CN115847387A - Humanoid robot based on pneumatic driver - Google Patents

Abstract

The invention discloses a humanoid robot based on a pneumatic driver, and belongs to the field of robots. The pneumatic driver is used for driving the joints to move and mainly comprises humerus, radius, ulna, pneumatic muscles, a cylinder, a connecting piece, a control system and the like. Four parallel shoulder joint pneumatic muscles drive the shoulder joints, the humerus is divided into two sections, and the two sections are connected by a cylinder; the pneumatic muscle of the shoulder and elbow joint is respectively connected with the shoulder joint connecting piece, the radius and the ulna, so that the elbow joint can be driven to move, and the pneumatic muscle of the shoulder joint can be used for driving the shoulder joint; the two driving small arms are connected in parallel, the radius and the ulna are respectively connected with the wrist joint connecting plate, the radius and the ulna are designed into two sections, and the middle of the two sections is connected by a cylinder. The invention is driven by pneumatic muscles and cylinders, has the characteristics of compact structure, large working space and more freedom of movement, and can be used for experimental teaching, itinerant demonstration and troubleshooting.

Description

Humanoid robot based on pneumatic driver

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a humanoid robot based on a pneumatic driver.

Background

The joints of human bodies are composed of at least two bones, and in order to avoid damage to the joints caused by direct dry friction between the bones, the surfaces of the bones at the joints are covered with a layer of cartilage with elasticity, the cartilage sometimes has slight linear motion while ensuring the rotation of the joints, and if the range of the linear motion is large, a phenomenon such as dislocation can occur. In order to simulate the linear motion of the cartilage of the spine, chinese patent CN108335602B adds a thin-wall air cylinder connection between the vertebrae. However, in the actual robot design process, the stretching length of the parallel pneumatic muscles directly influences the range of the rotatable angle of the joint, and the most direct influence factor of the stretching of the pneumatic muscles is the length of the pneumatic muscles, so that the length of the pneumatic muscles driving the joint is increased as much as possible while the cartilage linear motion is simulated as much as possible.

The cylinder is used as an important driver for pneumatic transmission, and joints of the humanoid robot with parallel design are widely applied. But the cylinder is as the rigid drive ware, and direct motion strikes greatly, and joint motion also receives the influence of terminal rotatable coupling spare part rotatable angle, and this application adopts cylinder and connecting rod combination to constitute parallelly connected part, and two sets of parallelly connected waist joint parts establish ties, very big increase waist joint's working space scope, and the member has the effect of absorbing cylinder direct impact simultaneously.

In recent years, pneumatic muscles have been gaining attention as drivers for driving joints of humanoid robots. The single-joint pneumatic muscle mainly drives the joint to move, the multi-joint pneumatic muscle mainly provides an auxiliary supporting effect, the single-joint pneumatic muscle serves as an antagonistic muscle and is in series-parallel connection with the multi-joint pneumatic muscle to drive the joint, the effects of the single-joint pneumatic muscle and the multi-joint pneumatic muscle are not definite division of work in the prior art, but the problem that how to consider the staggered distribution of the antagonistic muscle and the human muscle is still a problem which is difficult to solve is still solved in the robot joint driven by the single-joint pneumatic muscle and the multi-joint pneumatic muscle.

Disclosure of Invention

The invention aims to provide a humanoid robot and a control system based on a pneumatic driver, aiming at the defects of the prior art.

In order to achieve the purpose, the invention adopts the technical scheme that: a humanoid robot based on a pneumatic driver comprises a head joint 1, two upper limb joints 2, a waist joint 3, two lower limb joints 4 and a control system, wherein the two upper limb joints 2 comprise left upper limb joints 2-1 and right upper limb joints 2-2 which are completely the same in structure, the two lower limb joints 4 comprise left lower limb joints 4-1 and right lower limb joints 4-2 which are completely the same in structure, the head joint 1 is installed above the waist joint 3, the left upper limb joints 2-1 and the right upper limb joints 2-2 are respectively connected to the left side and the right side of the upper end of the waist joint 3, the left lower limb joints 4-1 and the right lower limb joints 4-2 are respectively connected to the left side and the right side of the lower end of the waist joint 3, single pneumatic drivers 81 are respectively arranged in the two upper limb joints 2, the waist joint 3 and the two lower limb joints 4, each single pneumatic driver (81) comprises all pneumatic muscles and cylinders in the two upper limb joints 2, the waist joint 3 and the two lower limb joints 4, and the head joint 1 and the single pneumatic driver 81 are both connected with the control system.

Specifically, the head joint 1 comprises a pneumatic motor 5, an intermediate connecting piece 7 and a camera 8, the lower end of the camera 8 is connected with the pneumatic motor 5 through the intermediate connecting piece, the lower end of the pneumatic motor 5 is connected with the waist joint 3, and the camera 8 and the pneumatic motor 5 are both connected with a control system.

Specifically, in the double upper limb joints 2: the shoulder joint connecting piece 9 is connected with the waist joint 3, the shoulder joint connecting piece 9 is fixedly connected with the waist joint upper end connecting plate 6, the first humerus section 10 is rotatably connected with the shoulder joint connecting piece 9, the cylinder body and the piston rod of the upper limb cylinder I11 are respectively connected with the first humerus section 10, the shoulder joint pneumatic muscle connecting plate 12 and the second humerus section 13, the piston rod simultaneously fixes the shoulder joint pneumatic muscle connecting plate 12 and the second humerus section 13, one end of the first radius section 14 is rotatably connected with the second humerus section 13, and the other end is simultaneously fixedly connected with the cylinder bodies of the radial pneumatic muscle connecting plate 15 and the upper limb cylinder II 18; one end of the second radius section 20 is rotatably connected with the wrist joint connecting plate 22, the other end of the second radius section is fixedly connected with the piston rod of the second upper limb cylinder 18, one end of the first ulna section 16 is rotatably connected with the second humerus section 13, and the other end of the first radius section is fixedly connected with the pneumatic ulna muscle connecting plate 17 and the cylinder body of the third upper limb cylinder 19; one end of the ulna second section 21 is rotatably connected with the wrist joint connecting plate 22, and the other end is fixedly connected with a piston rod of the upper limb cylinder III 19;

the first radius section 14 is rotatably connected with the second humerus section 13, the second radius section 20 is rotatably connected with the wrist joint connecting plate 22, the first ulna section 16 is rotatably connected with the second humerus section 13, the second ulna section 21 is rotatably connected with the wrist joint connecting plate 22,

the pneumatic muscle of the shoulder joint I24, the pneumatic muscle of the shoulder joint II 25, the pneumatic muscle of the shoulder joint III 26 and the pneumatic muscle of the shoulder joint IV 27 are rotatably connected with the shoulder joint connecting piece 9 and the pneumatic muscle connecting plate 12 of the shoulder joint respectively at two ends, an included angle between an initial position and the Y axis and the Z axis is 45 degrees, the pneumatic muscle of the shoulder joint I28 is rotatably connected with the shoulder joint connecting piece 9 and the pneumatic muscle connecting plate 15 of the radius bone respectively at two ends, the pneumatic muscle of the shoulder joint II 29 is rotatably connected with the shoulder joint connecting piece 9 and the pneumatic muscle connecting plate 17 of the ulna bone respectively at two ends, the initial position is in the Z axis direction, the pneumatic muscle of the wrist joint I30 and the pneumatic muscle of the wrist joint II 31 are rotatably connected with the pneumatic muscle connecting plate 15 of the radius bone and the wrist joint connecting plate 22 respectively at two ends, the pneumatic muscle of the wrist joint III 32 and the pneumatic muscle of the wrist joint IV 33 are rotatably connected with the pneumatic muscle connecting plate 17 of the ulna bone and the wrist joint connecting plate 22 respectively at two ends, and the pneumatic muscle of the shoulder joint 24 and the pneumatic muscle shaft 26 of the wrist joint III are consistent with the pneumatic muscle of the shoulder joint Y axis and the pneumatic muscle shaft 27 of the shoulder joint. The rotatable connection is realized by adopting a steel wire rope and a bolt;

the pneumatic claw 23 is fixedly connected with the wrist joint connecting plate 22.

Specifically, in the waist joint 3: the branch road of constituteing by 6 cylinders of group and connecting rod between waist joint upper end connecting plate 6, waist joint intermediate junction plate 52 is constituteed, and the cylinder body and the waist joint intermediate junction plate 52 fixed connection of cylinder, the connecting rod both ends respectively with the piston rod rotatable coupling of cylinder connecting piece, cylinder connecting piece and waist joint upper end connecting plate 6 fixed connection, the branch road that 6 cylinders of group and connecting rod are constituteed is respectively: a first connecting rod 34 and a second waist joint cylinder 38, a second connecting rod 35 and a first waist joint cylinder 37, a third connecting rod 36 and a third waist joint cylinder 39, a seventh connecting rod 46 and a eighth waist joint cylinder 50, a ninth connecting rod 48 and a ninth waist joint cylinder 51, and an eighth connecting rod 47 and a seventh waist joint cylinder 49. A second connecting rod 35 and a first waist joint cylinder 37, a third connecting rod 36 and a third waist joint cylinder 39 form a group, a first connecting rod 34 and a second waist joint cylinder 38, a seventh connecting rod 46 and an eighth waist joint cylinder 50 form a group, and a ninth connecting rod 48 and a ninth waist joint cylinder 51, an eighth connecting rod 47 and a seventh waist joint cylinder 49 form a group;

the same branch road of constituteing by 6 cylinders and connecting rod between waist joint intermediate junction plate 52, the waist joint lower extreme connecting plate 60 forms, and the cylinder body and the waist joint intermediate junction plate 52 fixed connection of cylinder, the connecting rod both ends respectively with the piston rod rotatable coupling of cylinder connecting piece, cylinder connecting piece and waist joint lower extreme connecting plate 60 fixed connection, the branch road that 6 cylinders and connecting rod of organizing are constituteed is respectively: the waist joint connecting device comprises a waist joint cylinder five 41, a connecting rod six 45, a waist joint cylinder four 40, a connecting rod four 43, a waist joint cylinder six 42, a connecting rod five 44, a waist joint cylinder eleven 54, a connecting rod ten 56, a waist joint cylinder ten 53, a connecting rod eleven 57, a waist joint cylinder twelve 55, a connecting rod twelve 58, a cylinder connecting piece 59 and a cylinder connecting piece 59, wherein the cylinder connecting piece 59 is fixedly connected with a waist joint lower end connecting plate 60. The waist joint cylinder five 41 and the connecting rod six 45, the waist joint cylinder eleven 54 and the connecting rod ten 56 form a group, and the waist joint cylinder four 40 and the connecting rod four 43, the waist joint cylinder six 42 and the connecting rod five 44 form a group.

Specifically, in the double lower limb joints 4: the lower limb connecting plate 61 is fixedly connected with the lower end of the waist joint 3, one end of a thigh support rod first section 68 is rotatably connected with the lower limb connecting plate 61, the other end of the thigh support rod first section is fixedly connected with a support rod connecting piece I70, one end of a thigh support rod second section 76 is fixedly connected with the support rod connecting piece I70, and the other end of the thigh support rod second section is rotatably connected with a support rod connecting piece II 77; one end of the thigh strut third section 71 is fixedly connected with the strut connecting piece II 77, and the other end is rotatably connected with the knee joint connecting plate 62; one end of the shank middle strut 65 is fixedly connected with the knee joint connecting plate 62, and the other end is rotatably connected with the foot 67. In the initial stage, the second hip joint pneumatic muscle 75 and the first hip joint pneumatic muscle 69 are respectively arranged on the positive axis and the negative axis of the Y axis, and the two ends of the first hip joint pneumatic muscle are respectively and rotatably connected with the lower limb connecting plate 61 and the second strut connecting piece 77. The second knee joint pneumatic muscle 78 and the first knee joint pneumatic muscle 72 are respectively arranged on the positive axis and the negative axis of the X axis, and the two ends of the second knee joint pneumatic muscle are respectively rotatably connected with the first strut connecting piece 70 and the knee joint connecting plate 62,

the two ends of a first multi-joint pneumatic muscle (73) and a second multi-joint pneumatic muscle (74) are respectively rotatably connected with the lower limb connecting plate (61) and the knee joint connecting plate (62), the upper end of the first multi-joint pneumatic muscle (73) is connected with a second quadrant of the lower limb connecting plate (61) which forms a plane by an X axis and a Y axis, the lower end of the first multi-joint pneumatic muscle (73) is connected with a third quadrant of the knee joint connecting plate (62) which forms a plane by the X axis and the Y axis, the upper end of the second multi-joint pneumatic muscle (74) is connected with a first quadrant of the lower limb connecting plate (61) which forms a plane by the X axis and the Y axis, the lower end of the second multi-joint pneumatic muscle is connected with a fourth quadrant of the knee joint connecting plate (62) which forms a plane by the X axis and the Y axis,

the first thigh support section 68 is rotatably connected with the lower limb connecting plate 61, the second thigh support section 76 is rotatably connected with the second support connecting plate 77, the third thigh support section 71 is rotatably connected with the knee joint connecting plate 62, the middle shank 65 is rotatably connected with the foot 67, the two ends of the hip joint pneumatic muscle 75 and the hip joint pneumatic muscle 69 are rotatably connected with the lower limb connecting plate 61 and the second support connecting plate 77 respectively, the two ends of the knee joint pneumatic muscle 78 and the knee joint pneumatic muscle 72 are rotatably connected with the first support connecting plate 70 and the knee joint connecting plate 62 respectively, and the two ends of the multi-joint pneumatic muscle 79, the first multi-joint pneumatic muscle 73 and the second multi-joint pneumatic muscle 74 are rotatably connected with the lower limb connecting plate 61 and the knee joint connecting plate 62 respectively;

the pneumatic muscle II of shank 64 is in the Y-axis negative direction, and both ends are respectively and rotatably connected with the knee joint connecting plate 62, the foot 67, the pneumatic muscle III of shank 66, the pneumatic muscle I of shank 63 both ends are respectively and rotatably connected with the knee joint connecting plate 62, the foot 67, the pneumatic muscle III of shank 66 upper end is connected in knee joint connecting plate 62 by the X axle, the planar second quadrant of Y axle constitution, the lower extreme is connected in the foot 67 by the X axle, the planar third quadrant of Y axle constitution, the pneumatic muscle I of shank 63 upper end is connected in knee joint connecting plate 62 by the X axle, the planar first quadrant of Y axle constitution, the lower extreme is connected in the foot 67 by the X axle, the planar fourth quadrant of Y axle constitution. The second calf pneumatic muscle 64, the third calf pneumatic muscle 66 and the first calf pneumatic muscle 63 drive the foot 67 to rotate around the X axis, the Y axis and the Z axis relative to the calf middle strut 65.

Specifically, the control system comprises an air pressure sensor 82, a displacement sensor 83, a voltage input module 84, a computer 85, a voltage output module 86 and a pneumatic proportional pressure regulating valve 87, wherein the input ends of the air pressure sensor 82 and the displacement sensor 83 are connected with a single pneumatic driver 81, the output ends of the air pressure sensor 82 and the displacement sensor 83 are connected with the input end of the voltage input module 84, the output end of the voltage input module 84 is connected with the input end of the computer 85, the output end of the computer 85 is connected with the input end of the voltage output module 86, the output end of the voltage output module 86 is connected with the input end of the pneumatic proportional pressure regulating valve 87, and the output end of the pneumatic proportional pressure regulating valve 87 is connected with the single pneumatic driver 81.

Preferably, the voltage input module 84 adopts an NI9205 voltage input module, and the voltage output module 86 adopts an NI9264 voltage output module.

Preferably, each pneumatic muscle of the joints 2, 3 and 4 is connected with a pneumatic proportional pressure regulating valve 87, and each cylinder is connected with two pneumatic proportional pressure regulating valves 87.

Preferably, the pneumatic proportional pressure regulating valve 87 is made of FESTO MPPE-3-1/8-10-010 type.

The invention has the beneficial effects that:

1. the joint is driven by the cylinder and the parallel pneumatic muscles in a mixed mode, and multi-direction and multi-degree-of-freedom combined movement of the joint can be achieved simultaneously;

2. the invention utilizes the combination drive of the pneumatic muscle in the form of antagonistic muscle and the multi-joint hybrid pneumatic muscle, and has the advantages of larger power/mass ratio, better flexibility, compact structure and the like;

3. the shoulder joint, the elbow joint, the wrist joint, the hip joint, the knee joint and the ankle joint have multiple degrees of freedom, and the functions of all elements in the joint motion process can be known.

Drawings

FIG. 1 is an overall mechanical block diagram of a humanoid robot based on a pneumatic drive;

FIG. 2 is a mechanical structure diagram of the two upper limbs of a humanoid robot based on a pneumatic driver;

FIG. 3 is a mechanical structure diagram of a single upper limb of a humanoid robot based on a pneumatic driver;

FIG. 4 is a mechanical configuration diagram of a waist joint of a humanoid robot based on a pneumatic drive;

FIG. 5 is a mechanical structure diagram of the double lower limbs of a humanoid robot based on pneumatic actuators;

FIG. 6 is a mechanical structure diagram of a single lower limb of a humanoid robot based on pneumatic actuators;

FIG. 7 is a diagram of a thigh mechanism of a humanoid robot based on pneumatic actuators;

fig. 8 is a control block diagram of a humanoid robot based on a pneumatic drive.

In the figure: a head joint 1, double upper limb joints 2, a left upper limb joint 2-1, a right upper limb joint 2-2, a waist joint 3, double lower limb joints 4, a pneumatic motor 5, a waist joint upper end connecting plate 6, a head connecting piece 7, a camera 8, a shoulder joint connecting piece 9, a first humerus section 10, a first upper limb cylinder 11, a pneumatic shoulder joint muscle connecting plate 12, a second humerus section 13, a first radius section 14, a pneumatic radius muscle connecting plate 15, a first ulna section 16 an ulna pneumatic muscle connecting plate 17, an upper limb cylinder II 18, an upper limb cylinder III 19, a radius second section 20, an ulna second section 21, a wrist joint connecting plate 22, an air claw 23, a shoulder joint pneumatic muscle I24, a shoulder joint pneumatic muscle II 25, a shoulder joint pneumatic muscle III 26, a shoulder joint pneumatic muscle IV 27, a shoulder elbow joint pneumatic muscle I28, a shoulder elbow joint pneumatic muscle II 29, a wrist joint pneumatic muscle I30 a second wrist joint pneumatic muscle 31, a third wrist joint pneumatic muscle 32, a fourth wrist joint pneumatic muscle 33, a first connecting rod 34, a second connecting rod 35, a third connecting rod 36, a first waist joint cylinder 37, a second waist joint cylinder 38, a third waist joint cylinder 39, a fourth waist joint cylinder 40, a fifth waist joint cylinder 41, a sixth waist joint cylinder 42, a fourth connecting rod 43, a fifth connecting rod 44, a sixth connecting rod 45, a seventh connecting rod 46, a eighth connecting rod 47, a ninth connecting rod 48, a seventh waist joint cylinder 49, an eighth waist joint cylinder 50, a ninth waist joint cylinder 51, a middle waist joint connecting plate 52, a tenth waist joint cylinder 53, an eleventh waist joint cylinder 54, a twelfth waist joint cylinder 55, a tenth connecting rod 56, an eleventh connecting rod 57, a twelfth connecting rod 58, a cylinder connecting piece 59, a lower waist joint connecting plate 60, a lower limb connecting plate 61, a knee joint connecting plate 62, a first shank pneumatic muscle 63, a second shank pneumatic muscle 64, the artificial robot comprises a shank middle support rod 65, a shank pneumatic muscle III 66, a foot 67, a thigh support rod first section 68, a hip joint pneumatic muscle I69, a support rod connecting piece I70, a thigh support rod third section 71, a knee joint pneumatic muscle I72, a multi-joint pneumatic muscle I73, a multi-joint pneumatic muscle II 74, a hip joint pneumatic muscle II 75, a thigh support rod second section 76, a support rod connecting piece II 77, a knee joint pneumatic muscle II 78, a multi-joint pneumatic muscle III 79, a humanoid robot joint 80, a single pneumatic driver 81, an air pressure sensor 82, a displacement sensor 83, a voltage input module 84, a computer 85, a voltage output module 86 and a pneumatic proportional pressure regulating valve 87.

Detailed Description

The invention is further described with reference to the following figures and detailed description.

Example 1: as shown in fig. 8, a humanoid robot based on a pneumatic driver comprises a head joint 1, two upper limb joints 2, a waist joint 3, two lower limb joints 4 and a control system, wherein the two upper limb joints 2 comprise a left upper limb joint 2-1 and a right upper limb joint 2-2 which are completely the same in structure, the two lower limb joints 4 comprise a left lower limb joint 4-1 and a right lower limb joint 4-2 which are completely the same in structure, the head joint 1 is installed above the waist joint 3, the left upper limb joint 2-1 and the right upper limb joint 2-2 are respectively connected to the left side and the right side of the upper end of the waist joint 3, the left lower limb joint 4-1 and the right lower limb joint 4-2 are respectively connected to the left side and the right side of the lower end of the waist joint 3, a single pneumatic driver 81 is respectively arranged in the two upper limb joints 2, the waist joint 3 and the two lower limb joints 4, the single pneumatic driver 81 comprises all pneumatic muscles and cylinders in the two upper limb joints 2, the waist joint 3 and the two lower limb joints 4, and the head joint 1 and the single pneumatic driver 81 are both connected with the control system. The humanoid robot and control system based on the pneumatic driver mainly comprises a head joint 1, two upper limb joints 2, a waist joint 3 and two lower limb joints 4. Wherein: the double upper limb joints 2 comprise left upper limb joints 2-1 and right upper limb joints 2-2 which are completely the same in structure, and the double lower limb joints 4 comprise left lower limb joints 4-1 and right lower limb joints 4-2 which are completely the same in structure.

As shown in fig. 1, 2 and 5, a shell and a rotating shaft of the pneumatic motor 5 are fixedly connected with the waist joint upper end connecting plate 6 and the head connecting piece 7, the camera 8 is fixedly connected with the head connecting piece 7, and the pneumatic motor 5 drives the camera 8 to rotate around the Z axis through the head connecting piece 7.

As shown in fig. 3 and 4, the shoulder joint connector 9 is fixedly connected with the waist joint upper end connecting plate 6, the humerus first section 10 is rotatably connected with the shoulder joint connector 9, the cylinder body and the piston rod of the upper limb cylinder i 11 are respectively connected with the humerus first section 10, the shoulder joint pneumatic muscle connecting plate 12 and the humerus second section 13, and the piston rod has the function of simultaneously fixing the shoulder joint pneumatic muscle connecting plate 12 and the humerus second section 13. One end of the first radius section 14 is rotatably connected with the second humerus section 13, and the other end of the first radius section is fixedly connected with the pneumatic muscle connecting plate 15 of the radius and the cylinder body of the second upper limb cylinder 18; one end of the second radius section 20 is rotatably connected with the wrist joint connecting plate 22, and the other end is fixedly connected with the piston rod of the second upper limb cylinder 18. One end of the ulna first section 16 is rotatably connected with the humerus second section 13, and the other end of the ulna first section is fixedly connected with a pneumatic muscle connecting plate 17 of the ulna and a cylinder body of an upper limb cylinder III 19; one end of the ulna second section 21 is rotatably connected with the wrist joint connecting plate 22, and the other end is fixedly connected with the piston rod of the upper limb cylinder III 19.

The rotatable connection of the first humeral segment 10 to the shoulder joint connection 9 is a spherical hinge. The first radius section 14 is rotatably connected to the second humerus section 13, the second radius section 20 is rotatably connected to the wrist joint connecting plate 22, the first ulna section 16 is rotatably connected to the second humerus section 13, and the second ulna section 21 is rotatably connected to the wrist joint connecting plate 22, and the rotatable connections are universal joints.

The two ends of the first shoulder joint pneumatic muscle 24, the second shoulder joint pneumatic muscle 25, the third shoulder joint pneumatic muscle 26 and the fourth shoulder joint pneumatic muscle 27 are respectively and rotatably connected with the shoulder joint connecting piece 9 and the shoulder joint pneumatic muscle connecting plate 12, and the included angle between the initial position and the Y axis and the included angle between the initial position and the Z axis are 45 degrees. Two ends of the first shoulder-elbow joint pneumatic muscle 28 are rotatably connected with the shoulder joint connecting piece 9 and the radial pneumatic muscle connecting plate 15 respectively, two ends of the second shoulder-elbow joint pneumatic muscle 29 are rotatably connected with the shoulder joint connecting piece 9 and the ulna pneumatic muscle connecting plate 17 respectively, and the initial position is in the Z-axis direction. Two ends of a first wrist joint pneumatic muscle 30 and a second wrist joint pneumatic muscle 31 are rotatably connected with the radial pneumatic muscle connecting plate 15 and the wrist joint connecting plate 22 respectively, and two ends of a third wrist joint pneumatic muscle 32 and a fourth wrist joint pneumatic muscle 33 are rotatably connected with the ulna pneumatic muscle connecting plate 17 and the wrist joint connecting plate 22 respectively. And the initial positions of the first wrist joint pneumatic muscle 30, the second wrist joint pneumatic muscle 31, the third wrist joint pneumatic muscle 32, the fourth wrist joint pneumatic muscle 33, the first shoulder joint pneumatic muscle 24, the second shoulder joint pneumatic muscle 25, the third shoulder joint pneumatic muscle 26 and the fourth shoulder joint pneumatic muscle 27 are consistent with the Y-axis and Z-axis directions. The rotatable connection is realized by matching the steel wire rope with the bolt.

The first shoulder joint pneumatic muscle 24, the second shoulder joint pneumatic muscle 25, the third shoulder joint pneumatic muscle 26, the fourth shoulder joint pneumatic muscle 27 and the first upper limb cylinder 11 drive the second humeral segment 13 to rotate around the Y axis and the Z axis and move along the X axis relative to the shoulder joint connector 9, and simultaneously drive the first humeral segment 10 to rotate around the Y axis and the Z axis relative to the shoulder joint connector 9.

The first shoulder-elbow pneumatic muscle 28 and the second shoulder-elbow pneumatic muscle 29 drive the first radius section 14 and the first ulna section 16 to rotate around the Y axis relative to the second humerus section 13 in the form of a group of antagonistic muscles. The upper limb cylinder II 18, the wrist joint pneumatic muscle I30 and the wrist joint pneumatic muscle II 31 drive the wrist joint connecting plate 22 to rotate around the Y axis and the Z axis and move along the X axis relative to the first radius section 14. Together, the upper limb cylinder three 19, the wrist pneumatic muscle three 32, and the wrist pneumatic muscle four 33 drive the wrist interface plate 22 to rotate about the Y-axis, the Z-axis, and move along the X-axis relative to the ulna first segment 16.

The upper limb cylinder I11, the upper limb cylinder II 18 and the upper limb cylinder III 19 can be used as driving elements and can also be used as supporting elements for keeping displacement unchanged.

The air claw 23 is fixedly connected with the wrist joint connecting plate 22, and the air claw 23 can rotate around the X axis and move along the Y axis and the Z axis.

As shown in fig. 4, the waist joint middle connecting plate 52 and the waist joint lower end connecting plate 60 are also composed of 6 groups of branches composed of cylinders and connecting rods, the cylinder body of each cylinder is fixedly connected with the waist joint middle connecting plate 52, two ends of each connecting rod are respectively rotatably connected with the cylinder connecting piece and the piston rod of each cylinder, and the cylinder connecting piece is fixedly connected with the waist joint lower end connecting plate 60. The branch circuits formed by the 6 groups of cylinders and the connecting rods are respectively as follows: a waist joint cylinder five 41 and a connecting rod six 45, a waist joint cylinder four 40 and a connecting rod four 43, a waist joint cylinder six 42 and a connecting rod five 44, a waist joint cylinder eleven 54 and a connecting rod ten 56, a waist joint cylinder ten 53 and a connecting rod eleven 57, and a waist joint cylinder twelve 55 and a connecting rod twelve 58. The waist joint cylinder ten 53 and the connecting rod eleven 57, the waist joint cylinder twelve 55 and the connecting rod twelve 58 form a group, the connecting rod eleven 57 and the connecting rod twelve 58 are both rotatably connected with a cylinder connecting piece 59, and the cylinder connecting piece 59 is fixedly connected with a waist joint lower end connecting plate 60. The waist joint cylinder five 41 and the connecting rod six 45, the waist joint cylinder eleven 54 and the connecting rod ten 56 form a group, and the waist joint cylinder four 40 and the connecting rod four 43, the waist joint cylinder six 42 and the connecting rod five 44 form a group.

The waist joint lower end connecting plate 60 is driven by the waist joint cylinder five 41, the waist joint cylinder four 40, the waist joint cylinder six 42, the waist joint cylinder eleven 54, the waist joint cylinder ten 53 and the waist joint cylinder twelve 55 to move along the X axis, the Y axis and the Z axis and rotate around the X axis, the Y axis and the Z axis relative to the waist joint middle connecting plate 52 respectively in cooperation with the connecting rod six 45, the connecting rod four 43, the connecting rod five 44, the connecting rod ten 56, the connecting rod eleven 57 and the connecting rod twelve 58.

The waist joint upper end connecting plate 6 and the waist joint middle connecting plate 52 are connected by 6 groups of air cylinders and connecting rods, the cylinder body of each air cylinder is fixedly connected with the waist joint middle connecting plate 52, the two ends of each connecting rod are respectively and rotatably connected with an air cylinder connecting piece and a piston rod of each air cylinder, and the air cylinder connecting pieces are fixedly connected with the waist joint upper end connecting plate 6. The branches formed by the 6 groups of cylinders and the connecting rod are respectively as follows: a first connecting rod 34 and a second waist joint cylinder 38, a second connecting rod 35 and a first waist joint cylinder 37, a third connecting rod 36 and a third waist joint cylinder 39, a seventh connecting rod 46 and a eighth waist joint cylinder 50, a ninth connecting rod 48 and a ninth waist joint cylinder 51, and an eighth connecting rod 47 and a seventh waist joint cylinder 49. The second connecting rod 35 and the first waist joint cylinder 37, the third connecting rod 36 and the third waist joint cylinder 39 form a group, the first connecting rod 34 and the second waist joint cylinder 38, the seventh connecting rod 46 and the eighth waist joint cylinder 50 form a group, and the ninth connecting rod 48 and the ninth waist joint cylinder 51, the eighth connecting rod 47 and the seventh waist joint cylinder 49 form a group.

The second waist joint cylinder 38, the first waist joint cylinder 37, the third waist joint cylinder 39, the eighth waist joint cylinder 50, the ninth waist joint cylinder 51 and the seventh waist joint cylinder 49 are respectively matched with the first connecting rod 34, the second connecting rod 35, the third connecting rod 36, the seventh connecting rod 46, the ninth connecting rod 48 and the eighth connecting rod 47 to drive the connecting plate 6 at the upper end of the waist joint to move along the X axis, the Y axis and the Z axis and rotate around the X axis, the Y axis and the Z axis relative to the middle connecting plate 52 of the waist joint.

As shown in fig. 1, 5, 6 and 7, the lower end connecting plate 60 of the waist joint is fixedly connected with the lower limb connecting plate 61, one end of the first thigh strut section 68 is rotatably connected with the lower limb connecting plate 61, the other end of the first thigh strut section is fixedly connected with the first strut connecting member 70, one end of the second thigh strut section 76 is fixedly connected with the first strut connecting member 70, and the other end of the second thigh strut section is rotatably connected with the second strut connecting member 77; one end of the thigh strut third section 71 is fixedly connected with the strut connecting piece II 77, and the other end is rotatably connected with the knee joint connecting plate 62; one end of the shank middle strut 65 is fixedly connected with the knee joint connecting plate 62, and the other end is rotatably connected with the foot 67. In the initial stage, the second hip joint pneumatic muscle 75 and the first hip joint pneumatic muscle 69 are respectively arranged on the positive axis and the negative axis of the Y axis, and the two ends of the first hip joint pneumatic muscle are respectively and rotatably connected with the lower limb connecting plate 61 and the second strut connecting piece 77. The second knee joint pneumatic muscle 78 and the first knee joint pneumatic muscle 72 are respectively arranged on the positive axis and the negative axis of the X axis, and the two ends of the second knee joint pneumatic muscle are respectively rotatably connected with the first strut connecting piece 70 and the first knee joint connecting plate 62.

The third multi-joint pneumatic muscle 79 is arranged on the positive axis of the Y axis, two ends of the third multi-joint pneumatic muscle are respectively and rotatably connected with the lower limb connecting plate 61 and the knee joint connecting plate 62, the second hip joint pneumatic muscle 75 is arranged on the inner side, and the third multi-joint pneumatic muscle 79 is arranged on the outer side. The two ends of the first multi-joint pneumatic muscle 73 and the second multi-joint pneumatic muscle 74 are respectively rotatably connected with the lower limb connecting plate 61 and the knee joint connecting plate 62. The upper end of the first multi-joint pneumatic muscle 73 is connected to a second quadrant of a plane formed by an X axis and a Y axis in the lower limb connecting plate 61, and the lower end of the first multi-joint pneumatic muscle is connected to a third quadrant of the plane formed by the X axis and the Y axis in the knee joint connecting plate 62. The upper end of the second multi-joint pneumatic muscle 74 is connected to a first quadrant of a plane formed by an X axis and a Y axis in the lower limb connecting plate 61, and the lower end of the second multi-joint pneumatic muscle is connected to a fourth quadrant of the plane formed by the X axis and the Y axis in the knee joint connecting plate 62.

The thigh strut first section 68 is rotatably connected with the lower limb connecting plate 61, the thigh strut second section 76 is rotatably connected with the strut connecting plate two 77, the thigh strut third section 71 is rotatably connected with the knee joint connecting plate 62, and the shank middle strut 65 is rotatably connected with the foot 67 in a spherical hinge manner. The two ends of the second hip joint pneumatic muscle 75 and the two ends of the first hip joint pneumatic muscle 69 are respectively and rotatably connected with the lower limb connecting plate 61 and the second support rod connecting plate 77, and the two ends of the second knee joint pneumatic muscle 78 and the first knee joint pneumatic muscle 72 are respectively and rotatably connected with the first support rod connecting plate 70 and the first knee joint connecting plate 62 through spherical hinges. The two ends of the third multi-joint pneumatic muscle 79, the first multi-joint pneumatic muscle 73 and the second multi-joint pneumatic muscle 74 are respectively in rotatable connection with the lower limb connecting plate 61 and the knee joint connecting plate 62, and the rotatable connection is a combination of a steel wire rope and a bolt.

The second hip joint pneumatic muscle 75 and the first hip joint pneumatic muscle 69 drive the first thigh strut section 68 to rotate around the X axis relative to the lower limb connecting plate 61 in the form of a group of antagonistic muscles, or the second hip joint pneumatic muscle 75 and the first hip joint pneumatic muscle 69 cooperate with the first multi-joint pneumatic muscle 73, the second multi-joint pneumatic muscle 74 and the third multi-joint pneumatic muscle 79 to drive the first thigh strut section 68 to rotate around the X axis, the Y axis and the Z axis relative to the lower limb connecting plate 61. The second knee joint pneumatic muscle 78 and the first knee joint pneumatic muscle 72 drive the knee joint connecting plate 62 to rotate around the Y axis relative to the third thigh strut section 71 in the form of a group of antagonistic muscles, or the second knee joint pneumatic muscle 78 and the first knee joint pneumatic muscle 72 cooperate with the first multi-joint pneumatic muscle 73, the second multi-joint pneumatic muscle 74 and the third multi-joint pneumatic muscle 79 to drive the knee joint connecting plate 62 to rotate around the X axis, the Y axis and the Z axis relative to the third thigh strut section 71. The pneumatic muscles 75 and 69 of the hip joints can also keep the air pressure unchanged, and the first section 68 of the thigh support rod is driven to rotate around the Y axis and the Z axis relative to the lower limb connecting plate 61 by the first multi-joint pneumatic muscle 73, the second multi-joint pneumatic muscle 74 and the third multi-joint pneumatic muscle 79; or the second knee joint pneumatic muscle 78 and the first knee joint pneumatic muscle 72 keep the air pressure unchanged, and the first multi-joint pneumatic muscle 73, the second multi-joint pneumatic muscle 74 and the third multi-joint pneumatic muscle 79 drive the knee joint connecting plate 62 to rotate around the X axis and the Z axis relative to the third thigh strut section 71.

The second pneumatic calf muscle 64 is in the Y-axis negative direction, two ends of the second pneumatic calf muscle are rotatably connected with the knee joint connecting plate 62 and the foot 67 respectively, and two ends of the third pneumatic calf muscle 66 and the first pneumatic calf muscle 63 are rotatably connected with the knee joint connecting plate 62 and the foot 67 respectively. The upper end of the pneumatic muscle III of the shank 66 is connected with the second quadrant of the plane formed by the X axis and the Y axis in the knee joint connecting plate 62, and the lower end is connected with the third quadrant of the plane formed by the X axis and the Y axis in the foot 67. The upper end of the pneumatic calf muscle I63 is connected with a first quadrant of a plane formed by an X axis and a Y axis in the knee joint connecting plate 62, and the lower end of the pneumatic calf muscle I is connected with a fourth quadrant of the plane formed by the X axis and the Y axis in the foot 67. The second calf pneumatic muscle 64, the third calf pneumatic muscle 66 and the first calf pneumatic muscle 63 drive the foot 67 to rotate around the X axis, the Y axis and the Z axis relative to the calf middle strut 65.

Specifically, the humanoid robot joint 80 mainly includes a double upper limb joint 2, a waist joint 3, and a double lower limb joint 4. The single pneumatic driver 81 comprises a first upper limb cylinder 11, a second upper limb cylinder 18, a third upper limb cylinder 19, a first shoulder joint pneumatic muscle 24, a second shoulder joint pneumatic muscle 25, a third shoulder joint pneumatic muscle 26, a fourth shoulder joint pneumatic muscle 27, a first shoulder elbow joint pneumatic muscle 28, a second shoulder elbow joint pneumatic muscle 29, a first wrist joint pneumatic muscle 30, a second wrist joint pneumatic muscle 31, a third wrist joint pneumatic muscle 32, a fourth wrist joint pneumatic muscle 33, a first waist joint cylinder 37, a second waist joint cylinder 38, a third waist joint cylinder 39, a fourth waist joint cylinder 40, a fifth waist joint cylinder 41, a sixth waist joint cylinder 42, a seventh waist joint cylinder 49, an eighth waist joint cylinder 50, a ninth waist joint cylinder 51, a tenth waist joint cylinder 53, an eleventh waist joint cylinder 54, a twelfth waist joint cylinder 55, a first pneumatic lower leg muscle 63, a second lower leg pneumatic muscle 64, a third lower leg pneumatic muscle 66, a first hip joint pneumatic muscle 69, a first pneumatic muscle first multi-joint pneumatic muscle 73, a multi-joint pneumatic muscle 74, a second multi-knee joint pneumatic muscle 79 and a multi-knee joint pneumatic muscle 79.

The upper limb cylinder I11, the upper limb cylinder II 18, the upper limb cylinder III 19, the waist joint cylinder I37, the waist joint cylinder II 38, the waist joint cylinder III 39, the waist joint cylinder IV 40, the waist joint cylinder V41, the waist joint cylinder VI 42, the waist joint cylinder VII 49, the waist joint cylinder VIII 50, the waist joint cylinder VII 51, the waist joint cylinder VII 53, the waist joint cylinder IV 54 and the waist joint cylinder VII all need to adopt two pneumatic proportional pressure regulating valves 87 to control displacement.

The pneumatic proportional pressure regulating valve 87 is adopted to control displacement of the first shoulder joint pneumatic muscle 24, the second shoulder joint pneumatic muscle 25, the third shoulder joint pneumatic muscle 26, the fourth shoulder joint pneumatic muscle 27, the first shoulder elbow joint pneumatic muscle 28, the second shoulder elbow joint pneumatic muscle 29, the first wrist joint pneumatic muscle 30, the second wrist joint pneumatic muscle 31, the third wrist joint pneumatic muscle 32, the fourth wrist joint pneumatic muscle 33, the first calf pneumatic muscle 63, the second calf pneumatic muscle 64, the third calf pneumatic muscle 66, the first hip joint pneumatic muscle 69, the first knee joint pneumatic muscle 72, the first multi-joint pneumatic muscle 73, the second multi-joint pneumatic muscle 74, the second hip joint pneumatic muscle 75, the second knee joint pneumatic muscle 78 and the third multi-joint pneumatic muscle 79.

Specifically, a first shoulder joint pneumatic muscle 24, a second shoulder joint pneumatic muscle 25, a third shoulder joint pneumatic muscle 26, a fourth shoulder joint pneumatic muscle 27, a first shoulder elbow joint pneumatic muscle 28, a second shoulder elbow joint pneumatic muscle 29, a first wrist joint pneumatic muscle 30, a second wrist joint pneumatic muscle 31, a third wrist joint pneumatic muscle 32, a fourth wrist joint pneumatic muscle 33, a first calf pneumatic muscle 63, a second calf pneumatic muscle 64, a third calf pneumatic muscle 66, a first hip joint pneumatic muscle 69, a first knee joint pneumatic muscle 72, a first multi-joint pneumatic muscle 73, a second multi-joint pneumatic muscle 74, a second hip joint pneumatic muscle 75, a second knee joint pneumatic muscle 78, and a third multi-joint pneumatic muscle 79 are preferably selected from a FESTO DMSP series. The pneumatic muscle system comprises an upper limb cylinder I11, an upper limb cylinder II 18, an upper limb cylinder III 19, a shoulder joint pneumatic muscle I24, a shoulder joint pneumatic muscle II 25, a shoulder joint pneumatic muscle III 26, a shoulder joint pneumatic muscle IV 27, a shoulder elbow joint pneumatic muscle I28, a shoulder elbow joint pneumatic muscle II 29, a wrist joint pneumatic muscle I30, a wrist joint pneumatic muscle II 31, a wrist joint pneumatic muscle III 32, a wrist joint pneumatic muscle IV 33, a waist joint cylinder I37, a waist joint cylinder II 38, a waist joint cylinder III 39, a waist joint cylinder IV 40, a waist joint cylinder V41, a waist joint cylinder VI 42, a waist joint cylinder VII 49, a waist joint cylinder VIII 50, a waist joint cylinder V51, a waist joint cylinder V53, a waist joint cylinder IV 54, a waist joint cylinder VII, a calf joint cylinder V55, a calf pneumatic muscle I63, a calf pneumatic muscle II 64, a calf pneumatic muscle III 66, a hip joint pneumatic muscle I69, a knee joint pneumatic muscle I72, a multi-joint pneumatic muscle I73, a multi-joint pneumatic muscle II 74, a multi-joint pneumatic muscle II, a multi-joint pneumatic muscle 79 and a multi-knee joint pneumatic muscle 79. The preferred upper limb cylinders 11, 18, 19, 37, 38, 39, 40, 41, 42, 49, 50, 51, 53, 54 and twelve-55 are SMC CG1BN series.

Specifically, in order to keep rigidity and lightness, the head connecting piece 7, the shoulder joint connecting piece 9, the humerus first section 10, the shoulder joint pneumatic muscle connecting plate 12, the humerus second section 13, the radius first section 14, the radius pneumatic muscle connecting plate 15, the ulna first section 16, the ulna pneumatic muscle connecting plate 17, the radius second section 20, the ulna second section 21, the wrist joint connecting plate 22, the first connecting rod 34, the second connecting rod 35, the third connecting rod 36, the fourth connecting rod 43, the fifth connecting rod 44, the sixth connecting rod 45, the seventh connecting rod 46, the eighth connecting rod 47, the ninth connecting rod 48, the waist joint intermediate connecting plate 52, the tenth connecting rod 56, the eleventh connecting rod 57, the twelfth connecting rod 58, the cylinder connecting piece 59, the waist joint lower end connecting plate 60, the lower limb connecting plate 61, the knee joint connecting plate 62, the shank intermediate strut 65, the foot 67, the thigh strut first section 68, the strut connecting piece 70, the third thigh strut section 71, the thigh strut second section 76 and the strut connecting piece 77 are made of aluminum alloy.

As shown in fig. 8, the control system includes an air pressure sensor 82, a displacement sensor 83, a voltage input module 84, a computer 85, a voltage output module 86, and a pneumatic proportional pressure regulating valve 87, wherein the input terminals of the air pressure sensor 82 and the displacement sensor 83 are connected to a single pneumatic driver 81, the output terminals of the air pressure sensor 82 and the displacement sensor 83 are connected to the input terminal of the voltage input module 84, the output terminal of the voltage input module 84 is connected to the input terminal of the computer 85, the output terminal of the computer 85 is connected to the input terminal of the voltage output module 86, the output terminal of the voltage output module 86 is connected to the input terminal of the pneumatic proportional pressure regulating valve 87, and the output terminal of the pneumatic proportional pressure regulating valve 87 is connected to the single pneumatic driver 81.

The humanoid robot joint 80 of the humanoid robot based on the pneumatic driver can be divided into a left upper limb joint 2-1, a right upper limb joint 2-2, a waist joint 3, a left lower limb joint 4-1 and a right lower limb joint 4-2, the left upper limb joint 2-1, the right upper limb joint 2-2, the waist joint 3, the left lower limb joint 4-1 and the right lower limb joint 4-2 can be decomposed into a single pneumatic driver 81 through kinematic calculation, the state of the single pneumatic driver 81 is monitored in real time by an air pressure sensor 82 and a displacement sensor 83, the single pneumatic driver 81 is transmitted to a computer 85 through an NI9205 voltage input module 84, the computer 85 compares a set expected target with the voltage detected by an NI9205 voltage input module 84, and controls a pneumatic proportion pressure regulating valve 87 through an NI9264 voltage output module 86 to realize the control of the single pneumatic driver 81. The NI9205 voltage input module 84 can only collect 32 analog quantity signals, and the NI9264 voltage output module 86 can only output 16 analog quantity signals, so in an actual control process, a plurality of NI9205 voltage input modules 84 and the NI9264 voltage output module 86 are required to be used in combination.

The invention realizes the control of the pose of the humanoid robot by controlling the air cylinders and the pneumatic muscles of all joints, can dynamically and vividly simulate the action of the human joints, can realize accurate track control, and has the advantages which cannot be compared with other humanoid robots.

The above-described embodiment is only one of the preferred embodiments of the present invention, and general changes and substitutions by those skilled in the art within the technical scope of the present invention are included in the protection scope of the present invention.

Claims (9)

1. The utility model provides a humanoid robot based on pneumatic driver which characterized in that: the pneumatic control system comprises a head joint (1), double upper limb joints (2), a waist joint (3), double lower limb joints (4) and a control system, wherein the double upper limb joints (2) comprise left upper limb joints (2-1) and right upper limb joints (2-2) which are identical in structure, the double lower limb joints (4) comprise left lower limb joints (4-1) and right lower limb joints (4-2) which are identical in structure, the head joint (1) is installed above the waist joint (3), the left upper limb joints (2-1) and the right upper limb joints (2-2) are respectively connected to the left side and the right side of the upper end of the waist joint (3), the left lower limb joints (4-1) and the right lower limb joints (4-2) are respectively connected to the left side and the right side of the lower end of the waist joint (3), the double upper limb joints (2), the waist joint (3) and the double lower limb joints (4) are respectively provided with a single pneumatic driver (81), the single pneumatic driver (81) comprises the double upper limb joints (2), the waist joint (3) and the pneumatic muscles and cylinders in the double lower limb joints (4), the head joint (1) and the single pneumatic driver (81) are connected with the control system.

2. The humanoid robot based on pneumatic driver of claim 1, characterized in that, the head joint (1) includes pneumatic motor (5), intermediate junction spare (7), camera (8), and the lower extreme of camera (8) is connected with pneumatic motor (5) through intermediate junction spare, and pneumatic motor (5) lower extreme is connected with waist joint (3), and camera (8), pneumatic motor (5) all are connected with control system.

3. A humanoid robot based on pneumatic drives, according to claim 1, characterized in that in the double upper limb joints (2): the shoulder joint connecting piece (9) is connected with the waist joint (3), the shoulder joint connecting piece (9) is fixedly connected with a waist joint upper end connecting plate (6), a first humerus section (10) is rotatably connected with the shoulder joint connecting piece (9), a cylinder body and a piston rod of a first upper limb cylinder (11) are respectively connected with the first humerus section (10), a pneumatic shoulder joint muscle connecting plate (12) and a second humerus section (13), the piston rod simultaneously fixes the pneumatic shoulder joint muscle connecting plate (12) and the second humerus section (13), one end of the first radius section (14) is rotatably connected with the second humerus section (13), and the other end of the first radius section is simultaneously fixedly connected with cylinder bodies of a pneumatic radius muscle connecting plate (15) and a second upper limb cylinder (18); one end of the second radius section (20) is rotatably connected with the wrist joint connecting plate (22), the other end of the second radius section is fixedly connected with a piston rod of the second upper limb cylinder (18), one end of the first ulna section (16) is rotatably connected with the second humerus section (13), and the other end of the first radius section is fixedly connected with the pneumatic muscle connecting plate (17) of the ulna and the cylinder body of the third upper limb cylinder (19); one end of the ulna second section (21) is rotatably connected with the wrist joint connecting plate (22), and the other end of the ulna second section is fixedly connected with a piston rod of the upper limb cylinder III (19);

the first radius section (14) is rotatably connected with the second humerus section (13), the second radius section (20) is rotatably connected with the wrist joint connecting plate (22), the first ulna section (16) is rotatably connected with the second humerus section (13), the second ulna section (21) is rotatably connected with the wrist joint connecting plate (22),

the pneumatic muscle connecting plate comprises a first shoulder joint pneumatic muscle (24), a second shoulder joint pneumatic muscle (25), a third shoulder joint pneumatic muscle (26), a fourth shoulder joint pneumatic muscle (27), two ends of a Y-axis and a Z-axis are respectively and rotatably connected with a shoulder joint connecting piece (9) and a shoulder joint pneumatic muscle connecting plate (12), included angles between an initial position and the Y-axis and the Z-axis are 45 degrees, two ends of the first shoulder elbow joint pneumatic muscle (28) are respectively and rotatably connected with the shoulder joint connecting piece (9) and a radius pneumatic muscle connecting plate (15), two ends of the second shoulder elbow joint pneumatic muscle (29) are respectively and rotatably connected with the shoulder joint connecting piece (9) and the ulna pneumatic muscle connecting plate (17), the initial position is in the Z-axis direction, two ends of the first shoulder joint pneumatic muscle (30) and the second wrist joint pneumatic muscle (31) are respectively and rotatably connected with the radius pneumatic muscle connecting plate (15) and the wrist joint connecting plate (22), two ends of the third wrist joint pneumatic muscle (32), the fourth wrist joint pneumatic muscle (33) are respectively and rotatably connected with the shoulder joint pneumatic muscle (17), the wrist joint pneumatic muscle (22), the initial position (32), the first shoulder joint pneumatic muscle (27), the wrist joint pneumatic muscle (27), the shoulder joint pneumatic muscle (27), the wrist joint pneumatic muscle (25), the wrist joint pneumatic muscle (27), the shoulder joint pneumatic muscle (27), the wrist joint pneumatic muscle (25), the wrist joint pneumatic muscle (27), the wrist joint pneumatic muscle (25) and the wrist joint pneumatic muscle (27), the wrist joint pneumatic muscle (25) are respectively, the Z-axis directions are consistent, and the rotatable connection is realized by adopting a steel wire rope and a bolt;

the pneumatic claw (23) is fixedly connected with the wrist joint connecting plate (22).

4. A humanoid robot based on pneumatic drives as claimed in claim 1, characterized in that in the waist joint (3): the branch road of constituteing by 6 groups of cylinders and connecting rod between waist joint upper end connecting plate (6), waist joint intermediate junction board (52) is constituteed, and the cylinder body and waist joint intermediate junction board (52) fixed connection of cylinder, the connecting rod both ends respectively with the piston rod rotatable coupling of cylinder connecting piece, cylinder connecting piece and waist joint upper end connecting plate (6) fixed connection, the branch road that 6 groups of cylinders and connecting rod are constituteed is respectively: a first connecting rod (34), a second waist joint cylinder (38), a second connecting rod (35), a first waist joint cylinder (37), a third connecting rod (36), a third waist joint cylinder (39), a seventh connecting rod (46), a eighth waist joint cylinder (50), a ninth connecting rod (48), a ninth waist joint cylinder (51), an eighth connecting rod (47) and a seventh waist joint cylinder (49), wherein the second connecting rod (35), the first waist joint cylinder (37), the third connecting rod (36) and the third waist joint cylinder (39) form a group, the first connecting rod (34), the second waist joint cylinder (38), the seventh connecting rod (46) and the eighth waist joint cylinder (50) form a group, and the ninth connecting rod (48), the ninth waist joint cylinder (51), the eighth connecting rod (47) and the seventh waist joint cylinder (49) form a group;

the same branch road of constituteing by 6 groups of cylinders and connecting rod between waist joint intermediate junction board (52), waist joint lower extreme connecting plate (60) is constituteed, and the cylinder body and waist joint intermediate junction board (52) fixed connection of cylinder, the connecting rod both ends respectively with the piston rod rotatable coupling of cylinder connecting piece, cylinder connecting piece and waist joint lower extreme connecting plate (60) fixed connection, the branch road that 6 groups of cylinders and connecting rod are constituteed is respectively: the waist joint connecting device comprises a waist joint cylinder five (41), a connecting rod six (45), a waist joint cylinder four (40), a connecting rod four (43), a waist joint cylinder six (42), a connecting rod five (44), a waist joint cylinder eleven (54), a connecting rod ten (56), a waist joint cylinder ten (53), a connecting rod eleven (57), a waist joint cylinder twelve (55), a connecting rod twelve (58), a waist joint cylinder ten (53), a connecting rod eleven (57), a waist joint cylinder twelve (55) and a connecting rod twelve (58) which are in a group, wherein the connecting rod eleven (57) and the connecting rod twelve (58) are both rotatably connected with a cylinder connecting piece (59), the cylinder connecting piece (59) is fixedly connected with a connecting plate (60) at the lower end of a waist joint, the waist joint cylinder five (41), the connecting rod six (45), the waist joint cylinder eleven (54) and the connecting rod ten (56) which are in a group, the waist joint cylinder four (40), the connecting rod four (43), the waist joint cylinder six (42) and the connecting rod five (44) which are in a group.

5. A humanoid robot based on pneumatic actuators, according to claim 1, characterized in that in the double lower limb joints (4): the lower limb connecting plate (61) is fixedly connected with the lower end of the waist joint (3), one end of a first thigh supporting rod section (68) is rotatably connected with the lower limb connecting plate (61), the other end of the first thigh supporting rod section is fixedly connected with a first supporting rod connecting piece (70), one end of a second thigh supporting rod section (76) is fixedly connected with the first supporting rod connecting piece (70), and the other end of the second thigh supporting rod section is rotatably connected with a second supporting rod connecting piece (77); one end of the thigh strut third section (71) is fixedly connected with the strut connecting piece II (77), and the other end is rotatably connected with the knee joint connecting plate (62); one end of a shank middle support rod (65) is fixedly connected with a knee joint connecting plate (62), the other end of the shank middle support rod is rotatably connected with a foot (67), in the initial stage, a hip joint pneumatic muscle II (75) and a hip joint pneumatic muscle I (69) are respectively arranged on a positive shaft and a negative shaft of a Y axis, and the two ends of the hip joint pneumatic muscle II and the hip joint pneumatic muscle I are respectively rotatably connected with a lower limb connecting plate (61) and a support rod connecting plate II (77), a knee joint pneumatic muscle II (78) and a knee joint pneumatic muscle I (72) are respectively arranged on the positive shaft and the negative shaft of the X axis, and the two ends of the knee joint pneumatic muscle II and the knee joint pneumatic muscle I are respectively rotatably connected with a support rod connecting plate (70) and a knee joint connecting plate (62);

the upper end of the first multi-joint pneumatic muscle (73) is connected to a second quadrant of a plane formed by an X axis and a Y axis in the lower limb connecting plate (61), the lower end of the second multi-joint pneumatic muscle (74) is connected to a third quadrant of the plane formed by the X axis and the Y axis in the knee joint connecting plate (62), the upper end of the second multi-joint pneumatic muscle (74) is connected to a first quadrant of the plane formed by the X axis and the Y axis in the lower limb connecting plate (61), and the lower end of the second multi-joint pneumatic muscle is connected to a fourth quadrant of the plane formed by the X axis and the Y axis in the knee joint connecting plate (62);

the first thigh support section (68) is rotatably connected with the lower limb connecting plate (61), the second thigh support section (76) is rotatably connected with the second support connecting plate (77), the third thigh support section (71) is rotatably connected with the knee joint connecting plate (62), the middle shank support (65) is rotatably connected with the foot (67), the two ends of the hip joint pneumatic muscle II (75) and the hip joint pneumatic muscle I (69) are respectively rotatably connected with the lower limb connecting plate (61) and the second support connecting plate (77), the two ends of the knee joint pneumatic muscle II (78) and the knee joint pneumatic muscle I (72) are respectively rotatably connected with the first support connecting plate (70) and the knee joint connecting plate (62), and the two ends of the multi-joint pneumatic muscle III (79), the multi-joint pneumatic muscle I (73) and the multi-joint pneumatic muscle II (74) are respectively rotatably connected with the lower limb connecting plate (61) and the knee joint connecting plate (62);

the pneumatic muscle II of the lower leg (64) is in the Y-axis negative direction, two ends of the pneumatic muscle II of the lower leg are respectively rotatably connected with the knee joint connecting plate (62) and the foot (67), the pneumatic muscle III of the lower leg (66) and two ends of the pneumatic muscle I of the lower leg (63) are respectively rotatably connected with the knee joint connecting plate (62) and the foot (67), the upper end of the pneumatic muscle III of the lower leg (66) is connected with a second quadrant which is formed into a plane by the X axis and the Y axis in the knee joint connecting plate (62), the lower end of the pneumatic muscle I of the lower leg (63) is connected with a third quadrant which is formed into a plane by the X axis and the Y axis in the foot (67), the upper end of the pneumatic muscle I of the lower leg is connected with a first quadrant which is formed into a plane by the X axis and the Y axis in the knee joint connecting plate (62), and the lower end of the pneumatic muscle II of the lower leg (64), the pneumatic muscle III of the lower leg (66) and the pneumatic muscle I of the pneumatic muscle (63) together drive the foot (67) to rotate around the X axis, the Y axis and the Z axis relative to the middle leg middle support rod (65).

6. The humanoid robot based on the pneumatic driver is characterized in that the control system comprises a pneumatic sensor (82), a displacement sensor (83), a voltage input module (84), a computer (85), a voltage output module (86) and a pneumatic proportional pressure regulating valve (87), wherein the input ends of the pneumatic sensor (82) and the displacement sensor (83) are connected with a single pneumatic driver (81), the output ends of the pneumatic sensor and the displacement sensor are connected with the input end of the voltage input module (84), the output end of the voltage input module (84) is connected with the input end of the computer (85), the output end of the computer (85) is connected with the input end of the voltage output module (86), the output end of the voltage output module (86) is connected with the input end of the pneumatic proportional pressure regulating valve (87), and the output end of the pneumatic proportional pressure regulating valve (87) is connected with the single pneumatic driver (81).

7. The humanoid robot of claim 6, characterized in that the voltage input module (84) adopts an NI9205 voltage input module, and the voltage output module (86) adopts an NI9264 voltage output module.

8. The humanoid robot based on the pneumatic driver is characterized in that each pneumatic muscle in the double upper limb joints (2), the waist joints (3) and the double lower limb joints (4) is connected with a pneumatic proportional pressure regulating valve (87), and each air cylinder is connected with two pneumatic proportional pressure regulating valves (87).

9. The humanoid robot based on pneumatic driver of claim 6, characterized in that, the pneumatic proportional pressure regulating valve (87) is selected from FESTO MPPE-3-1/8-10-010 type.

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