CN114346998A - Pneumatic and configuration combined profiling robot system - Google Patents

Pneumatic and configuration combined profiling robot system Download PDF

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Publication number
CN114346998A
CN114346998A CN202210050229.0A CN202210050229A CN114346998A CN 114346998 A CN114346998 A CN 114346998A CN 202210050229 A CN202210050229 A CN 202210050229A CN 114346998 A CN114346998 A CN 114346998A
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joint
pneumatic muscle
cylinder
pneumatic
rod
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Inventor
尹弟
姜飞龙
曹坚
胡红生
崔文华
何琳
张海军
朱海滨
刘睿莹
朱荷蕾
许聚武
杨立娜
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Jiaxing University
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Jiaxing University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
    • B25J9/0069—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-universal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rheumatology (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to a pneumatic and configuration combined profiling robot system, which drives the motion of a shoulder joint, an elbow joint, a wrist joint, a waist joint, a hip joint, a knee joint and an ankle joint by a cylinder and pneumatic muscles and has the function of completely simulating the motion of a human. The profiling robot mainly comprises a cylinder, pneumatic muscles, pneumatic claws and connecting pieces. The shoulder joint and the elbow joint realize the multi-direction movement of the joints by a plurality of groups of antagonistic muscle pneumatic muscles, and the wrist joint is formed by combining the pneumatic muscles and the pneumatic claws which are connected in parallel. The waist joint is formed by connecting a plurality of groups of crossed cylinders in parallel, so that the accessibility and rigidity of the joint motion space are greatly improved, and singularity is avoided. The hip joint is pneumatically driven in parallel, the knee joint is formed by combining pneumatic muscles and a four-rod parallelogram structure, and the ankle joint is formed by combining a cylinder and a rod structure. The invention is driven by pneumatic muscles and cylinders, has the characteristics of rigid-flexible combination, multiple degrees of freedom and good explosion-proof performance, and can be used for teaching and demonstration.

Description

Pneumatic and configuration combined profiling robot system
Technical Field
The invention relates to the technical field of bionic robot equipment, in particular to a pneumatic and configuration combined bionic robot system with rigidity and flexibility combination, multiple degrees of freedom and good explosion-proof performance.
Background
In order to enable the robot to better coordinate with human, the bionic robot is produced. Pneumatic muscles, which are similar to human muscles in their properties and have a good compliance, are used in biomimetic robots, but they can only be provided and therefore, in most cases, come in the form of opposing pulls.
CN105691572A, application No.: 201610049111.0 discloses a pneumatic muscle antagonism type driven frog-imitating swimming robot, which relates to a frog-imitating swimming robot. The invention uses antagonistic muscles to drive the joints, can simultaneously adjust the angles and the rigidity of the joints, has compact integral structure and can realize underwater motion. Each thigh body (2) of the invention is rotatably arranged at one side of the base body (1) through a hip joint (5), each shank body (3) is rotatably connected with one thigh body (2) through a knee joint (6), and each foot (4) is rotatably connected with one shank body (3) through an ankle joint (7).
CN108724163A, application No.: 201810518120.9 discloses a pneumatic muscle driven seven-degree-of-freedom humanoid mechanical arm, which comprises a fixed support, a shoulder joint, a big arm, an elbow joint, a small arm, a wrist joint and a hand, wherein the shoulder joint is provided with shoulder flexion and extension, shoulder adduction and abduction and big arm internal rotation and outward rotation freedom degrees, the axes of the three freedom degrees are intersected at one point, the elbow joint is provided with elbow flexion and extension freedom degrees, the wrist joint is provided with wrist-small arm pronation and supination, wrist flexion and wrist adduction and abduction freedom degrees, the axes of the three freedom degrees are intersected at one point, and the motion of the mechanical arm completely simulates a human. Each degree of freedom of the mechanical arm is driven by a pair of pneumatic muscle antagonisms, using bowden cables and wire ropes for transmission.
CN111070232A, application No.: 202010045481.3, discloses a pneumatically driven two-finger manipulator, which comprises a palm and two fingers symmetrically arranged on the palm; each finger comprises a far knuckle, a middle knuckle, a near knuckle, a middle knuckle pressure sensor, a near knuckle pressure sensor, a first tendon rope, a second tendon rope, a first pneumatic artificial muscle, a second pneumatic artificial muscle, a third pneumatic artificial muscle, a middle finger joint synchronous pulley, a synchronous belt and a far finger joint synchronous pulley, wherein the far finger joint synchronous pulley is fixed on a joint shaft of the far knuckle; the first tendon rope is sleeved on a joint shaft of a proximal knuckle, two ends of the first tendon rope are respectively connected with the second pneumatic artificial muscle and the third pneumatic artificial muscle, and the second pneumatic artificial muscle and the third pneumatic artificial muscle form an antagonistic joint.
Chinese patents CN105691572A, CN108724163A and CN111070232A respectively design frogs, arms and fingers of single-group antagonistic muscles, but the problem that joints are driven by the multiple-group antagonistic muscles is difficult to solve, and meanwhile, the defect that the joints can not be simulated well is the structure. The parallel mechanism has the advantage of high rigidity and is used as a robot joint, wherein the 6-SPS is the most common mechanism, but the rigidity is relatively poor, the motion space is small, and the singularity is high, so that the parallel mechanism is not common in the robot joint. A pneumatic and configuration combined profiling robot system with rigid and flexible combination, multiple degrees of freedom and good explosion-proof performance is needed.
Disclosure of Invention
The invention aims to provide a pneumatic and configuration combined profiling robot system with rigid and flexible combination, multiple degrees of freedom and good explosion-proof performance.
A pneumatic and configuration combined mock 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 lower end of the chest supporting piece of the waist joint is fixedly connected with a waist joint upper panel, and the waist joint upper panel and the waist joint lower panel are respectively and rotatably connected with two ends of a cylinder II, a cylinder III, a cylinder IV, a cylinder V, a cylinder VI and a cylinder VII;
the lower end of the waist joint lower panel is respectively rotatably connected with a hip joint first cylinder and a hip joint second cylinder of a lower limb joint, the hip joint first cylinder and the hip joint second cylinder are respectively rotatably connected with a first middle connecting piece, the first middle connecting piece is respectively rotatably connected with a first rod, a second rod, a third rod and a fourth rod, the first rod, the second rod, the third rod and the fourth rod are respectively rotatably connected with a second middle connecting piece, the first rod and the second rod are respectively fixedly connected with a first middle fixing piece, the first knee joint pneumatic muscle and the second middle connecting piece are sequentially rotatably connected, the third rod and the fourth rod are respectively fixedly connected with a second middle fixing piece, the first middle connecting piece, the second knee joint pneumatic muscle and the second middle fixing piece are sequentially rotatably connected, the second middle connecting piece is respectively rotatably connected with a cylinder body and a foot of the first cylinder, and the rod of the first cylinder, The first connecting piece, the second connecting piece and the foot are sequentially and fixedly connected;
the two sides of the chest supporting piece are respectively fixedly connected with a first shoulder joint fixing piece of an upper limb joint, the first shoulder joint fixing piece and a first shoulder joint rotating piece are rotatably connected, the first shoulder joint rotating piece and a first shoulder joint fixing plate are fixedly connected, the first shoulder joint fixing piece and a second shoulder joint connecting piece are fixedly connected, the first shoulder joint connecting piece and a second elbow joint fixing piece are fixedly connected, the first elbow joint fixing piece and the second elbow joint rotating piece are rotatably connected, the first shoulder joint rotating piece and the second shoulder joint fixing piece are rotatably connected, the second elbow joint fixing piece and the second elbow joint fixing plate are fixedly connected, the first elbow joint fixing plate is fixedly connected with a first shoulder joint pneumatic muscle and a second shoulder joint pneumatic muscle, and the first shoulder joint pneumatic muscle and the second shoulder joint pneumatic muscle are sleeved in a groove of the first shoulder joint fixing piece through a pull rope, the shoulder joint fixing plate is fixedly connected with a first elbow joint pneumatic muscle and a second elbow joint pneumatic muscle, and the first elbow joint pneumatic muscle and the second elbow joint pneumatic muscle are sleeved in a groove of the elbow joint rotating part through pull ropes;
the elbow joint rotating part is fixedly connected with a wrist joint upper end fixing plate, the wrist joint upper end fixing plate is fixedly connected with a forearm connecting part, the forearm connecting part is rotatably connected with a wrist joint lower end fixing plate, the wrist joint lower end fixing plate is fixedly connected with a gas claw, the wrist joint upper end fixing plate is respectively and fixedly connected with a forearm pneumatic muscle I, a forearm pneumatic muscle II, a forearm pneumatic muscle III and a forearm pneumatic muscle IV, and the forearm pneumatic muscle I, the forearm pneumatic muscle II, the forearm pneumatic muscle III and the forearm pneumatic muscle IV are respectively and rotatably connected with a wrist joint lower end fixing plate;
a simple diagram of a knee joint mechanism consisting of a first middle connecting piece 7, a second rod 11, a second middle connecting piece 12 and a fourth rod 15, and the length (l) of a branched chain is assumed to be free of errors1、l2、l3、l4) And variable (theta)2、θ4) The relationship between them.
For point A
x2＝l1 cosθ2 (1)
y2＝l1 sinθ2 (2)
For point B
x3＝-l4+l3 cosθ4 (3)
y3＝l3 sinθ4 (4)
Figure BDA0003473641710000041
Figure BDA0003473641710000042
Asinθ4+Bcosθ4＝C (7)
A＝sinθ2 (8)
Figure BDA0003473641710000043
Figure BDA0003473641710000044
Figure BDA0003473641710000045
The distance between point A and point B is fixed and equal to l2。
Four-bar mechanism with O2And O4Is a fixed fulcrum and psi is 180 DEG-theta2。
For triangle O2O4A and O4AB uses trigonometric relationship O2O4A can be obtained
Figure BDA0003473641710000046
Figure BDA0003473641710000047
Figure BDA0003473641710000048
Figure BDA0003473641710000049
θ4＝θ41+θ42 (16)
Suppose a rod member l1、l2、l3、l4Respectively is t1、t2、t3、t4. For each rod, the rod length is
lti＝li+ti i＝1,2,3,4 (17)
Equations (12) - (16) are further expressed in view of the errors
Figure BDA00034736417100000410
Figure BDA0003473641710000051
Figure BDA0003473641710000052
Figure BDA0003473641710000053
(θ4)t＝(θ41)t+(θ42)t (22)
And the computer is respectively connected with the upper limb joint control system, the waist joint control system and the lower limb joint control system.
The chest support member is a hollow member.
The space of the second cylinder and the space of the third cylinder are intersected, the space of the fourth cylinder and the space of the sixth cylinder are intersected, and the space of the fifth cylinder and the space of the seventh cylinder are intersected.
The lower waist joint panel and the upper waist joint panel are respectively in a disc shape.
The first middle connecting piece is I-shaped, and the second middle connecting piece is T-shaped.
The first rod and the second rod are long strips with the same length, and the third rod and the fourth rod are long strips with the same length.
The elbow joint rotating piece, the shoulder joint fixing piece I and the shoulder joint fixing piece II are respectively in a disc shape and are provided with annular grooves.
The first shoulder joint pneumatic muscle and the second shoulder joint pneumatic muscle are parallel to each other, the third shoulder joint pneumatic muscle and the fourth shoulder joint pneumatic muscle are parallel to each other, and the first elbow joint pneumatic muscle and the second elbow joint pneumatic muscle are parallel to each other.
The fixing plate at the upper end of the wrist joint is in a cross shape, the fixing plate at the lower end of the wrist joint is in a disc shape, and the first forearm pneumatic muscle, the second forearm pneumatic muscle, the third forearm pneumatic muscle and the fourth forearm pneumatic muscle are uniformly distributed around the forearm connecting piece.
The computer is a controller, and the waist joint control system respectively controls a cylinder II, a cylinder III, a cylinder IV, a cylinder V, a cylinder VI and a cylinder VII;
the lower limb joint control system respectively controls a first hip joint cylinder, a second hip joint cylinder, a first knee joint pneumatic muscle, a second knee joint pneumatic muscle and a first cylinder;
the upper limb joint control system respectively controls an elbow joint pneumatic muscle I, an elbow joint pneumatic muscle II, a shoulder joint pneumatic muscle I, a shoulder joint pneumatic muscle II, a shoulder joint pneumatic muscle III, a shoulder joint pneumatic muscle IV, a forearm pneumatic muscle I, a forearm pneumatic muscle II, a forearm pneumatic muscle III, a forearm pneumatic muscle IV and an air claw.
The invention discloses a pneumatic and configuration combined profiling robot system, which drives the motion of a shoulder joint, an elbow joint, a wrist joint, a waist joint, a hip joint, a knee joint and an ankle joint by a cylinder and pneumatic muscles and has the function of completely simulating the motion of a human. The profiling robot mainly comprises a cylinder, pneumatic muscles, pneumatic claws and connecting pieces. The shoulder joint and the elbow joint realize the multi-direction movement of the joints by a plurality of groups of antagonistic muscle pneumatic muscles, and the wrist joint is formed by combining the pneumatic muscles and the pneumatic claws which are connected in parallel. The waist joint is formed by connecting a plurality of groups of crossed cylinders in parallel, so that the accessibility and rigidity of the joint motion space are greatly improved, and singularity is avoided. The hip joint is pneumatically driven in parallel, the knee joint is formed by combining pneumatic muscles and a four-rod parallelogram structure, and the ankle joint is formed by combining a cylinder and a rod structure. The invention is driven by pneumatic muscles and cylinders, has the characteristics of rigid-flexible combination, multiple degrees of freedom and good explosion-proof performance, and can be used for teaching and demonstration.
The invention has the beneficial effects that:
1. the joint is driven by utilizing the pneumatic muscle in the antagonistic muscle form, so that the joint can move in multiple directions simultaneously;
2. the pneumatic muscles are combined with a four-bar parallelogram mechanism, and have the flexibility of the pneumatic muscles and cannot change into other shapes when being stretched and compressed.
3. 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;
4. the invention has 2, 1, 5, 6, 1 and 1 degrees of freedom for shoulder joint, elbow joint, wrist joint, waist joint, hip joint, knee joint and ankle joint, can vividly simulate various actions which can be realized under people, and is helpful for understanding the human body structure and the action of each element in the human body joint motion.
Drawings
FIG. 1 is a mechanical block diagram of the entire system of a pneumatic and configuration combined replica robot;
FIG. 2 is a mechanical structure diagram of a single lower limb of a pneumatic and configuration combined mock robotic system;
FIG. 3 is a partial mechanical block diagram of a knee and ankle joint of a pneumatic and configuration combined mock-up robotic system;
FIG. 4 is a mechanical configuration diagram of a pneumatic and configuration combined waist joint of a humanoid robotic system;
FIG. 5 is a partial mechanical block diagram of a shoulder joint of a pneumatic and configuration combined mock-up robotic system;
FIG. 6 is a partial mechanical block diagram of the elbow and wrist joints of a pneumatic and configuration combined mock robotic system;
FIG. 7 is a block diagram of a system control for a pneumatic and configuration combined mock robot system;
FIG. 8 is a schematic view of a knee joint error-free mechanism of a pneumatic and configuration combined mock robotic system;
FIG. 9 is a schematic diagram of a knee joint error mechanism of a pneumatic and configuration combined mock-up robotic system;
in the figure: an upper limb joint 1, a waist joint 2, a lower limb joint 3, a lower panel of the waist joint 4, a first cylinder of the hip joint 5, a second cylinder of the hip joint 6, a first middle connecting piece 7, a first middle fixing piece 8, a first rod 9, a first pneumatic muscle of the knee joint 10, a second rod 11, a second middle connecting piece 12, a third rod 13, a second pneumatic muscle of the knee joint 14, a fourth rod 15, a second middle fixing piece 16, a first cylinder 17, a first connecting piece 18, a second connecting piece 19, a foot 20, an upper panel of the waist joint 21, a second cylinder 22, a third cylinder 23, a fourth cylinder 24, a fifth cylinder 25, a sixth cylinder 26, a seventh cylinder 27, a fixing piece of the elbow joint 28, a first pneumatic muscle of the shoulder joint 29, a first pneumatic muscle of the elbow joint 30, a connecting piece of the shoulder joint 31, a second pneumatic muscle of the shoulder joint 32, a fixing plate of the shoulder joint 33, a first rotating piece 34, a first fixing piece of the shoulder joint 35, a supporting piece of the chest support piece 36, a rotating piece of the elbow joint 37, a second pneumatic muscle of the elbow joint 38, a second shoulder joint support piece of the shoulder joint 6, a second cylinder 6, a middle fixing piece of the shoulder joint 6, a middle connecting piece of the shoulder joint 6, a connecting piece of the shoulder joint, a connecting piece of the shoulder joint, a connecting piece of a shoulder joint, a, An elbow joint fixing plate 39, a shoulder joint pneumatic muscle III 40, a shoulder joint pneumatic muscle IV 41, a shoulder joint rotating part II 42, a shoulder joint fixing part II 43, a wrist joint upper end fixing plate 44, a forearm pneumatic muscle I45, a forearm pneumatic muscle II 46, a forearm pneumatic muscle III 47, a forearm pneumatic muscle IV 48, a forearm connecting part 49, a wrist joint lower end fixing plate 50, an air claw 51, an upper limb joint control system 52, a waist joint control system 53, a lower limb joint control system 54 and a computer 55.
Detailed Description
The invention is further described below with reference to the following figures and specific examples.
A pneumatic and configuration combined mock robotic system, comprising: the waist joint 2, the upper limb joint 1 which is a mirror image of each other is respectively arranged at the two sides of the waist joint 2, and the lower limb joint 3 which is a mirror image of each other is respectively arranged at the lower part of the waist joint 2; the lower end of a chest supporting piece 36 of the waist joint 2 is fixedly connected with a waist joint upper panel 21, and the waist joint upper panel 21 and the waist joint lower panel 4 are respectively and rotatably connected with two ends of a cylinder II 22, a cylinder III 23, a cylinder IV 24, a cylinder V25, a cylinder VI 26 and a cylinder VII 27;
the lower end of a lower panel 4 of the waist joint is respectively rotatably connected with a first hip joint cylinder 5 and a second hip joint cylinder 6 of a lower limb joint 3, the first hip joint cylinder 5 and the second hip joint cylinder 6 are respectively rotatably connected with a first intermediate connecting piece 7, the first intermediate connecting piece 7 is respectively rotatably connected with a first connecting rod 9, a second rod 11, a third rod 13 and a fourth rod 15, the first rod 9, the second rod 11, the third rod 13 and the fourth rod 15 are respectively rotatably connected with a second intermediate connecting piece 12, the first rod 9 and the second rod 11 are respectively fixedly connected with a first intermediate fixing piece 8, the first knee joint pneumatic muscle 10 and the second intermediate connecting piece 12 are sequentially rotatably connected, the third rod 13 and the fourth rod 15 are respectively fixedly connected with a second intermediate fixing piece 16, the first intermediate connecting piece 7, the second knee joint pneumatic muscle 14 and the second intermediate fixing piece 16 are sequentially rotatably connected, and the second intermediate connecting piece 12 is respectively connected with a cylinder body of the first cylinder 17, The foot 20 is rotatably connected, and the rod of the first air cylinder 17, the first connecting piece 18, the second connecting piece 19 and the foot 20 are fixedly connected in sequence;
the two sides of the chest supporting piece 36 are respectively fixedly connected with a shoulder joint fixing piece I35 of the upper limb joint 1, the shoulder joint fixing piece I35 is rotatably connected with a shoulder joint rotating piece I34, the shoulder joint rotating piece I34 is fixedly connected with a shoulder joint fixing plate 33, the shoulder joint fixing plate 33 is fixedly connected with a shoulder joint connecting piece 31, the shoulder joint connecting piece 31 is fixedly connected with an elbow joint fixing piece 28, the elbow joint fixing piece 28 is rotatably connected with an elbow joint rotating piece 37, the shoulder joint fixing plate 33 is fixedly connected with a shoulder joint rotating piece II 42, the shoulder joint rotating piece II 42 is rotatably connected with a shoulder joint fixing piece II 43, the elbow joint fixing piece 28 is fixedly connected with an elbow joint fixing plate 39, the elbow joint fixing plate 39 is fixedly connected with a shoulder joint pneumatic muscle I29 and a shoulder joint pneumatic muscle II 32, the shoulder joint pneumatic muscle I29 and the shoulder joint pneumatic muscle II 32 are sleeved in a groove of the shoulder joint fixing piece I35 through a pulling rope, the shoulder joint fixing plate 39 is fixedly connected with a shoulder joint pneumatic muscle III 40 and a shoulder joint pneumatic muscle IV 41, the shoulder joint pneumatic muscle III 40 and the shoulder joint pneumatic muscle IV 41 are sleeved in a groove of the shoulder joint fixing piece II 43 through pull ropes, the shoulder joint fixing plate 33 is fixedly connected with an elbow joint pneumatic muscle I30 and an elbow joint pneumatic muscle II 38, and the elbow joint pneumatic muscle I30 and the elbow joint pneumatic muscle II 38 are sleeved in a groove of the elbow joint rotating piece 37 through the pull ropes;
the elbow joint rotating part 37 is fixedly connected with a wrist joint upper end fixing plate 44, the wrist joint upper end fixing plate 44 is fixedly connected with a forearm connecting part 49, the forearm connecting part 49 is rotatably connected with a wrist joint lower end fixing plate 50, the wrist joint lower end fixing plate 50 is fixedly connected with a pneumatic claw 51, the wrist joint upper end fixing plate 44 is respectively and fixedly connected with a forearm pneumatic muscle I45, a forearm pneumatic muscle II 46, a forearm pneumatic muscle III 47, a forearm pneumatic muscle IV 48, a forearm pneumatic muscle I45, a forearm pneumatic muscle II 46, a forearm pneumatic muscle III 47 and a forearm pneumatic muscle IV 48, and the forearm pneumatic muscle IV is respectively and rotatably connected with a wrist joint lower end fixing plate 50; the computer 55 and the computer 55 are connected to the upper limb joint control system 52, the waist joint control system 53, and the lower limb joint control system 54, respectively.
The chest support 36 is a hollow member. The space of the second cylinder 22 and the space of the third cylinder 23 are intersected, the space of the fourth cylinder 24 and the space of the sixth cylinder 26 are intersected, and the space of the fifth cylinder 25 and the space of the seventh cylinder 27 are intersected. The lower waist joint panel 4 and the upper waist joint panel 21 are respectively in a disc shape. The first middle connecting piece 7 is I-shaped, and the second middle connecting piece 12 is T-shaped. The first rod 9 and the second rod 11 are long strips with the same length, and the third rod 13 and the fourth rod 15 are long strips with the same length. The elbow joint rotating part 37, the shoulder joint fixing part I35 and the shoulder joint fixing part II 43 are respectively in a disc shape and are provided with annular grooves. The first shoulder joint pneumatic muscle 29 and the second shoulder joint pneumatic muscle 32 are parallel to each other, the third shoulder joint pneumatic muscle 40 and the fourth shoulder joint pneumatic muscle 41 are parallel to each other, and the first elbow joint pneumatic muscle 30 and the second elbow joint pneumatic muscle 38 are parallel to each other. The fixing plate 44 at the upper end of the wrist joint is in a cross shape, the fixing plate 50 at the lower end of the wrist joint is in a disc shape, and the first forearm pneumatic muscle 45, the second forearm pneumatic muscle 46, the third forearm pneumatic muscle 47 and the fourth forearm pneumatic muscle 48 are uniformly distributed around the forearm connecting piece 49.
The computer 55 is a controller, and the waist joint control system 53 respectively controls the second cylinder 22, the third cylinder 23, the fourth cylinder 24, the fifth cylinder 25, the sixth cylinder 26 and the seventh cylinder 27; the lower limb joint control system 54 respectively controls a hip joint first cylinder 5, a hip joint second cylinder 6, a knee joint pneumatic muscle I10, a knee joint pneumatic muscle II 14 and a cylinder I17; the upper limb joint control system 52 respectively controls the first elbow joint pneumatic muscle 30, the second elbow joint pneumatic muscle 38, the first shoulder joint pneumatic muscle 29, the second shoulder joint pneumatic muscle 32, the third shoulder joint pneumatic muscle 40, the fourth shoulder joint pneumatic muscle 41, the first forearm pneumatic muscle 45, the second forearm pneumatic muscle 46, the third forearm pneumatic muscle 47, the fourth forearm pneumatic muscle 48 and the air claw 51.
A pneumatic and configuration combined profiling robot system mainly comprises an upper limb joint 1, a waist joint 2 and a lower limb joint 3. The number of the upper limb joints 1 and the lower limb joints 3 is 2, and the two upper limb joints 1 are consistent in structure, and the two lower limb joints 3 are consistent in structure.
Two ends of the hip joint first cylinder 5 and the hip joint second cylinder 6 are respectively rotatably connected with the waist joint lower panel 4 and the middle connecting piece I7; the first hip joint cylinder 5 and the second hip joint cylinder 6 drive the joint 3 to move along X, Y, Z and rotate around X, Y, Z. The two ends of the first rod 9 and the second rod 11 are respectively rotatably connected with the first middle connecting piece 7 and the second middle connecting piece 12, the first middle fixing piece 8 is fixedly connected with the first rod 9 and the second rod 11, and the two ends of the first knee joint pneumatic muscle 10 are respectively rotatably connected with the first middle fixing piece 8 and the second middle connecting piece 12; two ends of a third rod 13 and a fourth rod 15 are respectively rotatably connected with the first middle connecting piece 7 and the second middle connecting piece 12, a second middle fixing piece 16 is fixedly connected with the third rod 13 and the fourth rod 15, and two ends of a second knee joint pneumatic muscle 14 are respectively rotatably connected with the first middle connecting piece 7 and the second middle fixing piece 16; the first knee joint pneumatic muscle 10, the second knee joint pneumatic muscle 14 drive the second middle connecting piece 12, the first air cylinder 17, the first connecting piece 18, the second connecting piece 19 and the feet 20 to rotate around the Y axis. The middle connecting piece II 12 is rotatably connected with the foot 20, the cylinder body of the cylinder I17 is rotatably connected with the middle connecting piece II 12, the rod of the cylinder I17 is fixedly connected with the connecting piece I18, and two ends of the connecting piece II 19 are respectively fixedly connected with the connecting piece I18 and the foot 20. The first air cylinder 17 drives the foot 20 to rotate around the Y axis relative to the second middle connecting piece 12 through the first connecting piece 18 and the second connecting piece 19.
Two ends of the second cylinder 22, the third cylinder 23, the fourth cylinder 24, the fifth cylinder 25, the sixth cylinder 26 and the seventh cylinder 27 are respectively rotatably connected with the waist joint lower panel 4 and the waist joint upper panel 21, the second cylinder 22, the third cylinder 23, the fourth cylinder 24, the fifth cylinder 25, the sixth cylinder 26 and the seventh cylinder 27 exist in parallel, the second cylinder 22 is crossed with the third cylinder 23, the fourth cylinder 24 is crossed with the sixth cylinder 26, and the fifth cylinder 25 is crossed with the seventh cylinder 27. The second cylinder 22, the third cylinder 23, the fourth cylinder 24, the fifth cylinder 25, the sixth cylinder 26 and the seventh cylinder 27 together drive the waist joint to move along X, Y, Z and rotate around X, Y, Z.
The first shoulder joint fixing piece 35 is fixedly connected with the chest supporting piece 36, the shoulder joint fixing plate 33 is fixedly connected with the first shoulder joint rotating piece 34 and the shoulder joint connecting piece 31, and the first shoulder joint rotating piece 34 is rotatably connected with the first shoulder joint fixing piece 35; one end of the first shoulder joint pneumatic muscle 29 and one end of the second shoulder joint pneumatic muscle 32 are fixedly connected with the elbow joint fixing plate 39, and the other ends of the first shoulder joint pneumatic muscle and the second shoulder joint pneumatic muscle form antagonistic muscles through ropes to drive the upper limb joint 1 to rotate around the Z axis. The elbow joint fixing piece 28 is fixedly connected with the shoulder joint connecting piece 31, and the elbow joint rotating piece 37 is rotatably connected with the elbow joint fixing piece 28; one end of the first elbow joint pneumatic muscle 30 and one end of the second elbow joint pneumatic muscle 38 are fixedly connected with the shoulder joint fixing plate 33, and the other end of the first elbow joint pneumatic muscle and the other end of the second elbow joint pneumatic muscle form antagonistic muscles through ropes to drive the elbow joint to rotate around the X axis. The second shoulder joint fixing piece 43 is rotatably connected with the second shoulder joint rotating piece 42, and the second shoulder joint rotating piece 42 is fixedly connected with the shoulder joint fixing plate 33; one end of the shoulder joint pneumatic muscle III 40 and one end of the shoulder joint pneumatic muscle IV 41 are fixedly connected with the elbow joint fixing plate 39, and the other end of the shoulder joint pneumatic muscle IV forms antagonistic muscles through ropes to drive the upper limb joint 1 to rotate around the X axis. The wrist joint upper end fixing plate 44 is fixedly connected with the elbow joint rotating part 37 and the forearm connecting part 49, the forearm connecting part 49 is rotatably connected with the wrist joint lower end fixing plate 50, one end of the forearm pneumatic muscle I45, the forearm pneumatic muscle II 46, the forearm pneumatic muscle III 47 and the forearm pneumatic muscle IV 48 is fixedly connected with the wrist joint upper end fixing plate 44, and the other end of the forearm pneumatic muscle IV is rotatably connected with the wrist joint lower end fixing plate 50; the first forearm pneumatic muscle 45, the second forearm pneumatic muscle 46, the third forearm pneumatic muscle 47 and the fourth forearm pneumatic muscle 48 drive the wrist joint lower end fixing plate 50 and the pneumatic claw 51 to rotate around the X, Z axis. The wrist joint lower end fixing plate 50 is fixedly connected with the air claw 51, and the air claw 51 can realize rotation around the Y axis and movement in the direction of X, Z
Bus control CAN be realized between the computer 55 and the upper limb joint control system 52, the waist joint control system 53, and the lower limb joint control system 54 through CAN or Modbus. The upper limb joint control system 52, the waist joint control system 53 and the lower limb joint control system 54 respectively acquire the state variables of the cylinders or pneumatic muscles in the upper limb joint 1, the waist joint 2 and the lower limb joint 3 in real time.
For convenient installation and processing, the first intermediate connecting piece 7 and the second intermediate connecting piece 12 are formed by combining a plurality of modules.
The intersection of the second cylinder 22 and the third cylinder 23, the intersection of the fourth cylinder 24 and the sixth cylinder 26, and the intersection of the fifth cylinder 25 and the seventh cylinder 27 effectively improve the rigidity and the accessibility of a working space of the waist joint and simultaneously reduce the singularity of the waist joint to the maximum extent.
The first air cylinder 17 is combined with the first connecting piece 18 and the second connecting piece 19, and the problem that the air cylinder is easy to block when directly used is well solved.
The first middle connecting piece 7, the second rod 11, the second middle connecting piece 12 and the fourth rod 15 form a schematic diagram of the knee joint mechanism shown in fig. 8 and 9, and the length (l) of the branched chain is determined assuming no error1、l2、l3、l4) And variable (theta)2、θ4) Is close toIs described.
For point A
x2＝l1 cosθ2 (1)
y2＝l1 sinθ2 (2)
For point B
x3＝-l4+l3 cosθ4 (3)
y3＝l3 sinθ4 (4)
Figure BDA0003473641710000111
Figure BDA0003473641710000112
Asinθ4+Bcosθ4＝C (7)
A＝sinθ2 (8)
Figure BDA0003473641710000113
Figure BDA0003473641710000114
Figure BDA0003473641710000115
The distance between point A and point B is fixed and equal to l2。
A four-bar mechanism as shown in fig. 8, with O2And O4Is a fixed fulcrum and psi is 180 DEG-theta2。
For triangle O2O4A and O4AB toBy trigonometric relation O2O4A can be obtained
Figure BDA0003473641710000121
Figure BDA0003473641710000122
Figure BDA0003473641710000123
Figure BDA0003473641710000124
θ4＝θ41+θ42 (16)
Suppose a rod member l1、l2、l3、l4Respectively is t1、t2、t3、t4As shown in fig. 9. For each rod, the rod length is
lti＝li+ti i＝1,2,3,4 (17)
Equations (12) - (16) are further expressed in view of the errors
Figure BDA0003473641710000125
Figure BDA0003473641710000126
Figure BDA0003473641710000127
Figure BDA0003473641710000128
(θ4)t＝(θ41)t+(θ42)t (22)
The invention realizes the control of the pose of the profiling robot by controlling each pneumatic muscle and each air cylinder, can dynamically and vividly simulate the action of a human joint, can realize accurate track control, and has the advantages which cannot be compared with other profiling robots.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (10)

1. A pneumatic and configuration combined 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;
the lower end of a chest supporting piece (36) of the waist joint (2) is fixedly connected with a waist joint upper panel (21), and the waist joint upper panel (21) and the waist joint lower panel (4) are respectively and rotatably connected with two ends of a cylinder II (22), a cylinder III (23), a cylinder IV (24), a cylinder V (25), a cylinder VI (26) and a cylinder VII (27);
the lower end of the waist joint lower panel (4) is respectively rotatably connected with a hip joint first cylinder (5) and a hip joint second cylinder (6) of a lower limb joint (3), the hip joint first cylinder (5) and the hip joint second cylinder (6) are respectively rotatably connected with a middle connecting piece I (7), the middle connecting piece I (7) is respectively rotatably connected with a connecting rod I (9), a rod II (11), a rod III (13) and a rod IV (15), the rod I (9), the rod II (11), the rod III (13) and the rod IV (15) are respectively rotatably connected with a middle connecting piece II (12), the rod I (9) and the rod II (11) are respectively fixedly connected with a middle fixing piece I (8), the middle fixing piece I (8), a knee joint pneumatic muscle I (10) and the middle connecting piece II (12) are sequentially and rotatably connected, the rod III (13) and the rod IV (15) are respectively fixedly connected with a middle fixing piece II (16), the middle connecting piece I (7), the knee joint pneumatic muscle II (14) and the middle fixing piece II (16) are sequentially and rotatably connected, the middle connecting piece II (12) is respectively and rotatably connected with a cylinder body and a foot (20) of the cylinder I (17), and a rod, a connecting piece I (18), a connecting piece II (19) and a foot (20) of the cylinder I (17) are sequentially and fixedly connected;
shoulder joint fixed part (35) of two sides difference fixed connection upper limbs joint (1) of chest support piece (36), shoulder joint fixed part (35) and shoulder joint rotate part (34) rotatable coupling, shoulder joint rotates part (34) and shoulder joint fixed plate (33) fixed connection, shoulder joint fixed plate (33) and shoulder joint connecting piece (31) fixed connection, shoulder joint connecting piece (31) and elbow joint fixed part (28) fixed connection, elbow joint fixed part (28) and elbow joint rotate part (37) rotatable coupling, shoulder joint fixed plate (33) and shoulder joint rotate part two (42) fixed connection, shoulder joint rotates part two (42) and shoulder joint fixed part two (43) rotatable coupling, elbow joint fixed part (28) and elbow joint fixed plate (39) fixed connection, elbow joint fixed plate (39) fixed connection pneumatic muscle one (29), The shoulder joint pneumatic muscle II (32), the shoulder joint pneumatic muscle II (29) and the shoulder joint pneumatic muscle II (32) are sleeved in a groove of the shoulder joint fixing piece I (35) through pull ropes, the elbow joint fixing plate (39) is fixedly connected with the shoulder joint pneumatic muscle III (40) and the shoulder joint pneumatic muscle IV (41), the shoulder joint pneumatic muscle III (40) and the shoulder joint pneumatic muscle IV (41) are sleeved in a groove of the shoulder joint fixing piece II (43) through the pull ropes, the shoulder joint fixing plate (33) is fixedly connected with the elbow joint pneumatic muscle I (30) and the elbow joint pneumatic muscle II (38), and the elbow joint pneumatic muscle I (30) and the elbow joint pneumatic muscle II (38) are sleeved in a groove of the elbow joint rotating piece (37) through the pull ropes;
the elbow joint rotating part (37) is fixedly connected with a wrist joint upper end fixing plate (44), the wrist joint upper end fixing plate (44) is fixedly connected with a forearm connecting part (49), the forearm connecting part (49) is rotatably connected with a wrist joint lower end fixing plate (50), the wrist joint lower end fixing plate (50) is fixedly connected with a pneumatic claw (51), the wrist joint upper end fixing plate (44) is respectively and fixedly connected with a forearm pneumatic muscle I (45), a forearm pneumatic muscle II (46), a forearm pneumatic muscle III (47) and a forearm pneumatic muscle IV (48), and the forearm pneumatic muscle I (45), the forearm pneumatic muscle II (46), the forearm pneumatic muscle III (47) and the forearm pneumatic muscle IV (48) are respectively and rotatably connected with a wrist joint lower end fixing plate (50);
the first middle connecting piece 7, the second rod 11, the second middle connecting piece 12 and the fourth rod 15 form a schematic diagram of the knee joint mechanism, and the length (l) of the branched chain is assumed to be free of errors1、l2、l3、l4) And variable (theta)2、θ4) The relationship between them.
For point A
x2＝l1cosθ2 (1)
y2＝l1sinθ2 (2)
For point B
x3＝-l4+l3cosθ4 (3)
y3＝l3sinθ4 (4)
Figure FDA0003473641700000021
Figure FDA0003473641700000022
A sinθ4+B cosθ4＝C (7)
A＝sinθ2 (8)
Figure FDA0003473641700000023
Figure FDA0003473641700000031
Figure FDA0003473641700000032
The distance between point A and point B is fixed and equal to l2。
Four-bar mechanism with O2And O4Is a fixed fulcrum and psi is 180 DEG-theta2。
For triangle O2O4A and O4AB uses trigonometric relationship O2O4A can be obtained
Figure FDA0003473641700000033
Figure FDA0003473641700000034
Figure FDA0003473641700000035
Figure FDA0003473641700000036
θ4＝θ41+θ42 (16)
Suppose a rod member l1、l2、l3、l4Respectively is t1、t2、t3、t4. For each rod, the rod length is
lti＝li+ti i＝1,2,3,4 (17)
Equations (12) - (16) are further expressed in view of the errors
Figure FDA0003473641700000037
Figure FDA0003473641700000038
Figure FDA0003473641700000039
Figure FDA00034736417000000310
(θ4)t＝(θ41)t+(θ42)t (22)
And the computer (55), wherein the computer (55) is respectively connected with the upper limb joint control system (52), the waist joint control system (53) and the lower limb joint control system (54).
2. A pneumatic-configuration combined humanoid robotic system as claimed in claim 1, characterized in that said chest support (36) is a hollow member.
3. The pneumatic and configuration combined humanoid robot system of claim 1, characterized in that the cylinders two (22) and three (23) are spatially intersected, the cylinders four (24) and six (26) are spatially intersected, and the cylinders five (25) and seven (27) are spatially intersected.
4. A pneumatic-configuration combined humanoid robotic system as claimed in claim 1, characterized in that said lower waist joint panel (4) and upper waist joint panel (21) are respectively disc-shaped.
5. A pneumatic and configuration combined humanoid robotic system as claimed in claim 1, characterized in that said first intermediate connecting member (7) is i-shaped and said second intermediate connecting member (12) is T-shaped.
6. A pneumatic and configuration combined humanoid robot system according to claim 1, characterized in that the first bar (9) and the second bar (11) are elongated bars of equal length, and the third bar (13) and the fourth bar (15) are elongated bars of equal length.
7. A pneumatic and configuration combined humanoid robotic system as claimed in claim 1, characterized in that the elbow joint rotating member (37), the first shoulder joint fixing member (35) and the second shoulder joint fixing member (43) are respectively disc-shaped, provided with a ring-shaped groove.
8. A pneumatic and configuration combined replica robot system according to claim 1, characterized in that the first shoulder joint pneumatic muscle (29) and the second shoulder joint pneumatic muscle (32) are parallel to each other, the third shoulder joint pneumatic muscle (40) and the fourth shoulder joint pneumatic muscle (41) are parallel to each other, and the first elbow joint pneumatic muscle (30) and the second elbow joint pneumatic muscle (38) are parallel to each other.
9. The pneumatic and configuration combined humanoid robot system of claim 1, characterized in that the wrist joint upper end fixing plate (44) is cross-shaped, the wrist joint lower end fixing plate (50) is disc-shaped, and the forearm pneumatic muscle one (45), the forearm pneumatic muscle two (46), the forearm pneumatic muscle three (47) and the forearm pneumatic muscle four (48) are uniformly distributed around the forearm connecting member (49).
10. A pneumatic and configuration combined humanoid robotic system as claimed in claim 1, characterized in that said computer (55) is a controller, said waist joint control system (53) controlling cylinder two (22), cylinder three (23), cylinder four (24), cylinder five (25), cylinder six (26), cylinder seven (27), respectively;
the lower limb joint control system (54) respectively controls a hip joint first cylinder (5), a hip joint second cylinder (6), a knee joint pneumatic muscle I (10), a knee joint pneumatic muscle II (14) and a cylinder I (17);
the upper limb joint control system (52) respectively controls the elbow joint pneumatic muscle I (30), the elbow joint pneumatic muscle II (38), the shoulder joint pneumatic muscle I (29), the shoulder joint pneumatic muscle II (32), the shoulder joint pneumatic muscle III (40), the shoulder joint pneumatic muscle IV (41), the forearm pneumatic muscle I (45), the forearm pneumatic muscle II (46), the forearm pneumatic muscle III (47), the forearm pneumatic muscle IV (48) and the air claw (51).
CN202210050229.0A 2022-01-17 2022-01-17 Pneumatic and configuration combined profiling robot system Pending CN114346998A (en)

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