pose.

The invention realizes the control of the pose of the humanoid robot based on pneumatics by controlling the pneumatic muscles of each simulated human muscle, can dynamically and vividly simulate the actions of a human, can realize accurate track control, and has the advantages which cannot be compared with other humanoid robots based on pneumatics.

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 humanoid robot based on pneumatics, characterized by comprising:

the device comprises a camera (1), wherein the camera (1) is rotatably connected to a waist joint (3), two sides of the waist joint (3) are rotatably connected with upper limb joints (2) which are mirror images, the lower part of the waist joint (3) is rotatably connected with lower limb joints (4) which are mirror images, the camera (1) is connected with the waist joint (3), the upper limb joints (2) are connected with the waist joint (3) through pneumatic motors, shells of the pneumatic motors are respectively fixed on the waist joint (3), and rotors of the pneumatic motors are respectively fixed with the camera (1) and the upper limb joints (2);

the lumbar joint comprises a chest knot component (9), a first vertebra (10), a second vertebra (11), a third vertebra (12), a fourth vertebra (13), a fifth vertebra (14), a sixth vertebra (15), a seventh vertebra (16), an eighth vertebra (17) and a pelvis (18) of the lumbar joint (3), wherein the second vertebra (11) is fixedly connected with a first rib (5), the fourth vertebra (13) is fixedly connected with a second rib (6), the fifth vertebra (14) is fixedly connected with the third rib (7), the eighth vertebra (17) is fixedly connected with the fourth rib (8), the first long pneumatic muscle (19), the second long pneumatic muscle (20), the third long pneumatic muscle (21) and the fourth long pneumatic muscle (22) are respectively and rotatably connected between the chest knot component (9) and the pelvis (18), and the fifth long pneumatic muscle (23) and the pelvis (18) are respectively and rotatably connected between the chest knot component (9) and the pelvis (18), The pneumatic muscle comprises a long pneumatic muscle six (24), a long pneumatic muscle seven (25) and a long pneumatic muscle eight (26), wherein a middle pneumatic muscle one (27), a middle pneumatic muscle two (28), a middle pneumatic muscle three (29), a middle pneumatic muscle four (30), a middle pneumatic muscle five (31), a middle pneumatic muscle six (32), a middle pneumatic muscle seven (33) and a middle pneumatic muscle eight (34) are respectively and rotatably connected between the rib I (5) and the rib II (8), a short pneumatic muscle one (35), a short pneumatic muscle two (36), a short pneumatic muscle three (37), a short pneumatic muscle four (38), a short pneumatic muscle nine (43), a short pneumatic muscle ten (44), a short pneumatic muscle eleven (45) and a short pneumatic muscle twelve (46) are respectively and rotatably connected between the rib III (7) and the pelvis (18), and a short pneumatic muscle five (39), Six (40) short pneumatic muscles, seven (41) short pneumatic muscles, eight (42) short pneumatic muscles, thirteen (47) short pneumatic muscles, fourteen (48) short pneumatic muscles, fifteen (49) short pneumatic muscles and sixteen (50) short pneumatic muscles;

thigh first section (53) and pelvis (18) rotatable coupling of low limbs joint (4), thigh first section (53) respectively with pneumatic muscle connecting plate one (54) and thigh second section (60) fixed connection, thigh second section (60) and shank first section (61) rotatable coupling, shank first section (61) respectively with pneumatic muscle connecting plate two (62) and shank second section (63) fixed connection, shank second section (63) and foot (57) rotatable coupling, respectively rotatable coupling thigh pneumatic muscle one (51), thigh pneumatic muscle two (52), thigh pneumatic muscle three (58), the both ends of thigh pneumatic muscle four (59) between pelvis (18) and pneumatic muscle connecting plate one (54), respectively rotatable coupling shank pneumatic muscle one (55) between foot (57) and pneumatic muscle connecting plate two (62), Two ends of a second pneumatic calf muscle (56), a third pneumatic calf muscle (64) and a fourth pneumatic calf muscle (65), wherein two ends of a fifth pneumatic thigh muscle (66), a sixth pneumatic thigh muscle (67), a seventh pneumatic thigh muscle (68) and an eighth pneumatic thigh muscle (69) are respectively and rotatably connected between the pelvis (18) and the second pneumatic muscle connecting plate (62), and two ends of a fifth pneumatic calf muscle (70), a sixth pneumatic calf muscle (71), a seventh pneumatic calf muscle (72) and an eighth pneumatic calf muscle (73) are respectively and rotatably connected between the first pneumatic muscle connecting plate (54) and the feet (57);

the shoulder joint connecting piece (74) of the upper limb joint (2) is rotatably connected with a chest knot component (9) of the waist joint (3) through a pneumatic motor, the shoulder joint connecting piece (74) is rotatably connected with a first threaded rod (78-2), the first threaded rod (78-2) is respectively and fixedly connected with a first middle arm rod (78), a first belt wheel (75) and a third belt wheel (86), the first middle arm rod (78) and a second threaded rod (80-2) are rotatably connected, the first middle arm rod (78) is respectively and fixedly connected with a second belt wheel (79), a fourth belt wheel (89) and an elbow joint connecting rod (80), the first belt wheel (75) and the second belt wheel (79) are respectively engaged with two ends of a first pneumatic muscle (76) of the upper arm and a second pneumatic muscle (77) of the upper arm, and the third belt wheel (86) and the fourth belt wheel (89) are respectively engaged with a third pneumatic muscle (, The elbow joint connecting rod (80) is fixedly connected with a forearm connecting plate (81), the forearm connecting plate (81) is respectively and rotatably connected with a forearm pneumatic muscle I (82), a forearm pneumatic muscle II (83) and a forearm pneumatic muscle III (90), the forearm pneumatic muscle I (82), the forearm pneumatic muscle II (83) and the forearm pneumatic muscle III (90) are respectively and rotatably connected with a wrist joint connecting plate (84), and the wrist joint connecting plate (84) is fixedly connected with a gas claw (85);

the myoelectric signal acquisition system (91), myoelectric signal acquisition system (91) connects upper limbs joint control system (92), waist joint control system (93), lower limbs joint control system (94) respectively.

2. A pneumatically based humanoid robot as claimed in claim 1, characterized in that said chest knot member (10) is hollow and has an inverted trapezoidal cross-section.

3. The pneumatic-based humanoid robot of claim 1, wherein the rib I (5), the rib II (6), the rib III (7) and the rib IV (8) are rectangular rings respectively.

4. The humanoid robot based on pneumatics of claim 1, characterized in that, long pneumatic muscle one (19), long pneumatic muscle two (20), long pneumatic muscle three (21), long pneumatic muscle four (22) are respectively located outside rib one (5), rib two (6), rib three (7), and rib four (8), long pneumatic muscle one (19), long pneumatic muscle two (20), long pneumatic muscle three (21), and long pneumatic muscle four (22) are respectively located around the chest knot component (9) and pelvis (18), and long pneumatic muscle five (23), long pneumatic muscle six (24), long pneumatic muscle seven (25), and long pneumatic muscle eight (26) are arranged in groups, and are respectively located inside rib one (5), rib two (6), rib three (7), and rib four (8).

5. The humanoid robot based on pneumatics of claim 1, characterized in that, well pneumatic muscle one (27), well pneumatic muscle two (28), well pneumatic muscle three (29), well pneumatic muscle four (30) set up in groups in the left side of rib one (5), rib four (8), well pneumatic muscle five (31), well pneumatic muscle six (32), well pneumatic muscle seven (33), well pneumatic muscle eight (34) set up in groups in the right side of rib one (5), rib four (8), well pneumatic muscle one (27), well pneumatic muscle two (28), well pneumatic muscle three (29), well pneumatic muscle four (30), well pneumatic muscle five (31), well pneumatic muscle six (32), well pneumatic muscle seven (33), well pneumatic muscle eight (34) are located respectively in the outside of rib two (6), rib three (7), the short pneumatic muscles I (35), the short pneumatic muscles II (36), the short pneumatic muscles III (37) and the short pneumatic muscles IV (38) are arranged on the left sides of the bottoms of the ribs II (6) and the chest node members (9) in groups, the short pneumatic muscles nine (43), the short pneumatic muscles ten (44), the short pneumatic muscles eleven (45) and the short pneumatic muscles twelve (46) are arranged on the right sides of the bottoms of the ribs II (6) and the chest node members (9) in groups, the short pneumatic muscles I (35), the short pneumatic muscles II (36), the short pneumatic muscles III (37), the short pneumatic muscles IV (38), the short pneumatic muscles nine (43), the short pneumatic muscles ten (44), the short pneumatic muscles eleven (45) and the short pneumatic muscles twelve (46) are arranged on the inner sides of the ribs I (5) respectively, and the short pneumatic muscles five (39), the short pneumatic muscles six (40), the short pneumatic muscles seven (41), The short pneumatic muscles eight (42) are arranged on the left sides of the upper portions of the ribs three (7) and the pelvis (18) in groups, the short pneumatic muscles thirteen (47), the short pneumatic muscles fourteen (48), the short pneumatic muscles fifteen (49) and the short pneumatic muscles sixteen (50) are arranged on the right sides of the upper portions of the ribs three (7) and the pelvis (18) in groups, and the short pneumatic muscles five (39), the short pneumatic muscles six (40), the short pneumatic muscles seven (41), the short pneumatic muscles eight (42), the short pneumatic thirteen (47), the short pneumatic muscles fourteen (48), the short pneumatic muscles fifteen (49) and the short pneumatic sixteen (50) are arranged on the inner sides of the ribs four (8) respectively.

6. The pneumatic-based humanoid robot of claim 1, wherein the first pneumatic muscle connecting plate (54) and the second pneumatic muscle connecting plate (62) are respectively in a cross shape.

7. A pneumatically based humanoid robot as claimed in claim 1, the first thigh pneumatic muscle (51), the second thigh pneumatic muscle (52), the third thigh pneumatic muscle (58) and the fourth thigh pneumatic muscle (59) are respectively positioned around the first thigh section (53), the first calf pneumatic muscle (55), the second calf pneumatic muscle (56), the third calf pneumatic muscle (64) and the fourth calf pneumatic muscle (65) are respectively positioned at the periphery of the second calf section (63), the five (66) pneumatic thigh muscles, the six (67) pneumatic thigh muscles, the seven (68) pneumatic thigh muscles and the eight (69) pneumatic thigh muscles are respectively positioned around the first section (53) of the thigh, the pneumatic calf muscle five (70), the pneumatic calf muscle six (71), the pneumatic calf muscle seven (72) and the pneumatic calf muscle eight (73) are respectively positioned on the peripheries of the pneumatic muscle connecting plate one (54) and the foot (57).

8. The pneumatic-based humanoid robot of claim 1, characterized in that the forearm connecting plate (81) and the wrist joint connecting plate (84) are respectively disc-shaped.

9. The pneumatic-based humanoid robot is characterized in that the first forearm pneumatic muscle (82), the second forearm pneumatic muscle (83) and the third forearm pneumatic muscle (90) are uniformly distributed around the forearm connecting plate (81) and the wrist joint connecting plate (84) respectively.

10. The humanoid robot based on pneumatics of claim 1, characterized in that, the electromyographic signal acquisition system (91) is a controller, the upper limb joint control system (92) respectively controls the first pneumatic muscle of big arm (76), the second pneumatic muscle of big arm (77), the third pneumatic muscle of big arm (87), the fourth pneumatic muscle of big arm (88), the first pneumatic muscle of small arm (82), the second pneumatic muscle of small arm (83), the third pneumatic muscle of small arm (90), the pneumatic claw (85);

the waist joint control system (93) respectively controls the pneumatic motor at the camera (1), the pneumatic motor at the upper limb joint (2) and the waist joint (3), the long pneumatic muscle I (19), the long pneumatic muscle II (20), the long pneumatic muscle III (21), the long pneumatic muscle IV (22), the long pneumatic muscle V (23), the long pneumatic muscle VI (24), the long pneumatic muscle VII (25), the long pneumatic muscle VIII (26), the middle pneumatic muscle I (27), the middle pneumatic muscle II (28), the middle pneumatic muscle III (29), the middle pneumatic muscle IV (30), the middle pneumatic muscle V (31), the middle pneumatic muscle VI (32), the middle pneumatic muscle VII (33), the middle pneumatic muscle VIII, the short pneumatic muscle I (35), the short pneumatic muscle II (36), the short pneumatic muscle III (37), the short pneumatic muscle IV (38), the short pneumatic muscle nine (43), Ten (44) short pneumatic muscles, eleven (45) short pneumatic muscles, twelve (46) short pneumatic muscles, five (39) short pneumatic muscles, six (40) short pneumatic muscles, seven (41) short pneumatic muscles, eight (42) short pneumatic muscles, thirteen (47) short pneumatic muscles, fourteen (48) short pneumatic muscles, fifteen (49) short pneumatic muscles and sixteen (50) short pneumatic muscles;

the lower limb joint control system (94) respectively controls a first thigh pneumatic muscle (51), a second thigh pneumatic muscle (52), a third thigh pneumatic muscle (58), a fourth thigh pneumatic muscle (59), a first calf pneumatic muscle (55), a second calf pneumatic muscle (56), a third calf pneumatic muscle (64), a fourth calf pneumatic muscle (65), a fifth thigh pneumatic muscle (66), a sixth thigh pneumatic muscle (67), a seventh thigh pneumatic muscle (68), an eighth thigh pneumatic muscle (69), a fifth calf pneumatic muscle (70), a sixth calf pneumatic muscle (71), a seventh calf pneumatic muscle (72) and an eighth calf pneumatic muscle (73).

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