CN112775952A - Profiling robot system based on pneumatic muscles - Google Patents

Abstract

The invention relates to a pneumatic muscle-based profiling robot system, which simulates the muscle of a human by pneumatic muscle to drive the movement of a hip joint, a knee joint, an ankle joint, a waist joint, a shoulder joint, an elbow joint and a wrist joint, and has the function of completely simulating the joint movement of the human. The profiling robot system based on the pneumatic muscles mainly comprises the pneumatic muscles, belt wheels, pneumatic claws, connecting pieces and a joint control system. The waist joint is driven by a plurality of pneumatic muscles in a crossed mode, the hip joint, the knee joint and the ankle joint are driven by muscle groups of pneumatic muscle components, the shoulder joint is driven by pneumatic muscle group antagonistic muscles, the elbow joint is driven by single-joint and multi-joint pneumatic muscle group antagonistic muscles, and the wrist joint is composed of pneumatic muscles connected in parallel. 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

Profiling robot system based on pneumatic muscles

Technical Field

The invention relates to the technical field of bionic robot equipment, in particular to a bionic robot system based on pneumatic muscles, which has the advantages of compact structure, good flexibility and various pneumatic muscle states.

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 pneumatic muscle-based replica robot system that is compact, flexible, and versatile in pneumatic muscle status.

Disclosure of Invention

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

A pneumatic muscle-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 waist joint upper side plate, the middle strut I, the middle strut II and the middle strut III of the waist joint are sequentially and rotatably connected, the middle strut III is fixedly connected with the waist joint lower side plate, a pneumatic muscle connecting piece I, a pneumatic muscle connecting piece II, a pneumatic muscle connecting piece V and a pneumatic muscle connecting piece six are arranged between the middle strut I and the middle strut II, the pneumatic muscle connecting piece I, the pneumatic muscle connecting piece II, the pneumatic muscle connecting piece V and the pneumatic muscle connecting piece six are fixedly connected with the middle strut I, a pneumatic muscle connecting piece III, a pneumatic muscle connecting piece IV, a pneumatic muscle connecting piece VII and a pneumatic muscle connecting piece VIII are arranged between the middle strut II and the middle strut III, the pneumatic muscle connecting piece IV, the pneumatic muscle connecting piece VII and the pneumatic muscle connecting piece VIII are fixedly connected with the middle strut II, the pneumatic muscle connecting piece I, the pneumatic muscle connecting piece II, the pneumatic muscle connecting piece III and the pneumatic muscle connecting piece IV are concave downwards, the pneumatic muscle connecting piece V, the pneumatic muscle connecting piece VI, the pneumatic muscle connecting piece VII and the pneumatic muscle connecting piece VIII are convex upwards, one end of the pneumatic muscle I and the pneumatic muscle VII is fixedly connected with the upper side plate of the waist joint, the other end of the pneumatic muscle I and the pneumatic muscle VII is respectively and rotatably connected with the two ends of the pneumatic muscle connecting piece V, one end of the pneumatic muscle II and the pneumatic muscle VIII is fixedly connected with the upper side plate of the waist joint, the other end of the pneumatic muscle connecting piece VI is respectively and rotatably connected with the two ends of the pneumatic muscle III and the pneumatic muscle VIII, the two ends of the pneumatic muscle connecting piece II and the pneumatic muscle connecting piece VIII are respectively and rotatably connected with the two ends of the pneumatic muscle IV and the pneumatic muscle VIII, the lower side plate of the waist joint is respectively and fixedly connected with a pneumatic muscle five and a pneumatic muscle twelve, the pneumatic muscle five and the pneumatic muscle twelve are respectively and rotatably connected with two ends of a pneumatic muscle connecting piece three, the lower side plate of the waist joint is respectively and fixedly connected with a pneumatic muscle six and a pneumatic muscle eleven, and the pneumatic muscle six and the pneumatic muscle eleven are respectively and rotatably connected with two ends of a pneumatic muscle connecting piece four;

the lower part of the waist joint lower side plate is fixedly connected with a hip joint connecting piece of a lower limb joint, the hip joint connecting piece is rotatably connected with a connecting rod I, the connecting rod I is fixedly connected with a thigh pneumatic muscle group I, the thigh pneumatic muscle group I is fixedly connected with a connecting rod II, the connecting rod II is rotatably connected with a knee joint connecting piece, the knee joint connecting piece is rotatably connected with a connecting rod III, the connecting rod III is fixedly connected with a shank pneumatic muscle group I, the shank pneumatic muscle group I is fixedly connected with a connecting rod IV, the connecting rod IV is rotatably connected with a foot, the hip joint connecting piece is rotatably connected with a connecting rod V, the connecting rod V is fixedly connected with a shank pneumatic muscle group II, the thigh pneumatic muscle group II is fixedly connected with a connecting rod VI, the connecting rod VI is rotatably connected with the knee joint connecting piece, the knee joint connecting piece is rotatably connected with a connecting rod VII, the connecting rod seven is fixedly connected with the shank pneumatic muscle group II, the shank pneumatic muscle group II is fixedly connected with the connecting rod eight, the connecting rod eight is rotatably connected with the foot, and the hip joint connecting piece, the knee joint connecting piece, the thigh middle rod, the shank middle rod and the foot are sequentially rotatably connected;

the articulated support of side plate fixed connection upper limbs on the waist joint of waist joint, support and intermediate junction spare fixed connection band pulley one, two rotatable coupling of intermediate junction spare and band pulley, three band pulleys are respectively with four fixed connection of elbow joint connecting piece, band pulley, the pneumatic muscle one of arm of upper limbs joint and three both ends of arm pneumatic muscle are respectively with pneumatic muscle connecting plate one, three fixed connection of pneumatic muscle connecting plate, the pneumatic muscle two of arm of upper limbs joint and four both ends of arm pneumatic muscle are respectively with pneumatic muscle connecting plate two, four fixed connection of pneumatic muscle connecting plate, the pneumatic muscle one of elbow joint of upper limbs joint and three both ends of elbow joint pneumatic muscle are respectively with five fixed connection of pneumatic muscle connecting plate, The pneumatic muscle connecting plate seven is fixedly connected, two ends of an elbow joint pneumatic muscle II and an elbow joint pneumatic muscle IV of the upper limb joint are respectively and fixedly connected with the pneumatic muscle connecting plate six and the pneumatic muscle connecting plate eight, the pneumatic muscle connecting plate I, the pneumatic muscle connecting plate II and the belt wheel I are connected through pull ropes, the belt wheel II, the pneumatic muscle connecting plate five and the pneumatic muscle connecting plate six are connected through pull ropes, the pneumatic muscle connecting plate III, the pneumatic muscle connecting plate IV and the belt wheel tee are connected through pull ropes, and the pneumatic muscle connecting plate seven, the pneumatic muscle connecting plate eight and the belt wheel IV are connected through pull ropes;

the elbow joint connecting piece is respectively and rotatably connected with a first forearm pneumatic muscle, a second forearm pneumatic muscle and a third forearm pneumatic muscle, the first forearm pneumatic muscle, the second forearm pneumatic muscle and the third forearm pneumatic muscle are respectively and rotatably connected with a wrist joint connecting plate, and the wrist joint connecting plate is fixedly connected with a gas 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.

Two ends of the pneumatic muscle connecting piece I, the pneumatic muscle connecting piece II, the pneumatic muscle connecting piece III, the pneumatic muscle connecting piece IV, the pneumatic muscle connecting piece V, the pneumatic muscle connecting piece VI, the pneumatic muscle connecting piece seventh and the pneumatic muscle connecting piece eighth are respectively provided with a connecting end head.

The pneumatic muscle connecting piece I, the pneumatic muscle connecting piece II, the pneumatic muscle connecting piece five and the pneumatic muscle connecting piece six are distributed around the middle pillar I, and the pneumatic muscle connecting piece III, the pneumatic muscle connecting piece IV, the pneumatic muscle connecting piece seven and the pneumatic muscle connecting piece eight are distributed around the middle pillar II.

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

The pneumatic muscle I, the pneumatic muscle II, the pneumatic muscle seven and the pneumatic muscle eight are parallel to each other and evenly distributed around the middle pillar I, the pneumatic muscle III, the pneumatic muscle IV, the pneumatic muscle nine and the pneumatic muscle Ten are parallel to each other and located around the middle pillar II, the pneumatic muscle III and the pneumatic muscle IV are grouped, the pneumatic muscle nine and the pneumatic muscle Ten are grouped, the pneumatic muscle V, the pneumatic muscle VI, the pneumatic muscle eleven and the pneumatic muscle twelve are parallel to each other and evenly distributed around the middle pillar III.

The hip joint connecting piece and the knee joint connecting piece are respectively in a strip shape.

The thigh middle rod is respectively positioned in the middle of the hip joint connecting piece and the knee joint connecting piece, and the shank middle rod is positioned in the middle of the knee joint connecting piece.

The first belt wheel and the second belt wheel are respectively positioned on two sides of the middle connecting plate.

And the two ends of the first forearm pneumatic muscle, the second forearm pneumatic muscle and the third forearm pneumatic muscle are respectively and uniformly distributed on the elbow joint connecting piece and the wrist joint connecting plate.

The computer is a controller, and the upper limb joint control system respectively controls a first pneumatic muscle of a big arm, a second pneumatic muscle of the big arm, a third pneumatic muscle of the big arm, a fourth pneumatic muscle of the big arm, a first pneumatic muscle of an elbow joint, a second pneumatic muscle of the elbow joint, a third pneumatic muscle of the elbow joint, a fourth pneumatic muscle of an elbow joint, a first pneumatic muscle of a small arm, a second pneumatic muscle of a small arm, a third pneumatic muscle of a small arm and the air claw;

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

the lower limb joint control system respectively controls a thigh pneumatic muscle group I, a shank pneumatic muscle group I, a thigh pneumatic muscle group II and a shank pneumatic muscle group II.

The invention discloses a pneumatic muscle-based profiling robot system, which simulates the muscle of a human by pneumatic muscle to drive the movement of a hip joint, a knee joint, an ankle joint, a waist joint, a shoulder joint, an elbow joint and a wrist joint, and has the function of completely simulating the joint movement of the human. The profiling robot system based on the pneumatic muscles mainly comprises the pneumatic muscles, belt wheels, pneumatic claws, connecting pieces and a joint control system. The waist joint is driven by a plurality of pneumatic muscles in a crossed mode, the hip joint, the knee joint and the ankle joint are driven by muscle groups of pneumatic muscle components, the shoulder joint is driven by pneumatic muscle group antagonistic muscles, the elbow joint is driven by single-joint and multi-joint pneumatic muscle group antagonistic muscles, and the wrist joint is composed of pneumatic muscles connected in parallel. 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 pneumatic muscles to drive the joint in a crossing way, and can realize the movement of the joint in a plurality of directions at the same time;

2. the joint is driven by the muscle group of the pneumatic muscle driving assembly, so that the joint has the advantages of higher power/mass ratio, better flexibility, compact structure, multiple degrees of freedom and the like;

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

Drawings

FIG. 1 is a diagram of the overall mechanical structure of a pneumatic muscle based replica robotic system;

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

FIG. 3 is a mechanical block diagram of a waist joint frame of a pneumatic muscle based replica robotic system;

FIG. 4 is a diagram of the overall mechanical structure of the waist joint of the pneumatic muscle-based profiling robot system;

FIG. 5 is a diagram of a pneumatic muscle based replica robotic system dual lower limb configuration;

FIG. 6 is a single lower limb configuration of a pneumatic muscle based mock robotic system;

FIG. 7 is a mechanical configuration diagram of the upper arm joint of the pneumatic muscle based replica robotic system;

FIG. 8 is a mechanical configuration of the forearm joint of the pneumatic muscle based replica robotic system;

FIG. 9 is a block schematic diagram of a pneumatic muscle based replica robot 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 connecting piece I5, a pneumatic muscle connecting piece II 6, a pneumatic muscle connecting piece III 7, a pneumatic muscle connecting piece IV 8, a waist joint lower side plate 9, a middle strut I10, a middle strut II 11, a middle strut III 12, a pneumatic muscle connecting piece V13, a pneumatic muscle connecting piece VI 14, a pneumatic muscle connecting piece VII 15, a pneumatic muscle connecting piece VIII 16, a pneumatic muscle I17, a pneumatic muscle II 18, a pneumatic muscle III 19, a pneumatic muscle IV 20, a pneumatic muscle V21, a pneumatic muscle VI 22, a pneumatic muscle VII 23, a pneumatic muscle VIII 24, a pneumatic muscle VII 25, a pneumatic muscle VII 27, a pneumatic muscle VII, a hip joint connecting piece 29, a knee joint connecting piece 29-2, a connecting rod I30, a thigh pneumatic muscle group I31, and a thigh middle rod 32, A second connecting rod 33, a third connecting rod 34, a first calf pneumatic muscle group 35, a middle calf rod 36, a fourth connecting rod 37, a foot 38, a fifth connecting rod 39, a second thigh pneumatic muscle group 40, a sixth connecting rod 41, a seventh connecting rod 42, a second calf pneumatic muscle group 43, an eighth connecting rod 44, a first pneumatic muscle connecting plate 45, a second pneumatic muscle connecting plate 46, a first belt wheel 47, a bracket 48, a second belt wheel 49, a first upper arm pneumatic muscle 50, a second upper arm pneumatic muscle 51, a third upper arm pneumatic muscle 52, a fourth upper arm pneumatic muscle 53, a third pneumatic muscle connecting plate 54, a fourth pneumatic muscle connecting plate 55, a third belt wheel 56, a pneumatic joint connecting plate 57, a fifth pneumatic muscle connecting plate 58, a sixth pneumatic muscle connecting plate 59, a first elbow joint pneumatic muscle 60, a second elbow joint pneumatic muscle 61, a third elbow joint pneumatic muscle 62, a fourth elbow joint pneumatic muscle 63, an intermediate connecting plate 64, a seventh pneumatic muscle 65, a seventh muscle connecting plate 65, a sixth pneumatic muscle connecting plate 59, Eight pneumatic muscle connecting plates 66, four belt wheels 67, one forearm pneumatic muscle 68, two forearm pneumatic muscles 69, a wrist joint connecting plate 70, an air claw 71, three forearm pneumatic muscles 72, a computer 73, an upper limb joint control system 74, a waist joint control system 75 and a lower limb joint control system 76.

Detailed Description

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

A pneumatic muscle-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;

a waist joint upper side plate 4, a middle strut I10, a middle strut II 11 and a middle strut III 12 of the waist joint 2 are sequentially and rotatably connected, the middle strut III 12 is fixedly connected with a waist joint lower side plate 9, a pneumatic muscle connecting piece I5, a pneumatic muscle connecting piece II 6, a pneumatic muscle connecting piece V13 and a pneumatic muscle connecting piece VI 14 are arranged between the middle strut I10 and the middle strut II 11, the pneumatic muscle connecting piece I5, the pneumatic muscle connecting piece II 6, the pneumatic muscle connecting piece V13 and the pneumatic muscle connecting piece VI 14 are fixedly connected with the middle strut I10, a pneumatic muscle connecting piece III 7, a pneumatic muscle connecting piece IV 8, a pneumatic muscle connecting piece VII 15, a pneumatic muscle connecting piece VIII 16, the pneumatic muscle connecting piece III 7, the pneumatic muscle connecting piece IV 8, the pneumatic muscle connecting piece VII 15 and the pneumatic muscle connecting piece VIII 16 are fixedly connected with the middle strut II 11 between the middle strut II 11 and the middle strut III 12, the pneumatic muscle connecting piece I5, the pneumatic muscle connecting piece II 6, the pneumatic muscle connecting piece III 7 and the pneumatic muscle connecting piece IV 8 are concave downwards, the pneumatic muscle connecting piece V13, the pneumatic muscle connecting piece VI 14, the pneumatic muscle connecting piece VII 15 and the pneumatic muscle connecting piece VIII 16 are convex upwards, one end of the pneumatic muscle I17 and one end of the pneumatic muscle VII 23 are fixedly connected with the upper side plate 4 of the waist joint, the other end of the pneumatic muscle I13 and the other end of the pneumatic muscle connecting piece V13 are respectively and rotatably connected with two ends of the pneumatic muscle connecting piece V13, one end of the pneumatic muscle II 18 and one end of the pneumatic muscle VIII 24 are fixedly connected with the upper side plate 4 of the waist joint, the other end of the pneumatic muscle connecting piece VI 14 is respectively and rotatably connected with two ends of the pneumatic muscle connecting piece I5 and the pneumatic muscle connecting piece VII 25, the two ends of the pneumatic muscle connecting piece II 6 and the pneumatic muscle connecting piece VIII 16, Two ends of a pneumatic muscle ten 26, a lower waist joint side plate 9 is respectively and fixedly connected with a pneumatic muscle five 21 and a pneumatic muscle twelve 28, the pneumatic muscle five 21 and the pneumatic muscle twelve 28 are respectively and rotatably connected with two ends of a pneumatic muscle connecting piece three 7, the lower waist joint side plate 9 is respectively and fixedly connected with a pneumatic muscle six 22 and a pneumatic muscle eleven 27, and the pneumatic muscle six 22 and the pneumatic muscle eleven 27 are respectively and rotatably connected with two ends of a pneumatic muscle connecting piece four 8;

a hip joint connecting piece 29 of the lower limb joint 3 is fixedly connected below the lower side plate 9 of the waist joint, the hip joint connecting piece 29 is rotatably connected with a connecting rod one 30, the connecting rod one 30 is fixedly connected with a thigh pneumatic muscle group one 31, the thigh pneumatic muscle group one 31 is fixedly connected with a connecting rod two 33, the connecting rod two 33 is rotatably connected with a knee joint connecting piece 29-2, the knee joint connecting piece 29-2 is rotatably connected with a connecting rod three 34, the connecting rod three 34 is fixedly connected with a shank pneumatic muscle group one 35, the shank pneumatic muscle group one 35 is fixedly connected with a connecting rod four 37, the connecting rod four 37 is rotatably connected with a foot 38, the hip joint connecting piece 29 is rotatably connected with a connecting rod five 39, the connecting rod five 39 is fixedly connected with a thigh pneumatic muscle group two 40, the thigh pneumatic muscle group two 40 is fixedly connected with a connecting rod six 41, the connecting rod six 41 is rotatably connected with the knee joint, the knee joint connecting piece 29-2 is rotatably connected with the connecting rod seven 42, the connecting rod seven 42 is fixedly connected with the pneumatic muscle group II of the lower leg 43, the pneumatic muscle group II of the lower leg 43 is fixedly connected with the connecting rod eight 44, the connecting rod eight 44 is rotatably connected with the foot 38, and the hip joint connecting piece 29, the knee joint connecting piece 29-2, the thigh middle rod 32, the lower leg middle rod 36 and the foot 38 are sequentially rotatably connected;

the upper side plate 4 of the waist joint 2 is fixedly connected with a bracket 48 of the upper limb joint 1, the bracket 48 is fixedly connected with a middle connecting piece 64, the bracket 48 is fixedly connected with a belt wheel I47, the middle connecting piece 64 is rotatably connected with a belt wheel II 49, the middle connecting piece 64 is rotatably connected with a belt wheel III 56, the belt wheel III 56 is respectively fixedly connected with an elbow joint connecting piece 57, a belt wheel IV 67, an elbow joint connecting piece 57 and a belt wheel IV 67, the pneumatic muscle I50 and the pneumatic muscle III 52 of the upper limb joint 1 are respectively fixedly connected with a pneumatic muscle connecting plate I45 and a pneumatic muscle connecting plate III 54, the pneumatic muscle II 51 and the pneumatic muscle IV 53 of the upper limb joint 1 are respectively fixedly connected with a pneumatic muscle connecting plate II 46 and a pneumatic muscle connecting plate IV 55, the pneumatic muscle I60 and the pneumatic muscle III 62 of the elbow joint of the upper limb joint 1 are respectively connected with a pneumatic muscle connecting plate V58, V and, The pneumatic muscle connecting plate seven 65 is fixedly connected, two ends of an elbow joint pneumatic muscle II 61 and an elbow joint pneumatic muscle IV 63 of the upper limb joint 1 are respectively fixedly connected with a pneumatic muscle connecting plate six 59 and a pneumatic muscle connecting plate eight 66, the pneumatic muscle connecting plate I45, the pneumatic muscle connecting plate II 46 and the belt wheel I47 are connected through pull ropes, the belt wheel II 49, the pneumatic muscle connecting plate five 58 and the pneumatic muscle connecting plate six 59 are connected through pull ropes, the pneumatic muscle connecting plate III 54, the pneumatic muscle connecting plate IV 55 and the belt wheel III 56 are connected through pull ropes, and the pneumatic muscle connecting plate seven 65, the pneumatic muscle connecting plate eight 66 and the belt wheel IV 67 are connected through pull ropes;

the elbow joint connecting piece 57 is respectively and rotatably connected with a first forearm pneumatic muscle 68, a second forearm pneumatic muscle 69 and a third forearm pneumatic muscle 72, the first forearm pneumatic muscle 68, the second forearm pneumatic muscle 69 and the third forearm pneumatic muscle 72 are respectively and rotatably connected with a wrist joint connecting plate 70, and the wrist joint connecting plate 70 is fixedly connected with an air claw 71; the computer 73, the computer 73 is connected to an upper limb joint control system 74, a waist joint control system 75, and a lower limb joint control system 76, respectively.

Two ends of the pneumatic muscle connecting piece I5, the pneumatic muscle connecting piece II 6, the pneumatic muscle connecting piece III 7, the pneumatic muscle connecting piece IV 8, the pneumatic muscle connecting piece V13, the pneumatic muscle connecting piece VI 14, the pneumatic muscle connecting piece VII 15 and the pneumatic muscle connecting piece VIII 16 are respectively provided with a connecting end head. The pneumatic muscle connecting piece I5, the pneumatic muscle connecting piece II 6, the pneumatic muscle connecting piece five 13 and the pneumatic muscle connecting piece six 14 are distributed around the middle pillar I10, and the pneumatic muscle connecting piece III 7, the pneumatic muscle connecting piece IV 8, the pneumatic muscle connecting piece seven 15 and the pneumatic muscle connecting piece eight 16 are distributed around the middle pillar II 11. The waist joint upper side plate 4 and the waist joint lower side plate 9 are respectively in a disc shape.

The pneumatic muscles I17, the pneumatic muscles II 18, the pneumatic muscles seven 23 and the pneumatic muscles eight 24 are parallel to each other and evenly distributed around the middle strut I10, the pneumatic muscles III 19, the pneumatic muscles IV 20, the pneumatic muscles IV 25 and the pneumatic muscles V26 are parallel to each other and located around the middle strut II 11, the pneumatic muscles III 19 and the pneumatic muscles IV 20 are grouped, the pneumatic muscles IV 25 and the pneumatic muscles V26 are grouped, the pneumatic muscles V21, the pneumatic muscles VI 22, the pneumatic muscles V27 and the pneumatic muscles V28 are parallel to each other and evenly distributed around the middle strut III 12. The hip joint connector 29 and the knee joint connector 29-2 are respectively in a strip shape. The thigh medial bar 32 is located in the middle of the hip joint connection 29 and the knee joint connection 29-2, respectively, and the shank medial bar 36 is located in the middle of the knee joint connection 29-2.

The first belt wheel 47 and the second belt wheel 49 are respectively positioned at two sides of the middle connecting plate 64. The two ends of the first forearm pneumatic muscle 68, the second forearm pneumatic muscle 69 and the third forearm pneumatic muscle 72 are respectively and evenly distributed on the elbow joint connecting piece 57 and the wrist joint connecting plate 70.

The computer 73 is a controller, and the upper limb joint control system 74 respectively controls the first pneumatic muscle of the upper limb 50, the second pneumatic muscle of the upper limb 51, the third pneumatic muscle of the upper limb 52, the fourth pneumatic muscle of the upper limb 53, the first pneumatic muscle of the elbow joint 60, the second pneumatic muscle of the elbow joint 61, the third pneumatic muscle of the elbow joint 62, the fourth pneumatic muscle of the elbow joint 63, the first pneumatic muscle of the lower limb 68, the second pneumatic muscle of the lower limb 69, the third pneumatic muscle of the lower limb 72 and the air claw 71; the waist joint control system 75 respectively controls a pneumatic muscle I17, a pneumatic muscle II 18, a pneumatic muscle III 19, a pneumatic muscle IV 20, a pneumatic muscle V21, a pneumatic muscle VI 22, a pneumatic muscle VII 23, a pneumatic muscle VIII 24, a pneumatic muscle VII 25, a pneumatic muscle VII 26, a pneumatic muscle VII 27 and a pneumatic muscle VII; the lower limb joint control system 76 controls the first pneumatic muscle group 31 of the thigh, the first pneumatic muscle group 35 of the calf, the second pneumatic muscle group 40 of the thigh and the second pneumatic muscle group 43 of the calf respectively.

A profiling robot system based on pneumatic muscles 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.

Two ends of a first middle strut 10 are respectively rotatably connected with the upper waist joint side plate 4 and a second middle strut 11, one end of a third middle strut 12 is fixedly connected with the lower waist joint side plate 9, the other end of the third middle strut is rotatably connected with the second middle strut 11, and a first pneumatic muscle connecting piece 5, a second pneumatic muscle connecting piece 6, a fifth pneumatic muscle connecting piece 13 and a sixth pneumatic muscle connecting piece 14 are uniformly distributed between the first middle strut 10 and the second middle strut 11 and are fixedly connected with the first middle strut 10; the pneumatic muscle connecting piece III 7, the pneumatic muscle connecting piece IV 8, the pneumatic muscle connecting piece VII 15 and the pneumatic muscle connecting piece VIII 16 are uniformly distributed between the middle strut II 11 and the middle strut III 12 and are fixedly connected with the middle strut II 11. The pneumatic muscle connecting piece I5, the pneumatic muscle connecting piece II 6, the pneumatic muscle connecting piece III 7 and the pneumatic muscle connecting piece IV 8 are in the shapes of a pneumatic muscle connecting piece V13, a pneumatic muscle connecting piece VI 14, a pneumatic muscle connecting piece seven 15 and a pneumatic muscle connecting piece eight 16.

One ends of a pneumatic muscle I17 and a pneumatic muscle VII 23 are fixedly connected with the upper side plate 4 of the waist joint, the other ends of the pneumatic muscle I and the pneumatic muscle VII are rotatably connected with a pneumatic muscle connecting piece V13, one ends of a pneumatic muscle II 18 and a pneumatic muscle VIII 24 are fixedly connected with the upper side plate 4 of the waist joint, and the other ends of the pneumatic muscle II and the pneumatic muscle VII are rotatably connected with a pneumatic muscle connecting piece VI 14; two ends of a pneumatic muscle III 19 and a pneumatic muscle Jiu 25 are respectively rotatably connected with a pneumatic muscle connecting piece I5 and a pneumatic muscle connecting piece VII 15, and two ends of a pneumatic muscle IV 20 and a pneumatic muscle VIII 26 are respectively rotatably connected with a pneumatic muscle connecting piece II 6 and a pneumatic muscle connecting piece VIII 16; one end of a pneumatic muscle five 21 and one end of a pneumatic muscle twelve 28 are fixedly connected with the lower side plate 9 of the waist joint, the other end of the pneumatic muscle five 21 and the other end of the pneumatic muscle twelve 28 are rotatably connected with a pneumatic muscle connecting piece three 7, one end of a pneumatic muscle six 22 and one end of a pneumatic muscle eleven 27 are fixedly connected with the lower side plate 9 of the waist joint, and the other end of the pneumatic muscle six 22 and the other end of the. The pneumatic muscle I17, the pneumatic muscle II 23, the pneumatic muscle II 18 and the pneumatic muscle II 24 drive the relative rotation between the waist joint upper side plate 4 and the middle strut I10 around the X axis and the Y axis together, the pneumatic muscle III 19, the pneumatic muscle III 25, the pneumatic muscle IV 20 and the pneumatic muscle IV 26 drive the relative rotation between the middle strut I10 and the middle strut II 11 around the X axis and the Y axis together, and the pneumatic muscle V21, the pneumatic muscle III 28, the pneumatic muscle VI 22 and the pneumatic muscle IV 27 drive the relative rotation between the middle strut II 11 and the middle strut III 12 around the X axis and the Y axis together.

The hip joint connecting piece 29 is fixedly connected with the lower side plate 9 of the waist joint, one end of the first connecting rod 30 is rotatably connected with the hip joint connecting piece 29, the other end of the first connecting rod is fixedly connected with the first pneumatic muscle group 31 of the thigh, one end of the second connecting rod 33 is rotatably connected with the knee joint connecting piece 29-2, and the other end of the second connecting rod is fixedly connected with the first pneumatic muscle group 31 of the thigh; one end of the third connecting rod 34 is rotatably connected with the knee joint connecting piece 29-2, the other end of the third connecting rod is fixedly connected with the first pneumatic muscle group of crus 35, one end of the fourth connecting rod 37 is rotatably connected with the foot 38, and the other end of the fourth connecting rod is fixedly connected with the first pneumatic muscle group of crus 35. One end of a fifth connecting rod 39 is rotatably connected with the hip joint connecting piece 29, the other end of the fifth connecting rod is fixedly connected with a second thigh pneumatic muscle group 40, one end of a sixth connecting rod 41 is rotatably connected with the knee joint connecting piece 29-2, and the other end of the sixth connecting rod is fixedly connected with the second thigh pneumatic muscle group 40; one end of the connecting rod seven 42 is rotatably connected with the knee joint connecting piece 29-2, the other end is fixedly connected with the calf pneumatic muscle group two 43, one end of the connecting rod eight 44 is rotatably connected with the foot 38, and the other end is fixedly connected with the calf pneumatic muscle group two 43. The two ends of the thigh middle rod 32 are respectively connected with the hip joint connecting piece 29 and the knee joint connecting piece 29-2 in a rotatable manner, and the two ends of the shank middle rod 36 are respectively connected with the knee joint connecting piece 29-2 and the foot 38 in a rotatable manner. The first thigh pneumatic muscle group 31, the second thigh pneumatic muscle group 40, the first shank pneumatic muscle group 35 and the second shank pneumatic muscle group 43 are formed by connecting a plurality of pneumatic muscles in parallel, and the number of the pneumatic muscles is more than 3. The first thigh pneumatic muscle group 31 and the second thigh pneumatic muscle group 40 form a group of antagonistic muscles, and the antagonistic muscles drive the hip joint connecting piece 29, the thigh middle rod 32 and the knee joint connecting piece 29-2 to rotate around the X axis and the Y axis relatively. The first calf pneumatic muscle group 35 and the second calf pneumatic muscle group 43 form a group of antagonistic muscles, and the first antagonistic muscles drive the knee joint connecting piece 29-2, the calf middle rod 36 and the feet 38 to rotate relatively around the X axis and the Y axis.

The support 48 is fixedly connected with the waist joint upper side plate 4, the middle connecting piece 64 is fixedly connected with the support 48, the first belt wheel 47 is fixedly connected with the support 48 and the middle connecting piece 64, the second belt wheel 49 is rotatably connected with the middle connecting piece 64, the third belt wheel 56 is fixedly connected with the elbow joint connecting piece 57 and the fourth belt wheel 67, the third belt wheel 56 is rotatably connected with the middle connecting piece 64, and the elbow joint connecting piece 57 is fixedly connected with the fourth belt wheel 67. Two ends of a first pneumatic muscle 50 and a third pneumatic muscle 52 of the big arm are respectively and fixedly connected with a first pneumatic muscle connecting plate 45 and a third pneumatic muscle connecting plate 54, and two ends of a second pneumatic muscle 51 and a fourth pneumatic muscle 53 of the big arm are respectively and fixedly connected with a second pneumatic muscle connecting plate 46 and a fourth pneumatic muscle connecting plate 55; two ends of the first elbow joint pneumatic muscle 60 and the third elbow joint pneumatic muscle 62 are fixedly connected with the fifth pneumatic muscle connecting plate 58 and the seventh pneumatic muscle connecting plate 65 respectively, and two ends of the second elbow joint pneumatic muscle 61 and the fourth elbow joint pneumatic muscle 63 are fixedly connected with the sixth pneumatic muscle connecting plate 59 and the eighth pneumatic muscle connecting plate 66 respectively. The first pneumatic muscle 50 and the third pneumatic muscle 52 of the big arm, the second pneumatic muscle 51 and the fourth pneumatic muscle 53 of the big arm drive the third belt wheel 56 and the middle connecting piece 64 to rotate relatively around the Y axis. The first elbow joint pneumatic muscle 60, the third elbow joint pneumatic muscle 62, the second elbow joint pneumatic muscle 61 and the fourth elbow joint pneumatic muscle 63 drive the third belt wheel 56 and the middle connecting piece 64, and the second belt wheel 49 and the middle connecting piece 64 to rotate relatively around the Y axis.

The two ends of the first forearm pneumatic muscle 68, the second forearm pneumatic muscle 69 and the third forearm pneumatic muscle 72 are respectively rotatably connected with the elbow joint connecting piece 57 and the wrist joint connecting plate 70, and drive the elbow joint connecting piece 57 and the wrist joint connecting plate 70 to rotate relatively around the Y axis and the Z axis and move relatively along the X axis. The air claw 71 is fixedly connected with the wrist joint connecting plate 70, and the air claw 71 rotates around the X axis and moves linearly along the Y axis and the Z axis.

The computer 73 communicates with the upper limb joint control system 74, the waist joint control system 75, and the lower limb joint control system 76 via an upper computer program and kinematics, dynamics, and controller, and thereby controls the upper limb joint 1, the waist joint 2, and the lower limb joint 3.

The upper limb joint control system 74, the waist joint control system 75 and the lower limb joint control system 76 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.

The invention realizes the control of the profiling robot system based on the pneumatic muscle by controlling the pneumatic muscle of each joint, can dynamically and vividly simulate the action of a human, can realize accurate track control, and has the advantages which cannot be compared with other profiling robot systems based on the pneumatic muscle.

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 muscle-based replica robot 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;

waist joint upper side plate (4), middle pillar (10), middle pillar two (11), middle pillar three (12) rotatable coupling in proper order of waist joint (2), middle pillar three (12) and waist joint lower side plate (9) fixed connection, set up pneumatic muscle connecting piece one (5), pneumatic muscle connecting piece two (6), pneumatic muscle connecting piece five (13), pneumatic muscle connecting piece six (14) between middle pillar one (10), middle pillar two (11), pneumatic muscle connecting piece one (5), pneumatic muscle connecting piece two (6), pneumatic muscle connecting piece five (13), pneumatic muscle connecting piece six (14) fixed connection middle pillar one (10), set up pneumatic muscle connecting piece three (7), pneumatic muscle connecting piece four (8) between middle pillar two (11), middle pillar three (12), Seven (15) pneumatic muscle connecting pieces, eight (16) pneumatic muscle connecting pieces, three (7) pneumatic muscle connecting pieces, four (8) pneumatic muscle connecting pieces, seven (15) pneumatic muscle connecting pieces, eight (16) pneumatic muscle connecting pieces, middle strut two (11) fixed connection, one (5) pneumatic muscle connecting piece, two (6) pneumatic muscle connecting piece, three (7) pneumatic muscle connecting piece, four (8) pneumatic muscle connecting piece are concave downward, five (13) pneumatic muscle connecting pieces, six (14) pneumatic muscle connecting pieces, seven (15) pneumatic muscle connecting pieces, eight (16) pneumatic muscle connecting pieces are convex upward, one (17) pneumatic muscle, seven (23) one end fixed connection waist joint upper side plate (4) and the other end respectively the two ends of the five (13) pneumatic muscle connecting pieces of rotatable connection, two (18) pneumatic muscle, Eight (24) one end fixed connection waist joint upper plate (4) of pneumatic muscle, the both ends of the pneumatic muscle connecting piece of other end difference rotatable coupling six (14), pneumatic muscle connecting piece one (5), pneumatic muscle connecting piece seven (15) both ends difference rotatable coupling pneumatic muscle three (19), the both ends of pneumatic muscle nine (25), the both ends of pneumatic muscle connecting piece two (6), pneumatic muscle connecting piece eight (16) rotatable coupling pneumatic muscle four (20), the both ends of pneumatic muscle ten (26) respectively, waist joint lower plate (9) is five (21) of fixed connection pneumatic muscle, pneumatic muscle twelve (28) respectively, the both ends of pneumatic muscle five (21), pneumatic muscle twelve (28) rotatable coupling pneumatic muscle connecting piece three (7) respectively, waist joint lower plate (9) is six (22) of fixed connection pneumatic muscle respectively, The pneumatic muscle eleven (27), the pneumatic muscle six (22) and the pneumatic muscle eleven (27) are respectively and rotatably connected with two ends of the pneumatic muscle connecting piece four (8);

the lower part of the waist joint lower side plate (9) is fixedly connected with a hip joint connecting piece (29) of a lower limb joint (3), the hip joint connecting piece (29) is rotatably connected with a first connecting rod (30), the first connecting rod (30) is fixedly connected with a first thigh pneumatic muscle group (31), the first thigh pneumatic muscle group (31) is fixedly connected with a second connecting rod (33), the second connecting rod (33) is rotatably connected with a knee joint connecting piece (29-2), the knee joint connecting piece (29-2) is rotatably connected with a third connecting rod (34), the third connecting rod (34) is fixedly connected with a first shank pneumatic muscle group (35), the first shank pneumatic muscle group (35) is fixedly connected with a fourth connecting rod (37), the fourth connecting rod (37) is rotatably connected with a foot (38), and the hip joint connecting piece (29) is rotatably connected with a fifth connecting rod (39), the five connecting rods (39) are fixedly connected with a second thigh pneumatic muscle group (40), the second thigh pneumatic muscle group (40) is fixedly connected with a sixth connecting rod (41), the sixth connecting rod (41) is rotatably connected with a knee joint connecting piece (29-2), the knee joint connecting piece (29-2) is rotatably connected with a seventh connecting rod (42), the seventh connecting rod (42) is fixedly connected with a second shank pneumatic muscle group (43), the second shank pneumatic muscle group (43) is fixedly connected with an eighth connecting rod (44), the eighth connecting rod (44) is rotatably connected with a foot (38), and the hip joint connecting piece (29), the knee joint connecting piece (29-2), the middle thigh rod (32), the middle shank rod (36) and the foot (38) are sequentially and rotatably connected;

waist joint upper plate (4) fixed connection upper limbs joint (1) of waist joint (2) support (48), support (48) and intermediate junction spare (64) fixed connection band pulley (47), intermediate junction spare (64) and band pulley two (49) rotatable coupling, intermediate junction spare (64) and band pulley three (56) rotatable coupling, band pulley three (56) respectively with elbow joint connecting piece (57), band pulley four (67) fixed connection, the pneumatic muscle of big arm one (50) and big arm pneumatic muscle three (52) both ends of upper limbs joint (1) respectively with pneumatic muscle connecting plate one (45), pneumatic muscle connecting plate three (54) fixed connection, the pneumatic muscle of big arm two (51) and big arm four (53) both ends of upper limbs joint (1) respectively with pneumatic muscle The pneumatic muscle connecting plate comprises two connecting plates (46) and four pneumatic muscle connecting plates (55), the two ends of the first elbow joint pneumatic muscle (60) and the three ends of the elbow joint pneumatic muscle (62) of the upper limb joint (1) are respectively fixedly connected with five pneumatic muscle connecting plates (58) and seven pneumatic muscle connecting plates (65), the two ends of the second elbow joint pneumatic muscle (61) and the four ends of the elbow joint pneumatic muscle (63) of the upper limb joint (1) are respectively fixedly connected with six pneumatic muscle connecting plates (59) and eight pneumatic muscle connecting plates (66), the first pneumatic muscle connecting plate (45), the second pneumatic muscle connecting plate (46) and the first belt wheel (47) are connected through pull ropes, the second belt wheel (49), the five pneumatic muscle connecting plates (58) and the six pneumatic muscle connecting plates (59) are connected through pull ropes, and the three pneumatic muscle connecting plates (54), the four pneumatic muscle connecting plates (55), The third belt wheel (56) is connected through a pull rope, and the seventh pneumatic muscle connecting plate (65), the eighth pneumatic muscle connecting plate (66) and the fourth belt wheel (67) are connected through pull ropes;

the elbow joint connecting piece (57) is respectively rotatably connected with a first forearm pneumatic muscle (68), a second forearm pneumatic muscle (69) and a third forearm pneumatic muscle (72), the first forearm pneumatic muscle (68), the second forearm pneumatic muscle (69) and the third forearm pneumatic muscle (72) are respectively rotatably connected with a wrist joint connecting plate (70), and the wrist joint connecting plate (70) is fixedly connected with an air claw (71);

and the computer (73), wherein the computer (73) is respectively connected with an upper limb joint control system (74), a waist joint control system (75) and a lower limb joint control system (76).

2. The pneumatic muscle based replica robot system of claim 1, wherein two ends of the pneumatic muscle connecting piece I (5), the pneumatic muscle connecting piece II (6), the pneumatic muscle connecting piece III (7), the pneumatic muscle connecting piece IV (8), the pneumatic muscle connecting piece V (13), the pneumatic muscle connecting piece VI (14), the pneumatic muscle connecting piece seven (15) and the pneumatic muscle connecting piece eight (16) are respectively provided with a connecting end.

3. The pneumatic muscle based replica robot system of claim 1, wherein the pneumatic muscle links one (5), two (6), five (13) and six (14) are distributed around the middle strut one (10), and the pneumatic muscle links three (7), four (8), seven (15) and eight (16) are distributed around the middle strut two (11).

4. The pneumatic muscle-based replica robot system according to claim 1, wherein said waist joint upper plate (4) and waist joint lower plate (9) are each disc-shaped.

5. The pneumatic muscle based replica robot system of claim 1, wherein the pneumatic muscles one (17), two (18), seven (23) and eight (24) are parallel to each other and evenly distributed around the middle strut one (10), the pneumatic muscles three (19), four (20), nine (25) and ten (26) are parallel to each other and located around the middle strut two (11), the pneumatic muscles three (19) and four (20) are grouped, the pneumatic muscles nine (25) and ten (26) are grouped, the pneumatic muscles five (21), six (22), eleven (27) and twelve (28) are parallel to each other and evenly distributed around the middle strut three (12).

6. The pneumatic muscle based replica robot system of claim 1, wherein said hip joint connection (29) and knee joint connection (29-2) are each elongated.

7. Pneumatic muscle based replica robot system according to claim 1, wherein the thigh middle bar (32) is located in the middle of the hip joint connection (29) and knee joint connection (29-2), respectively, and the shank middle bar (36) is located in the middle of the knee joint connection (29-2).

8. The pneumatic muscle based replica robot system of claim 1, wherein said first pulley (47) and said second pulley (49) are located on either side of said intermediate connection plate (64).

9. The pneumatic muscle based replica robot system of claim 1, wherein the two ends of the first forearm pneumatic muscle (68), the second forearm pneumatic muscle (69) and the third forearm pneumatic muscle (72) are uniformly distributed on the elbow joint connecting piece (57) and the wrist joint connecting plate (70), respectively.

10. The pneumatic muscle based replica robot system of claim 1, wherein said computer (73) is a controller, and said upper limb joint control system (74) controls pneumatic muscle one (50) of upper limb, pneumatic muscle two (51) of upper limb, pneumatic muscle three (52) of upper limb, pneumatic muscle four (53) of upper limb, pneumatic muscle one (60) of elbow joint, pneumatic muscle two (61) of elbow joint, pneumatic muscle three (62) of elbow joint, pneumatic muscle four (63) of elbow joint, pneumatic muscle one (68) of lower limb, pneumatic muscle two (69) of lower limb, pneumatic muscle three (72) of lower limb, pneumatic claw (71), respectively;

the waist joint control system (75) respectively controls a pneumatic muscle I (17), a pneumatic muscle II (18), a pneumatic muscle III (19), a pneumatic muscle IV (20), a pneumatic muscle V (21), a pneumatic muscle VI (22), a pneumatic muscle VII (23), a pneumatic muscle VIII (24), a pneumatic muscle VII (25), a pneumatic muscle VIII (26), a pneumatic muscle VIII (27) and a pneumatic muscle VII (28);

the lower limb joint control system (76) respectively controls a thigh pneumatic muscle group I (31), a shank pneumatic muscle group I (35), a thigh pneumatic muscle group II (40) and a shank pneumatic muscle group II (43).

Images