A flexible redundant humanoid leg based on a multi-state pneumatic muscle series-parallel combination

Abstract

The present invention relates to a flexible redundant humanoid leg based on a multi-state pneumatic muscle series-parallel connection. A left leg and a right leg are arranged below an intermediate connecting plate, and the left leg and the right leg are mirror images of each other. The left leg, from top to bottom, is successively a thigh joint, a knee joint, and a calf joint. The thigh bone of the thigh joint is rotatably connected to the intermediate connecting plate, and both ends of the first inner pneumatic muscle, the second inner pneumatic muscle, the third inner pneumatic muscle, the fourth inner pneumatic muscle, the fifth inner pneumatic muscle, the sixth inner pneumatic muscle, the seventh inner pneumatic muscle, the eighth inner pneumatic muscle, the ninth inner pneumatic muscle, and the tenth inner pneumatic muscle are respectively rotatably connected to the side surface of the middle part of the thigh bone and the intermediate connecting plate. The present invention has the advantages of simulating the coordinated contraction of multiple layers of muscles, having various working states of pneumatic muscles, and adjusting the joint degrees of freedom without changing the pressure difference of the pneumatic muscles.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, in particular to a flexible redundant humanoid leg based on multi-state pneumatic muscles in series and parallel, which simulates the coordinated contraction of multi-layer muscles, has diverse working states of pneumatic muscles, and adjusts the joint degrees of freedom without changing the pressure difference of pneumatic muscles. Background Art

[0002] Designing leg joints that can avoid obstacles, cross obstacles, and adapt to uneven ground has always been an important research direction in the field of robots.

[0003] The leg joints of humans are driven by intricate multi-layer muscles. Since pneumatic muscles have similar characteristics to muscles, when compressed air is filled into pneumatic muscles and oxygen is filled into human muscles, experiments show that the characteristics of pneumatic muscles in terms of isobaric, isometric, and isokinetic are consistent with the trend of the human muscle curve.

[0004] Chinese patents CN103816027A and CN107972013A respectively design single-layer redundant humanoid legs with pneumatic muscles concentrated on the hip joint, without fully considering the intricate spatial distribution of the muscles of the actual human leg joints, which are driven by the coordinated contraction of inner, middle, and outer multi-layer muscles, nor considering the various states of isobaric, isometric, isokinetic, and active driving of the muscles.

[0005] When choosing pneumatic muscles to drive joints, pneumatic muscles can move passively freely when not inflated. Even when inflated, the stiffness and displacement of the joints can be controlled separately, and the torque of the joints can be controlled by changing the pressure difference. Without changing the pressure difference and only changing the air pressure, the stiffness can be changed, thus realizing various multi-degree-of-freedom working modes of the joints.

[0006] There is a need for a flexible redundant humanoid leg based on multi-state pneumatic muscles in series and parallel, which simulates the coordinated contraction of multi-layer muscles, has diverse working states of pneumatic muscles, and adjusts the joint degrees of freedom without changing the pressure difference of pneumatic muscles. Summary of the Invention

[0007] The purpose of the present invention is to provide a flexible redundant humanoid leg based on multi-state pneumatic muscles in series and parallel, which simulates the coordinated contraction of multi-layer muscles, has diverse working states of pneumatic muscles, and adjusts the joint degrees of freedom without changing the pressure difference of pneumatic muscles.

[0008] A flexible redundant humanoid leg based on multi-state pneumatic muscles in series and parallel includes:

[0009] Intermediate connecting plate, with a left leg and a right leg arranged below the intermediate connecting plate. The left leg and the right leg are mirror images of each other. The left leg consists of a thigh joint, a knee joint, and a calf joint from top to bottom. The thigh bone of the thigh joint is rotatably connected to the intermediate connecting plate. The middle side of the thigh bone and the intermediate connecting plate are respectively rotatably connected to the two ends of the first inner pneumatic muscle, the second inner pneumatic muscle, the third inner pneumatic muscle, the fourth inner pneumatic muscle, the fifth inner pneumatic muscle, the sixth inner pneumatic muscle, the seventh inner pneumatic muscle, the eighth inner pneumatic muscle, the ninth inner pneumatic muscle, and the tenth inner pneumatic muscle.

[0010] The two ends of the first outer pneumatic muscle, the second outer pneumatic muscle, the third outer pneumatic muscle, the fourth outer pneumatic muscle, the fifth outer pneumatic muscle, and the sixth outer pneumatic muscle are respectively rotatably connected to the intermediate connecting plate and the thigh bone.

[0011] The thigh bone is respectively rotatably connected to the first connecting rod, the second connecting rod, and the third connecting rod. The first connecting rod, the second connecting rod, and the third connecting rod are respectively rotatably connected to the calf bone. The calf bone and the thigh bone are respectively rotatably connected to the first knee joint pneumatic muscle, the second knee joint pneumatic muscle, the third knee joint pneumatic muscle, and the fourth knee joint pneumatic muscle.

[0012] The calf bone is respectively rotatably connected to the first transmission wheel, the second transmission wheel, and the third transmission wheel. The ropes on the first transmission wheel are respectively connected to the first calf joint pneumatic muscle and the second calf joint pneumatic muscle. The ropes on the second transmission wheel are respectively connected to the third calf joint pneumatic muscle and the fourth calf joint pneumatic muscle. The ropes on the third transmission wheel are respectively connected to the fifth calf joint pneumatic muscle and the sixth calf joint pneumatic muscle. The calf bone, the first calf joint pneumatic muscle, the second calf joint pneumatic muscle, the third calf joint pneumatic muscle, the fourth calf joint pneumatic muscle, the fifth calf joint pneumatic muscle, and the sixth calf joint pneumatic muscle are respectively rotatably connected to the foot.

[0013] The first inner pneumatic muscle, the second inner pneumatic muscle, the third inner pneumatic muscle, and the fourth inner pneumatic muscle form a group and are located in the positive X-axis direction. The fifth inner pneumatic muscle, the sixth inner pneumatic muscle, the seventh inner pneumatic muscle, and the eighth inner pneumatic muscle form a group and are located in the negative X-axis direction. The first inner pneumatic muscle and the fourth inner pneumatic muscle are inclined. Relative to the lower end, the thigh bone deviates from the X-axis negative direction and the Y-axis outer negative direction. The fourth inner pneumatic muscle deviates from the X-axis negative direction and the Y-axis inner positive direction.

[0014] The fifth inner pneumatic muscle, the sixth inner pneumatic muscle, the seventh inner pneumatic muscle, and the eighth inner pneumatic muscle are symmetric with respect to the first inner pneumatic muscle, the second inner pneumatic muscle, the third inner pneumatic muscle, and the fourth inner pneumatic muscle about the plane formed by the Y-axis and the Z-axis.

[0015] The ninth inner pneumatic muscle and the tenth inner pneumatic muscle are respectively located on both sides of the thigh bone and on both sides of the Y-axis.

[0016] The middle connecting plate is a rectangular plate.

[0017] The outer pneumatic muscles 1, 2, 3, 4, 5, and 6 are respectively installed in parallel with the inner pneumatic muscles 9, 4, 1, 5, 8, and 10 and are located on the outer layer.

[0018] The link 2 is obliquely arranged, the link 1 and the link 3 are parallel to each other, and the link 2 and the link 1 intersect in space.

[0019] The knee joint pneumatic muscles 1, 2, 3, and 4 are of the same size.

[0020] The transmission wheels 1, 2, and 3 are of the same size and are coaxially arranged.

[0021] The flexible redundant humanoid leg based on multi-state pneumatic muscle series-parallel connection is further provided with a computer. The computer controls the pneumatic muscles through a control program to achieve the control of the mechanical structure. During the movement of the mechanical structure, the pneumatic pressure signal and the contraction signal of the pneumatic muscles are stored in the database in real time. The mechanical structure is a combination of one or more of the thigh joint, the knee joint, and the calf joint.

[0022] Below the intermediate connecting plate of the present invention, a left leg and a right leg are provided. The left leg and the right leg are mirror images of each other. The left leg, from top to bottom, is successively a thigh joint, a knee joint, and a calf joint. The thigh bone of the thigh joint is rotatably connected to the intermediate connecting plate. The middle side of the thigh bone and the intermediate connecting plate are respectively rotatably connected to the two ends of the inner pneumatic muscle one, inner pneumatic muscle two, inner pneumatic muscle three, inner pneumatic muscle four, inner pneumatic muscle five, inner pneumatic muscle six, inner pneumatic muscle seven, inner pneumatic muscle eight, inner pneumatic muscle nine, and inner pneumatic muscle ten; the intermediate connecting plate and the thigh bone are respectively rotatably connected to the two ends of the outer pneumatic muscle one, outer pneumatic muscle two, outer pneumatic muscle three, outer pneumatic muscle four, outer pneumatic muscle five, and outer pneumatic muscle six; the thigh bone is respectively rotatably connected to the connecting rod one, connecting rod two, and connecting rod three. The connecting rod one, connecting rod two, and connecting rod three are respectively rotatably connected to the calf bone. The calf bone and the thigh bone are respectively rotatably connected to the knee joint pneumatic muscle one, knee joint pneumatic muscle two, knee joint pneumatic muscle three, and knee joint pneumatic muscle four; the calf bone is respectively rotatably connected to the transmission wheel one, transmission wheel two, and transmission wheel three. The ropes on the transmission wheel one are respectively connected to the calf joint pneumatic muscle one and calf joint pneumatic muscle two. The ropes on the transmission wheel two are respectively connected to the calf joint pneumatic muscle three and calf joint pneumatic muscle four. The ropes on the transmission wheel three are respectively connected to the calf joint pneumatic muscle five and calf joint pneumatic muscle six. The calf bone, calf joint pneumatic muscle one, calf joint pneumatic muscle two, calf joint pneumatic muscle three, calf joint pneumatic muscle four, calf joint pneumatic muscle five, and calf joint pneumatic muscle six are respectively rotatably connected to the foot. The present invention has the advantages of simulating the coordinated contraction of multiple layers of muscles, having a variety of working states of pneumatic muscles, and adjusting the joint degrees of freedom without changing the pressure difference of the pneumatic muscles.

[0023] The beneficial effects of the present invention are as follows:

[0024] (1) The present invention uses the combination of the inner pneumatic muscle group and the outer pneumatic muscle group to drive the hip joint. Some muscles are used as active driving elements, and some elements are in various states such as isometric and isotonic. The pneumatic muscles not only provide power but also play a role in ensuring the stiffness, posture, position, and torque of the joint.

[0025] (2) The calf joint of the present invention uses pneumatic muscles in the form of multiple groups of antagonist muscles to drive the joint. The muscles are only affected by air pressure and can be controlled to be in working modes such as isobaric, isotonic, and isometric, and can realize the rotation of the joint around the X-axis and Y-axis.

[0026] (3) The hip joint, knee joint, and calf joint of the present invention respectively have 2, 1, and 2 degrees of freedom, and are all driven by redundant pneumatic muscles in a variety of working states, ensuring the stiffness of the joint and the state of motion. Description of the Drawings

[0027] Figure 1It is the overall mechanical structure diagram of a flexible redundant humanoid leg based on the series-parallel connection of multi-state pneumatic muscles;

[0028] Figure 2 It is the overall mechanical structure diagram of a single leg of a flexible redundant humanoid leg based on the series-parallel connection of multi-state pneumatic muscles;

[0029] Figure 3 It is the overall mechanical structure diagram of the hip joint of a flexible redundant humanoid leg based on the series-parallel connection of multi-state pneumatic muscles;

[0030] Figure 4 It is the mechanical structure diagram of the front and rear muscle groups of the inner layer of the hip joint of a flexible redundant humanoid leg based on the series-parallel connection of multi-state pneumatic muscles;

[0031] Figure 5 It is the mechanical structure diagram of the lateral muscles of the inner layer of the hip joint of a flexible redundant humanoid leg based on the series-parallel connection of multi-state pneumatic muscles;

[0032] Figure 6 It is the mechanical structure diagram of the inner layer of the hip joint of a flexible redundant humanoid leg based on the series-parallel connection of multi-state pneumatic muscles;

[0033] Figure 7 It is the overall mechanical structure diagram of the knee joint of a flexible redundant humanoid leg based on the series-parallel connection of multi-state pneumatic muscles;

[0034] Figure 8 It is the overall mechanical structure diagram of the calf joint of a flexible redundant humanoid leg based on the series-parallel connection of multi-state pneumatic muscles;

[0035] Figure 9 It is the block diagram of the control system of a flexible redundant humanoid leg based on the series-parallel connection of multi-state pneumatic muscles;

[0036] In the figure: left leg 1, thigh joint 1-1, knee joint 1-2, calf joint 1-3, intermediate connecting plate 2, right leg 3, inner pneumatic muscle one 4, inner pneumatic muscle two 5, inner pneumatic muscle three 6, inner pneumatic muscle four 7, inner pneumatic muscle five 8, inner pneumatic muscle six 9, inner pneumatic muscle seven 10, inner pneumatic muscle eight 11, thigh bone 12, inner pneumatic muscle nine 13, inner pneumatic muscle ten 14, outer pneumatic muscle one 15, outer pneumatic muscle two 16, outer pneumatic muscle three 17, outer pneumatic muscle four 18, outer pneumatic muscle five 19, outer pneumatic muscle six 20, connecting rod one 21, knee joint pneumatic muscle one 22, knee joint pneumatic muscle two 23, connecting rod two 24, connecting rod three 25, knee joint pneumatic muscle three 26, knee joint pneumatic muscle four 27, calf bone 28, drive wheel one 29, calf joint pneumatic muscle one 30, calf joint pneumatic muscle two 31, drive wheel two 32, drive wheel three 33, calf joint pneumatic muscle three 34, calf joint pneumatic muscle four 35, calf joint pneumatic muscle five 36, calf joint pneumatic muscle six 37, foot 38, computer 39, control program 40, pneumatic muscle 41, mechanical structure 42, pneumatic muscle air pressure signal and contraction signal 43, database 44. Detailed implementation mode

[0037] The following further describes the present invention in conjunction with the accompanying drawings and specific embodiments.

[0038] A flexible redundant humanoid leg based on multi-state pneumatic muscle series-parallel connection includes: left leg 1, thigh joint 1-1, knee joint 1-2, calf joint 1-3, intermediate connecting plate 2, right leg 3, inner pneumatic muscle one 4, inner pneumatic muscle two 5, inner pneumatic muscle three 6, inner pneumatic muscle four 7, inner pneumatic muscle five 8, inner pneumatic muscle six 9, inner pneumatic muscle seven 10, inner pneumatic muscle eight 11, thigh bone 12, inner pneumatic muscle nine 13, inner pneumatic muscle ten 14, outer pneumatic muscle one 15, outer pneumatic muscle two 16, outer pneumatic muscle three 17, outer pneumatic muscle four 18, outer pneumatic muscle five 19, outer pneumatic muscle six 20, connecting rod one 21, knee joint pneumatic muscle one 22, knee joint pneumatic muscle two 23, connecting rod two 24, connecting rod three 25, knee joint pneumatic muscle three 26, knee joint pneumatic muscle four 27, calf bone 28, drive wheel one 29, calf joint pneumatic muscle one 30, calf joint pneumatic muscle two 31, drive wheel two 32, drive wheel three 33, calf joint pneumatic muscle three 34, calf joint pneumatic muscle four 35, calf joint pneumatic muscle five 36, calf joint pneumatic muscle six 37, foot 38, computer 39, control program 40, pneumatic muscle 41, mechanical structure 42, pneumatic muscle air pressure signal and contraction signal 43, database 44.

[0039] The left leg 1 is successively composed of a thigh joint 1-1, a knee joint 1-2, and a calf joint 1-3 from top to bottom. Both the left leg 1 and the right leg 3 are rotatably connected to the middle connecting plate 2. Analyzed and designed from a biological perspective, the mechanical structures of the left leg 1 and the right leg 3 are exactly the same.

[0040] The hip joint mainly includes an inner pneumatic muscle group, an outer pneumatic muscle group, and a thigh bone 12. The inner pneumatic muscle group includes an inner pneumatic muscle one 4, an inner pneumatic muscle two 5, an inner pneumatic muscle three 6, an inner pneumatic muscle four 7, an inner pneumatic muscle five 8, an inner pneumatic muscle six 9, an inner pneumatic muscle seven 10, an inner pneumatic muscle eight 11, an inner pneumatic muscle nine 13, and an inner pneumatic muscle ten 14; the outer pneumatic muscle group includes an outer pneumatic muscle one 15, an outer pneumatic muscle two 16, an outer pneumatic muscle three 17, an outer pneumatic muscle four 18, an outer pneumatic muscle five 19, and an outer pneumatic muscle six 20. The thigh bone 12 is rotatably connected to the middle connecting plate 2. The inner pneumatic muscle one 4, the inner pneumatic muscle two 5, the inner pneumatic muscle three 6, and the inner pneumatic muscle four 7 are in the positive X-axis direction, and both ends of the inner pneumatic muscle one 4, the inner pneumatic muscle two 5, the inner pneumatic muscle three 6, and the inner pneumatic muscle four 7 are rotatably connected to the middle connecting plate 2 and the thigh bone 12 respectively; the inner pneumatic muscle two 5 and the inner pneumatic muscle three 6 are in front of the thigh bone 12 in the positive X-axis direction, driving the thigh bone 12 to rotate around the Y-axis relative to the middle connecting plate 2.

[0041] The inner pneumatic muscle one 4 is inclined at a certain angle with the inner pneumatic muscle two 5 and the inner pneumatic muscle three 6, with the upper end connected to the middle connecting plate 2. Relative to the lower end connected to the thigh bone 12, it is biased towards the negative X-axis direction and the negative outer Y-axis direction, while the inner pneumatic muscle four 7 is biased towards the negative X-axis direction and the positive inner Y-axis direction. The inner pneumatic muscle one 4 and the inner pneumatic muscle four 7 drive the thigh bone 12 to rotate around the Y-axis and the Z-axis relative to the middle connecting plate 2.

[0042] The inner pneumatic muscle five 8, the inner pneumatic muscle six 9, the inner pneumatic muscle seven 10, and the inner pneumatic muscle eight 11 are in the negative X-axis direction, and both ends of the inner pneumatic muscle five 8, the inner pneumatic muscle six 9, the inner pneumatic muscle seven 10, and the inner pneumatic muscle eight 11 are rotatably connected to the middle connecting plate 2 and the thigh bone 12 respectively; the inner pneumatic muscle five 8, the inner pneumatic muscle six 9, the inner pneumatic muscle seven 10, and the inner pneumatic muscle eight 11 are symmetric with the inner pneumatic muscle four 7, the inner pneumatic muscle three 6, the inner pneumatic muscle two 5, and the inner pneumatic muscle one 4 about the plane formed by the Y-axis and the Z-axis; the inner pneumatic muscle six 9 and the inner pneumatic muscle seven 10 drive the thigh bone 12 to rotate around the Y-axis relative to the middle connecting plate 2, and the inner pneumatic muscle five 8 and the inner pneumatic muscle eight 11 drive the thigh bone 12 to rotate around the Y-axis and the Z-axis relative to the middle connecting plate 2.

[0043] The two ends of the inner pneumatic muscle nine 13 and the inner pneumatic muscle ten 14 are respectively rotatably connected to the thigh bone 12, the outside and the inside of the intermediate connecting plate 2, and drive the thigh bone 12 to rotate relative to the intermediate connecting plate 2 about the X-axis.

[0044] The outer pneumatic muscle one 15, the outer pneumatic muscle two 16, the outer pneumatic muscle three 17, the outer pneumatic muscle four 18, the outer pneumatic muscle five 19, and the outer pneumatic muscle six 20 are respectively installed in parallel with the inner pneumatic muscle nine 13, the inner pneumatic muscle four 7, the inner pneumatic muscle one 4, the inner pneumatic muscle five 8, the inner pneumatic muscle eight 11, and the inner pneumatic muscle ten 14 and are located on the outer layer. The outer pneumatic muscle one 15 and the outer pneumatic muscle six 20 drive the thigh bone 12 to rotate relative to the intermediate connecting plate 2 about the X-axis, and the outer pneumatic muscle two 16, the outer pneumatic muscle three 17, the outer pneumatic muscle four 18, and the outer pneumatic muscle five 19 drive the thigh bone 12 to rotate relative to the intermediate connecting plate 2 about the Y-axis and the Z-axis.

[0045] The combined drive of the inner pneumatic muscle muscle group and the outer pneumatic muscle muscle group causes relative movement between the thigh bone 12 and the intermediate connecting plate 2. Some muscles act as active drive elements, and some elements are in various states such as equal pressure, equal tension, and equal length. In addition to providing power, the pneumatic muscles also play a role in ensuring the stiffness, posture, position, and torque of the joint.

[0046] The two ends of the connecting rod one 21, the connecting rod two 24, and the connecting rod three 25 are respectively rotatably connected to the thigh bone 12 and the calf bone 28. The connecting rod one 21 and the connecting rod three 25 are located on the left and right sides in the Y-axis direction, the connecting rod two 24 is located in the middle, and the connecting rod one 21, the connecting rod two 24, and the connecting rod three 25 are all inclined rods with a certain slope. The lower ends of the connecting rod one 21 and the connecting rod three 25 are along the positive X-axis direction and the upper ends are along the negative X-axis direction, and the connecting rod two 24 has an inclination direction opposite to that of the connecting rod one 21 and the connecting rod three 25.

[0047] The two ends of the knee joint pneumatic muscle one 22, the knee joint pneumatic muscle two 23, the knee joint pneumatic muscle three 26, and the knee joint pneumatic muscle four 27 are respectively rotatably connected to the thigh bone 12 and the calf bone 28. The knee joint pneumatic muscle one 22 and the knee joint pneumatic muscle two 23 are on the front side, and the knee joint pneumatic muscle three 26 and the knee joint pneumatic muscle four 27 are on the back side; the knee joint pneumatic muscle one 22 and the knee joint pneumatic muscle three 26 are on the left side, and the knee joint pneumatic muscle two 23 and the knee joint pneumatic muscle four 27 are on the right side; the knee joint pneumatic muscle one 22, the knee joint pneumatic muscle two 23, the knee joint pneumatic muscle three 26, and the knee joint pneumatic muscle four 27 together drive the relative rotation between the thigh bone 12 and the calf bone 28 about the Y-axis.

[0048] The calf bone 28 is rotatably connected to the foot 38, and the first transmission wheel 29, the second transmission wheel 32, and the third transmission wheel 33 are rotatably connected to the calf bone 28. One end of the first pneumatic muscle 30 of the calf joint and the second pneumatic muscle 31 of the calf joint is meshed with the first transmission wheel 29 through a rope to form a group of antagonist muscles. The third pneumatic muscle 34 of the calf joint and the fourth pneumatic muscle 35 of the calf joint form a group of antagonist muscles and are meshed with the second transmission wheel 32. The fifth pneumatic muscle 36 of the calf joint and the sixth pneumatic muscle 37 of the calf joint form a group of antagonist muscles and are meshed with the third transmission wheel 33. The other ends of the first pneumatic muscle 30 of the calf joint, the second pneumatic muscle 31 of the calf joint, the third pneumatic muscle 34 of the calf joint, the fourth pneumatic muscle 35 of the calf joint, the fifth pneumatic muscle 36 of the calf joint, and the sixth pneumatic muscle 37 of the calf joint are all rotatably connected to the foot 38. The first pneumatic muscle 30 of the calf joint, the second pneumatic muscle 31 of the calf joint, the third pneumatic muscle 34 of the calf joint, the fourth pneumatic muscle 35 of the calf joint, the fifth pneumatic muscle 36 of the calf joint, and the sixth pneumatic muscle 37 of the calf joint together drive the relative rotation of the calf bone 28 and the foot 38 around the X-axis and the Y-axis.

[0049] By changing the pressure difference between the first pneumatic muscle 30 of the calf joint and the second pneumatic muscle 31 of the calf joint, the third pneumatic muscle 34 of the calf joint and the fourth pneumatic muscle 35 of the calf joint, and the fifth pneumatic muscle 36 of the calf joint and the sixth pneumatic muscle 37 of the calf joint, the relative rotation of the calf bone 28 and the foot 38 around the Y-axis is realized. Without changing the pressure difference and only changing the air pressure to change the stiffness, the relative rotation of the calf bone 28 and the foot 38 around the X-axis is realized.

[0050] The computer 39 controls the pneumatic muscle 41 through the control program 40 to realize the control of the mechanical structure 42. During the movement of the mechanical structure 42, the air pressure signal and the contraction signal 43 of the pneumatic muscle are stored in the database 44 in real time.

[0051] The pneumatic muscle 41 is multiple pneumatic muscles among the first inner-layer pneumatic muscle 4, the second inner-layer pneumatic muscle 5, the third inner-layer pneumatic muscle 6, the fourth inner-layer pneumatic muscle 7, the fifth inner-layer pneumatic muscle 8, the sixth inner-layer pneumatic muscle 9, the seventh inner-layer pneumatic muscle 10, the eighth inner-layer pneumatic muscle 11, the ninth inner-layer pneumatic muscle 13, the tenth inner-layer pneumatic muscle 14, the first outer-layer pneumatic muscle 15, the second outer-layer pneumatic muscle 16, the third outer-layer pneumatic muscle 17, the fourth outer-layer pneumatic muscle 18, the fifth outer-layer pneumatic muscle 19, the sixth outer-layer pneumatic muscle 20, the first knee joint pneumatic muscle 22, the second knee joint pneumatic muscle 23, the third knee joint pneumatic muscle 26, the fourth knee joint pneumatic muscle 27, the first calf joint pneumatic muscle 30, the second calf joint pneumatic muscle 31, the third calf joint pneumatic muscle 34, the fourth calf joint pneumatic muscle 35, the fifth calf joint pneumatic muscle 36, and the sixth calf joint pneumatic muscle 37.

[0052] The mechanical structure 42 is one or a combination of several of the thigh joint 1-1, the knee joint 1-2, and the calf joint 1-3.

[0053] In the present invention, by controlling the pneumatic muscles that simulate human muscles, the control of the posture of the humanoid leg joints is achieved, which can dynamically and vividly simulate the movements of human leg joints and can achieve precise trajectory control. The present invention has advantages that cannot be compared with other humanoid legs driven by pneumatic muscles.

[0054] The above has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, various changes and improvements will occur to the present invention, and all these changes and improvements fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. A flexible redundant humanoid leg based on a multi-state pneumatic muscle series-parallel connection, characterized in that, Comprising: An intermediate connecting plate (2), with a left leg (1) and a right leg (3) arranged below the intermediate connecting plate (2). The left leg (1) and the right leg (3) are mirror images of each other. The left leg (1) successively includes a thigh joint (1-1), a knee joint (1-2), and a calf joint (1-3) from top to bottom. The thigh bone (12) of the thigh joint (1-1) is rotatably connected to the intermediate connecting plate (2). The middle side of the middle part of the thigh bone (12) and the intermediate connecting plate (2) are respectively rotatably connected to the two ends of the inner pneumatic muscle one (4), inner pneumatic muscle two (5), inner pneumatic muscle three (6), inner pneumatic muscle four (7), inner pneumatic muscle five (8), inner pneumatic muscle six (9), inner pneumatic muscle seven (10), inner pneumatic muscle eight (11), inner pneumatic muscle nine (13), and inner pneumatic muscle ten (14). The intermediate connecting plate (2) and the thigh bone (12) are respectively rotatably connected to the two ends of the outer pneumatic muscle one (15), outer pneumatic muscle two (16), outer pneumatic muscle three (17), outer pneumatic muscle four (18), outer pneumatic muscle five (19), and outer pneumatic muscle six (20). The thigh bone (12) is respectively rotatably connected to a connecting rod one (21), a connecting rod two (24), and a connecting rod three (25). The connecting rod one (21), the connecting rod two (24), and the connecting rod three (25) are respectively rotatably connected to a calf bone (28). The calf bone (28) and the thigh bone (12) are respectively rotatably connected to a knee joint pneumatic muscle one (22), a knee joint pneumatic muscle two (23), a knee joint pneumatic muscle three (26), and a knee joint pneumatic muscle four (27). The calf bone (28) is respectively rotatably connected to a driving wheel one (29), a driving wheel two (32), and a driving wheel three (33). The ropes on the driving wheel one (29) are respectively connected to a calf joint pneumatic muscle one (30) and a calf joint pneumatic muscle two (31). The ropes on the driving wheel two (32) are respectively connected to a calf joint pneumatic muscle three (34) and a calf joint pneumatic muscle four (35). The ropes on the driving wheel three (33) are respectively connected to a calf joint pneumatic muscle five (36) and a calf joint pneumatic muscle six (37). The calf bone (28), the calf joint pneumatic muscle one (30), the calf joint pneumatic muscle two (31), the calf joint pneumatic muscle three (34), the calf joint pneumatic muscle four (35), the calf joint pneumatic muscle five (36), and the calf joint pneumatic muscle six (37) are respectively rotatably connected to a foot (38).

2. The flexible redundant humanoid leg based on the multi-state pneumatic muscle series-parallel connection according to claim 1, characterized in that The inner pneumatic muscles one (4), inner pneumatic muscles two (5), inner pneumatic muscles three (6), and inner pneumatic muscles four (7) form a group and are located in the positive X-axis direction. The inner pneumatic muscles five (8), inner pneumatic muscles six (9), inner pneumatic muscles seven (10), and inner pneumatic muscles eight (11) form a group and are located in the negative X-axis direction. The inner pneumatic muscles one (4) and inner pneumatic muscles four (7) are inclined. Relative to the lower end, they deviate from the thigh bone (12) in the negative X-axis direction and the negative outer Y-axis direction. The inner pneumatic muscles four (7) deviate in the negative X-axis direction and the positive inner Y-axis direction; The inner pneumatic muscles five (8), inner pneumatic muscles six (9), inner pneumatic muscles seven (10), and inner pneumatic muscles eight (11) are symmetric with respect to the inner pneumatic muscles one (4), inner pneumatic muscles two (5), inner pneumatic muscles three (6), and inner pneumatic muscles four (7) about the plane formed by the Y-axis and the Z-axis.

3. A flexible redundant humanoid leg based on a multi-state pneumatic muscle series-parallel connection according to claim 1, characterized in that, The inner pneumatic muscles nine (13) and inner pneumatic muscles ten (14) are respectively located on both sides of the thigh bone (12) and on both sides of the Y-axis.

4. A flexible redundant humanoid leg based on a multi-state pneumatic muscle series-parallel connection according to claim 1, characterized in that, The intermediate connecting plate (2) is a rectangular plate.

5. A flexible redundant humanoid leg based on a multi-state pneumatic muscle series-parallel connection according to claim 1, characterized in that, The outer pneumatic muscles one (15), outer pneumatic muscles two (16), outer pneumatic muscles three (17), outer pneumatic muscles four (18), outer pneumatic muscles five (19), and outer pneumatic muscles six (20) are respectively installed parallel to the inner pneumatic muscles nine (13), inner pneumatic muscles four (7), inner pneumatic muscles one (4), inner pneumatic muscles five (8), inner pneumatic muscles eight (11), and inner pneumatic muscles ten (14) and are in the outer layer.

6. The flexible redundant humanoid leg based on the multi-state pneumatic muscle hybrid series-parallel connection according to claim 1, wherein, The connecting rod two (24) is obliquely arranged. The connecting rod one (21) and the connecting rod three (25) are parallel to each other. The connecting rod two (24) and the connecting rod one (21) intersect in space.

7. A flexible redundant humanoid leg based on a multi-state pneumatic muscle series-parallel combination according to claim 1, characterized in that, The knee joint pneumatic muscles one (22), knee joint pneumatic muscles two (23), knee joint pneumatic muscles three (26), and knee joint pneumatic muscles four (27) are of the same size.

8. A flexible redundant humanoid leg based on a multi-state pneumatic muscle series-parallel connection according to claim 1, characterized in that The transmission wheels one (29), transmission wheels two (32), and transmission wheels three (33) are of the same size and are coaxially arranged.

9. A flexible redundant humanoid leg based on a multi-state pneumatic muscle series-parallel connection according to claim 1, wherein, The flexible redundant humanoid leg based on multi-state pneumatic muscle series-parallel connection is also provided with a computer (39). The computer (39) controls the pneumatic muscles (41) through a control program (40) to realize the control of the mechanical structure (42). During the movement of the mechanical structure (42), the pneumatic muscle air pressure signal and the contraction signal (43) are stored in the database (44) in real time. The mechanical structure (42) is one or a combination of the thigh joint (1-1), knee joint (1-2), and calf joint (1-3).

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