A humanoid robot based on a pneumatic actuator

Abstract

The present invention discloses a humanoid robot based on pneumatic actuators, belonging to the field of robots. The movement of each joint is driven by pneumatic actuators, and it mainly consists of the humerus, radius, ulna, pneumatic muscles, cylinders, connecting pieces, control systems, etc. Four parallel pneumatic muscles of the shoulder joint drive the shoulder joint. The humerus is divided into two segments, and the two segments are connected by a cylinder; a group of shoulder-elbow joint pneumatic muscles are respectively connected to the connecting piece of the shoulder joint and the radius and ulna, which can not only drive the movement of the elbow joint, but also drive the shoulder joint together with the pneumatic muscles of the shoulder joint; four parallel ones drive the forearm, and the radius and ulna are respectively connected to two of them, both of which are connected to the wrist joint connecting plate. The radius and ulna are designed into two segments and are connected by a cylinder in the middle. The present invention is driven by pneumatic muscles and cylinders, and has the characteristics of compact structure, large working space and multiple degrees of freedom of movement, and can be used for experimental teaching, circuit demonstration and fault repair.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and particularly relates to a humanoid robot based on a pneumatic actuator. Background Art

[0002] A joint of the human body is composed of at least two bones. In order to avoid direct dry friction between the bones from damaging the joint, a layer of elastic cartilage covers the surface of the bones at the joint. While ensuring the rotation of the joint, the cartilage sometimes also has some slight linear motion. If the range of the linear motion is large, phenomena such as dislocation will occur. In order to simulate the linear motion of the cartilage of the spine, Chinese Patent CN108335602B added a thin-walled cylinder connection between the vertebrae. However, considering the actual robot design process, the telescopic length of the parallel pneumatic muscles directly affects the range of the angle that the joint can rotate, and the most direct influencing factor for the telescopic motion of the pneumatic muscles is the length of the pneumatic muscles. Therefore, in this application, while trying to simulate the linear motion of the cartilage as much as possible, the length of the pneumatic muscles driving the joint is increased as much as possible.

[0003] As an important actuator for pneumatic transmission, the parallel design of cylinders for the joints of humanoid robots has been widely used. However, as a rigid actuator, the cylinder has a relatively large direct motion impact, and the joint motion is also affected by the rotatable angle of the rotatable connecting components at the end. In this application, a parallel component is formed by combining a cylinder and a connecting rod, and two groups of parallel waist joint components are connected in series, which greatly increases the working space range of the waist joint. At the same time, the rod has the function of absorbing the direct impact of the cylinder.

[0004] In recent years, pneumatic muscles as actuators for driving the joints of humanoid robots have gradually received attention. Among them, single-joint pneumatic muscles mainly drive joint motion, and multi-joint pneumatic muscles mainly provide auxiliary support. However, single-joint pneumatic muscles act as antagonist muscles and are mixedly connected with multi-joint pneumatic muscles to drive the joint. The functions of single-joint pneumatic muscles and multi-joint pneumatic muscles are no longer the previous clear division of labor. However, for a robot joint driven by single-joint and multi-joint pneumatic muscles, how to balance the problem of the interlaced distribution of antagonist muscles and human muscles is still a difficult problem to solve. Summary of the Invention

[0005] The object of the present invention is to provide a humanoid robot and a control system based on a pneumatic actuator for the above-mentioned existing technical defects. The present invention has the advantages of a compact structure, a large working space, and a large number of degrees of freedom of motion.

[0006] To achieve the above object, the technical solution adopted by the present invention is: a humanoid robot based on a pneumatic actuator, including a head joint 1, double upper limb joints 2, a waist joint 3, double lower limb joints 4, and a control system. The double upper limb joints 2 include a left upper limb joint 2-1 and a right upper limb joint 2-2 with exactly the same structure. The double lower limb joints 4 include a left lower limb joint 4-1 and a right lower limb joint 4-2 with exactly the same 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 and right sides 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 and right sides of the lower end of the waist joint 3. A single pneumatic actuator 81 is provided in each of the double upper limb joints 2, the waist joint 3, and the double lower limb joints 4. The single pneumatic actuator (81) includes all the pneumatic muscles and cylinders in the double upper limb joints 2, the waist joint 3, and the double lower limb joints 4. The head joint 1 and the single pneumatic actuator 81 are both connected to the control system.

[0007] Specifically, the head joint 1 includes a pneumatic motor 5, an intermediate connector 7, and a camera 8. The lower end of the camera 8 is connected to the pneumatic motor 5 through the intermediate connector. The lower end of the pneumatic motor 5 is connected to the waist joint 3. The camera 8 and the pneumatic motor 5 are both connected to the control system.

[0008] Specifically, in the double upper limb joints 2: The shoulder joint connector 9 is connected to the waist joint 3. The shoulder joint connector 9 is fixedly connected to the upper end connecting plate 6 of the waist joint. The first segment of the humerus 10 is rotatably connected to the shoulder joint connector 9. The cylinder body and the piston rod of the first upper limb cylinder 11 are respectively connected to the first segment of the humerus 10, the shoulder joint pneumatic muscle connecting plate 12, and the second segment of the humerus 13. The piston rod simultaneously fixes the shoulder joint pneumatic muscle connecting plate 12 and the second segment of the humerus 13. One end of the first segment of the radius 14 is rotatably connected to the second segment of the humerus 13, and the other end is simultaneously fixed to the radius pneumatic muscle connecting plate 15 and the cylinder body of the second upper limb cylinder 18; One end of the second segment of the radius 20 is rotatably connected to the wrist joint connecting plate 22, and the other end is fixed to the piston rod of the second upper limb cylinder 18. One end of the first segment of the ulna 16 is rotatably connected to the second segment of the humerus 13, and the other end is simultaneously fixed to the ulna pneumatic muscle connecting plate 17 and the cylinder body of the third upper limb cylinder 19; One end of the second segment of the ulna 21 is rotatably connected to the wrist joint connecting plate 22, and the other end is fixed to the piston rod of the third upper limb cylinder 19;

[0009] The first segment of the radius 14 is rotatably connected to the second segment of the humerus 13. The second segment of the radius 20 is rotatably connected to the wrist joint connecting plate 22. The first segment of the ulna 16 is rotatably connected to the second segment of the humerus 13. The second segment of the ulna 21 is rotatably connected to the wrist joint connecting plate 22.

[0010] The two ends of the Shoulder Joint Pneumatic Muscle 1-24, Shoulder Joint Pneumatic Muscle 2-25, Shoulder Joint Pneumatic Muscle 3-26, and Shoulder Joint Pneumatic Muscle 4-27 are respectively rotatably connected to the Shoulder Joint Connector 9 and the Shoulder Joint Pneumatic Muscle Connection Plate 12, and the included angles between the initial positions and the Y-axis and Z-axis are 45°. The two ends of the Shoulder and Elbow Joint Pneumatic Muscle 1-28 are respectively rotatably connected to the Shoulder Joint Connector 9 and the Radial Bone Pneumatic Muscle Connection Plate 15. The two ends of the Shoulder and Elbow Joint Pneumatic Muscle 2-29 are respectively rotatably connected to the Shoulder Joint Connector 9 and the Ulnar Bone Pneumatic Muscle Connection Plate 17, and the initial positions are in the Z-axis direction. The two ends of the Wrist Joint Pneumatic Muscle 1-30 and the Wrist Joint Pneumatic Muscle 2-31 are respectively rotatably connected to the Radial Bone Pneumatic Muscle Connection Plate 15 and the Wrist Joint Connection Plate 22. The two ends of the Wrist Joint Pneumatic Muscle 3-32 and the Wrist Joint Pneumatic Muscle 4-33 are respectively rotatably connected to the Ulnar Bone Pneumatic Muscle Connection Plate 17 and the Wrist Joint Connection Plate 22. And the initial positions of the Wrist Joint Pneumatic Muscle 1-30, the Wrist Joint Pneumatic Muscle 2-31, the Wrist Joint Pneumatic Muscle 3-32, and the Wrist Joint Pneumatic Muscle 4-33 are in the same orientation as the Shoulder Joint Pneumatic Muscle 1-24, the Shoulder Joint Pneumatic Muscle 2-25, the Shoulder Joint Pneumatic Muscle 3-26, the Shoulder Joint Pneumatic Muscle 4-27 with respect to the Y-axis and Z-axis. The above-mentioned rotatable connections are all realized by using wire ropes in cooperation with bolts;

[0011] The gripper 23 is fixedly connected to the wrist joint connection plate 22.

[0012] Specifically, in the waist joint 3: The upper waist joint connection plate 6 and the middle waist joint connection plate 52 are composed of 6 branches formed by cylinders and connecting rods. The cylinder block of the cylinder is fixedly connected to the middle waist joint connection plate 52. The two ends of the connecting rod are respectively rotatably connected to the cylinder connector and the piston rod of the cylinder. The cylinder connector is fixedly connected to the upper waist joint connection plate 6. The 6 branches formed by cylinders and connecting rods are respectively: Connecting rod 1-34 and waist joint cylinder 2-38, connecting rod 2-35 and waist joint cylinder 1-37, connecting rod 3-36 and waist joint cylinder 3-39, connecting rod 7-46 and waist joint cylinder 8-50, connecting rod 9-48 and waist joint cylinder 9-51, connecting rod 8-47 and waist joint cylinder 7-49. Connecting rod 2-35 and waist joint cylinder 1-37, connecting rod 3-36 and waist joint cylinder 3-39 are in one group, connecting rod 1-34 and waist joint cylinder 2-38, connecting rod 7-46 and waist joint cylinder 8-50 are in one group, connecting rod 9-48 and waist joint cylinder 9-51, connecting rod 8-47 and waist joint cylinder 7-49 are in one group;

[0013] The middle connecting plate 52 of the waist joint and the lower connecting plate 60 of the waist joint are also composed of six branches each consisting of a cylinder and a connecting rod. The cylinder block of the cylinder is fixedly connected to the middle connecting plate 52 of the waist joint. The two ends of the connecting rod are respectively rotatably connected to the cylinder connecting piece and the piston rod of the cylinder. The cylinder connecting piece is fixedly connected to the lower connecting plate 60 of the waist joint. The six branches each consisting of a cylinder and a connecting rod are respectively: the fifth waist joint cylinder 41 and the sixth connecting rod 45, the fourth waist joint cylinder 40 and the fourth connecting rod 43, the sixth waist joint cylinder 42 and the fifth connecting rod 44, the eleventh waist joint cylinder 54 and the tenth connecting rod 56, the tenth waist joint cylinder 53 and the eleventh connecting rod 57, the twelfth waist joint cylinder 55 and the twelfth connecting rod 58. The tenth waist joint cylinder 53 and the eleventh connecting rod 57, the twelfth waist joint cylinder 55 and the twelfth connecting rod 58 form a group. Both the eleventh connecting rod 57 and the twelfth connecting rod 58 are rotatably connected to the cylinder connecting piece 59. The cylinder connecting piece 59 is fixedly connected to the lower connecting plate 60 of the waist joint. The fifth waist joint cylinder 41 and the sixth connecting rod 45, the eleventh waist joint cylinder 54 and the tenth connecting rod 56 form a group. The fourth waist joint cylinder 40 and the fourth connecting rod 43, the sixth waist joint cylinder 42 and the fifth connecting rod 44 form a group.

[0014] Specifically, in the double lower limb joint 4: The lower limb connecting plate 61 is fixedly connected to the lower end of the waist joint 3. One end of the first section of the thigh support rod 68 is rotatably connected to the lower limb connecting plate 61, and the other end is fixedly connected to the first support rod connecting piece 70. One end of the second section of the thigh support rod 76 is fixedly connected to the first support rod connecting piece 70, and the other end is rotatably connected to the second support rod connecting piece 77. One end of the third section of the thigh support rod 71 is fixedly connected to the second support rod connecting piece 77, and the other end is rotatably connected to the knee joint connecting plate 62. One end of the middle calf support rod 65 is fixedly connected to the knee joint connecting plate 62, and the other end is rotatably connected to the foot 67. In the initial stage, the second hip joint pneumatic muscle 75 and the first hip joint pneumatic muscle 69 are respectively on the positive and negative axes of the Y-axis, and their two ends are respectively rotatably connected to the lower limb connecting plate 61 and the second support rod connecting piece 77. The second knee joint pneumatic muscle 78 and the first knee joint pneumatic muscle 72 are respectively on the positive and negative axes of the X-axis, and their two ends are respectively rotatably connected to the first support rod connecting piece 70 and the knee joint connecting plate 62.

[0015] The multi-joint pneumatic muscle three 79 is on the positive axis of the Y-axis, and its two ends are respectively rotatably connected to the lower limb connecting plate 61 and the knee joint connecting plate 62. The hip joint pneumatic muscle two 75 is on the inner side, and the multi-joint pneumatic muscle three 79 is on the outer side. The two ends of the multi-joint pneumatic muscle one 73 and the multi-joint pneumatic muscle two 74 are respectively rotatably connected to the lower limb connecting plate 61 and the knee joint connecting plate 62. The upper end of the multi-joint pneumatic muscle one 73 is connected to the second quadrant of the plane formed by the X-axis and the Y-axis in the lower limb connecting plate 61, and the lower end is connected to the 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 multi-joint pneumatic muscle two 74 is connected to the 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 is connected to the fourth quadrant of the plane formed by the X-axis and the Y-axis in the knee joint connecting plate 62.

[0016] The first section of the thigh rod 68 is rotatably connected to the lower limb connecting plate 61. The second section of the thigh rod 76 is rotatably connected to the rod connecting piece two 77. The third section of the thigh rod 71 is rotatably connected to the knee joint connecting plate 62. The middle calf rod 65 is rotatably connected to the foot 67. The two ends of the hip joint pneumatic muscle two 75 and the hip joint pneumatic muscle one 69 are respectively rotatably connected to the lower limb connecting plate 61 and the rod connecting piece two 77. The two ends of the knee joint pneumatic muscle two 78 and the knee joint pneumatic muscle one 72 are respectively rotatably connected to the rod connecting piece one 70 and the knee joint connecting plate 62. The two ends of the multi-joint pneumatic muscle three 79, the multi-joint pneumatic muscle one 73, and the multi-joint pneumatic muscle two 74 are respectively rotatably connected to the lower limb connecting plate 61 and the knee joint connecting plate 62;

[0017] The calf pneumatic muscle two 64 is in the negative direction of the Y-axis, and its two ends are respectively rotatably connected to the knee joint connecting plate 62 and the foot 67. The two ends of the calf pneumatic muscle three 66 and the calf pneumatic muscle one 63 are respectively rotatably connected to the knee joint connecting plate 62 and the foot 67. The upper end of the calf pneumatic muscle three 66 is connected to 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 to the third quadrant of the plane formed by the X-axis and the Y-axis in the foot 67. The upper end of the calf pneumatic muscle one 63 is connected to the first 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 to the fourth quadrant of the plane formed by the X-axis and the Y-axis in the foot 67. The calf pneumatic muscle two 64, the calf pneumatic muscle three 66, and the calf pneumatic muscle one 63 together drive the foot 67 to rotate relative to the middle calf rod 65 around the X-axis, Y-axis, and Z-axis.

[0018] Specifically, the control system includes a pneumatic 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. The input ends of the pneumatic pressure sensor 82 and the displacement sensor 83 are both connected to a single pneumatic actuator 81, and the output ends are both connected to the input end of the voltage input module 84. The output end of the voltage input module 84 is connected to the input end of the computer 85. The output end of the computer 85 is connected to the input end of the voltage output module 86. The output end of the voltage output module 86 is connected to the input end of the pneumatic proportional pressure regulating valve 87. The output end of the pneumatic proportional pressure regulating valve 87 is connected to the single pneumatic actuator 81.

[0019] Preferably, the voltage input module 84 uses an NI9205 voltage input module, and the voltage output module 86 uses an NI9264 voltage output module.

[0020] Preferably, each pneumatic muscle in the double upper limb joints 2, the waist joint 3, and the double lower limb joints 4 is connected to a pneumatic proportional pressure regulating valve 87, and each cylinder is connected to two pneumatic proportional pressure regulating valves 87.

[0021] Preferably, the pneumatic proportional pressure regulating valve 87 is of the FESTO MPPE-3-1 / 8-10-010 model.

[0022] The beneficial effects of the present invention are as follows:

[0023] 1. The present invention uses a combination of cylinders and parallel pneumatic muscles to drive joints, which can simultaneously achieve combined movements of joints in multiple directions and with multiple degrees of freedom.

[0024] 2. The present invention uses a combination of antagonistic pneumatic muscles and multi-joint hybrid pneumatic muscles for driving, which has advantages such as a large power / mass ratio, good compliance, and a compact structure.

[0025] 3. The shoulder joint, elbow joint, wrist joint, hip joint, knee joint, and ankle joint of the present invention all have multiple degrees of freedom, which helps to understand the roles of each component during joint movement. Description of the Drawings

[0026] Figure 1 is the overall mechanical structure diagram of a humanoid robot based on pneumatic actuators;

[0027] Figure 2 is the mechanical structure diagram of the double upper limbs of a humanoid robot based on pneumatic actuators;

[0028] Figure 3 is the mechanical structure diagram of a single upper limb of a humanoid robot based on pneumatic actuators;

[0029] Figure 4It is the mechanical structure diagram of the waist joint of a humanoid robot based on a pneumatic actuator;

[0030] Figure 5 It is the mechanical structure diagram of the double lower limbs of a humanoid robot based on a pneumatic actuator;

[0031] Figure 6 It is the mechanical structure diagram of the single lower limb of a humanoid robot based on a pneumatic actuator;

[0032] Figure 7 It is the mechanical structure diagram of the thigh of a humanoid robot based on a pneumatic actuator;

[0033] Figure 8 It is the control block diagram of a humanoid robot based on a pneumatic actuator.

[0034] In the figure: head joint 1, double upper limb joints 2, left upper limb joint 2-1, right upper limb joint 2-2, waist joint 3, double lower limb joints 4, pneumatic motor 5, upper connecting plate of waist joint 6, head connecting piece 7, camera 8, shoulder joint connecting piece 9, first segment of humerus 10, first upper limb cylinder 11, pneumatic muscle connecting plate of shoulder joint 12, second segment of humerus 13, first segment of radius 14, pneumatic muscle connecting plate of radius 15, first segment of ulna 16, pneumatic muscle connecting plate of ulna 17, second upper limb cylinder 18, third upper limb cylinder 19, second segment of radius 20, second segment of ulna 21, wrist joint connecting plate 22, air gripper 23, first pneumatic muscle of shoulder joint 24, second pneumatic muscle of shoulder joint 25, third pneumatic muscle of shoulder joint 26, fourth pneumatic muscle of shoulder joint 27, first pneumatic muscle of shoulder and elbow joint 28, second pneumatic muscle of shoulder and elbow joint 29, first pneumatic muscle of wrist joint 30, second pneumatic muscle of wrist joint 31, third pneumatic muscle of wrist joint 32, fourth pneumatic muscle of wrist joint 33, first connecting rod 34, second connecting rod 35, third connecting rod 36, first waist joint cylinder 37, second waist joint cylinder 38, third waist joint cylinder 39, fourth waist joint cylinder 40, fifth waist joint cylinder 41, sixth waist joint cylinder 42, fourth connecting rod 43, fifth connecting rod 44, sixth connecting rod 45, seventh connecting rod 46, eighth connecting rod 47, ninth connecting rod 48, seventh waist joint cylinder 49, eighth waist joint cylinder 50, ninth waist joint cylinder 51, intermediate connecting plate of waist joint 52, tenth waist joint cylinder 53, eleventh waist joint cylinder 54, twelfth waist joint cylinder 55, tenth connecting rod 56, eleventh connecting rod 57, twelfth connecting rod 58, cylinder connecting piece 59, lower connecting plate of waist joint 60, lower limb connecting plate 61, knee joint connecting plate 62, first calf pneumatic muscle 63, second calf pneumatic muscle 64, intermediate support rod of calf 65, third calf pneumatic muscle 66, foot 67, first segment of thigh support rod 68, first pneumatic muscle of hip joint 69, first support rod connecting piece 70, third segment of thigh support rod 71, first pneumatic muscle of knee joint 72, first multi-joint pneumatic muscle 73, second multi-joint pneumatic muscle 74, second pneumatic muscle of hip joint 75, second segment of thigh support rod 76, second support rod connecting piece 77, second pneumatic muscle of knee joint 78, third multi-joint pneumatic muscle 79, humanoid robot joint 80, single pneumatic actuator 81, air pressure sensor 82, displacement sensor 83, voltage input module 84, computer 85, voltage output module 86, pneumatic proportional pressure regulating valve 87. Detailed implementation manners

[0035] The present invention will be further described below in conjunction with the accompanying drawings and detailed implementation manners.

[0036] Embodiment 1: As shown in Figure - 8, a humanoid robot based on a pneumatic actuator includes a head joint 1, double upper limb joints 2, a waist joint 3, double lower limb joints 4, and a control system. The double upper limb joints 2 include a left upper limb joint 2 - 1 and a right upper limb joint 2 - 2 with exactly the same structure. The double lower limb joints 4 include a left lower limb joint 4 - 1 and a right lower limb joint 4 - 2 with exactly the same 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 and right sides 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 and right sides of the lower end of the waist joint 3. A single pneumatic actuator 81 is provided in each of the double upper limb joints 2, the waist joint 3, and the double lower limb joints 4. The single pneumatic actuator 81 includes all the pneumatic muscles and cylinders in the double upper limb joints 2, the waist joint 3, and the double lower limb joints 4. The head joint 1 and the single pneumatic actuator 81 are both connected to the control system. The humanoid robot based on the pneumatic actuator and the control system mainly include the head joint 1, the double upper limb joints 2, the waist joint 3, and the double lower limb joints 4. Among them: The double upper limb joints 2 include a left upper limb joint 2 - 1 and a right upper limb joint 2 - 2 with exactly the same structure. The double lower limb joints 4 include a left lower limb joint 4 - 1 and a right lower limb joint 4 - 2 with exactly the same structure.

[0037] As Figure 1 , 2 , as shown in Figure 5, the housing and the rotating shaft of the pneumatic motor 5 are fixedly connected to the upper end connecting plate 6 of the waist joint and the head connecting member 7. The camera 8 is fixedly connected to the head connecting member 7. The pneumatic motor 5 drives the camera 8 to rotate around the Z - axis through the head connecting member 7.

[0038] As Figure 3 , 4 shown, the shoulder joint connecting member 9 is fixedly connected to the upper end connecting plate 6 of the waist joint. The first section of the humerus 10 is rotatably connected to the shoulder joint connecting member 9. The cylinder body and the piston rod of the first upper limb cylinder 11 are respectively connected to the first section of the humerus 10, the shoulder joint pneumatic muscle connecting plate 12, and the second section of the humerus 13. The piston rod has the function of simultaneously fixing the shoulder joint pneumatic muscle connecting plate 12 and the second section of the humerus 13. One end of the first section of the radius 14 is rotatably connected to the second section of the humerus 13, and the other end is simultaneously fixedly connected to the radius pneumatic muscle connecting plate 15 and the cylinder body of the second upper limb cylinder 18. One end of the second section of the radius 20 is rotatably connected to the wrist joint connecting plate 22, and the other end is fixedly connected to the piston rod of the second upper limb cylinder 18. One end of the first section of the ulna 16 is rotatably connected to the second section of the humerus 13, and the other end is simultaneously fixedly connected to the ulna pneumatic muscle connecting plate 17 and the cylinder body of the third upper limb cylinder 19. One end of the second section of the ulna 21 is rotatably connected to the wrist joint connecting plate 22, and the other end is fixedly connected to the piston rod of the third upper limb cylinder 19.

[0039] The rotatable connection between the first segment 10 of the humerus and the shoulder joint connecting member 9 is a ball joint. The first segment 14 of the radius is rotatably connected to the second segment 13 of the humerus, the second segment 20 of the radius is rotatably connected to the wrist joint connecting plate 22, the first segment 16 of the ulna is rotatably connected to the second segment 13 of the humerus, and the second segment 21 of the ulna is rotatably connected to the wrist joint connecting plate 22. The above rotatable connections are universal joints.

[0040] Both ends of the first pneumatic muscle 24 of the shoulder joint, the second pneumatic muscle 25 of the shoulder joint, the third pneumatic muscle 26 of the shoulder joint, and the fourth pneumatic muscle 27 of the shoulder joint are rotatably connected to the shoulder joint connecting member 9 and the pneumatic muscle connecting plate 12 of the shoulder joint respectively, and the included angles between the initial positions and the Y-axis and the Z-axis are 45°. Both ends of the first pneumatic muscle 28 of the shoulder-elbow joint are rotatably connected to the shoulder joint connecting member 9 and the pneumatic muscle connecting plate 15 of the radius respectively, and both ends of the second pneumatic muscle 29 of the shoulder-elbow joint are rotatably connected to the shoulder joint connecting member 9 and the pneumatic muscle connecting plate 17 of the ulna respectively, and the initial positions are in the Z-axis direction. Both ends of the first pneumatic muscle 30 of the wrist joint and the second pneumatic muscle 31 of the wrist joint are rotatably connected to the pneumatic muscle connecting plate 15 of the radius and the wrist joint connecting plate 22 respectively, and both ends of the third pneumatic muscle 32 of the wrist joint and the fourth pneumatic muscle 33 of the wrist joint are rotatably connected to the pneumatic muscle connecting plate 17 of the ulna and the wrist joint connecting plate 22 respectively. And the initial positions of the first pneumatic muscle 30 of the wrist joint, the second pneumatic muscle 31 of the wrist joint, the third pneumatic muscle 32 of the wrist joint, the fourth pneumatic muscle 33 of the wrist joint, the first pneumatic muscle 24 of the shoulder joint, the second pneumatic muscle 25 of the shoulder joint, the third pneumatic muscle 26 of the shoulder joint, and the fourth pneumatic muscle 27 of the shoulder joint are in the same orientation as the Y-axis and the Z-axis. The above rotatable connections are all realized by steel wires in cooperation with bolts.

[0041] The first pneumatic muscle 24 of the shoulder joint, the second pneumatic muscle 25 of the shoulder joint, the third pneumatic muscle 26 of the shoulder joint, the fourth pneumatic muscle 27 of the shoulder joint, and the first upper limb cylinder 11 together drive the second segment 13 of the humerus to rotate around the Y-axis and the Z-axis and move along the X-axis relative to the shoulder joint connecting member 9, and at the same time, they can also drive the first segment 10 of the humerus to rotate around the Y-axis and the Z-axis relative to the shoulder joint connecting member 9.

[0042] The first pneumatic muscle 28 of the shoulder-elbow joint and the second pneumatic muscle 29 of the shoulder-elbow joint drive the first segment 14 of the radius and the first segment 16 of the ulna to rotate around the Y-axis relative to the second segment 13 of the humerus in the form of a group of antagonistic muscles. The second upper limb cylinder 18, the first pneumatic muscle 30 of the wrist joint, and the second pneumatic muscle 31 of the wrist joint together 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 segment 14 of the radius. The third upper limb cylinder 19, the third pneumatic muscle 32 of the wrist joint, and the fourth pneumatic muscle 33 of the wrist joint together 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 segment 16 of the ulna.

[0043] The upper limb cylinder one 11, the upper limb cylinder two 18, and the upper limb cylinder three 19 can be used as driving elements or as supporting elements that maintain the displacement unchanged.

[0044] The gripper 23 is fixedly connected to the wrist joint connecting plate 22. The gripper 23 can rotate around the X-axis and move along the Y-axis and Z-axis.

[0045] As Figure 4 shown, the middle connecting plate 52 of the waist joint and the lower connecting plate 60 of the waist joint are also composed of six branches formed by cylinders and connecting rods. The cylinder block of the cylinder is fixedly connected to the middle connecting plate 52 of the waist joint. The two ends of the connecting rod are respectively rotatably connected to the cylinder connecting piece and the piston rod of the cylinder. The cylinder connecting piece is fixedly connected to the lower connecting plate 60 of the waist joint. The six branches formed by the cylinders and connecting rods are respectively: the waist joint cylinder five 41 and the connecting rod six 45, the waist joint cylinder four 40 and the connecting rod four 43, the waist joint cylinder six 42 and the connecting rod five 44, the waist joint cylinder eleven 54 and the connecting rod ten 56, the waist joint cylinder ten 53 and the connecting rod eleven 57, the waist joint cylinder twelve 55 and the 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 are a group. Both the connecting rod eleven 57 and the connecting rod twelve 58 are rotatably connected to the cylinder connecting piece 59. The cylinder connecting piece 59 is fixedly connected to the lower connecting plate 60 of the waist joint. The waist joint cylinder five 41 and the connecting rod six 45, the waist joint cylinder eleven 54 and the connecting rod ten 56 are a group. The waist joint cylinder four 40 and the connecting rod four 43, the waist joint cylinder six 42 and the connecting rod five 44 are a group.

[0046] 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 cooperate 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 respectively to drive the lower connecting plate 60 of the waist joint to move along the X-axis, Y-axis, and Z-axis and rotate around the X-axis, Y-axis, and Z-axis relative to the middle connecting plate 52 of the waist joint.

[0047] The upper connecting plate 6 of the waist joint and the middle connecting plate 52 of the waist joint are composed of six branches formed by cylinders and connecting rods. The cylinder block of the cylinder is fixedly connected to the middle connecting plate 52 of the waist joint. The two ends of the connecting rod are respectively rotatably connected to the cylinder connecting piece and the piston rod of the cylinder, and the cylinder connecting piece is fixedly connected to the upper connecting plate 6 of the waist joint. The six branches formed by the cylinders and connecting rods are respectively: connecting rod one 34 and waist joint cylinder two 38, connecting rod two 35 and waist joint cylinder one 37, connecting rod three 36 and waist joint cylinder three 39, connecting rod seven 46 and waist joint cylinder eight 50, connecting rod nine 48 and waist joint cylinder nine 51, connecting rod eight 47 and waist joint cylinder seven 49. Connecting rod two 35 and waist joint cylinder one 37, connecting rod three 36 and waist joint cylinder three 39 are in one group; connecting rod one 34 and waist joint cylinder two 38, connecting rod seven 46 and waist joint cylinder eight 50 are in one group; connecting rod nine 48 and waist joint cylinder nine 51, connecting rod eight 47 and waist joint cylinder seven 49 are in one group.

[0048] Waist joint cylinder two 38, waist joint cylinder one 37, waist joint cylinder three 39, waist joint cylinder eight 50, waist joint cylinder nine 51, and waist joint cylinder seven 49 respectively cooperate with connecting rod one 34, connecting rod two 35, connecting rod three 36, connecting rod seven 46, connecting rod nine 48, and connecting rod eight 47 to drive the upper connecting plate 6 of the waist joint to move along the X-axis, Y-axis, and Z-axis and rotate around the X-axis, Y-axis, and Z-axis relative to the middle connecting plate 52 of the waist joint.

[0049] As Figure 1 , 5 , 6, and 7 show that the lower connecting plate 60 of the waist joint is fixedly connected to the lower limb connecting plate 61. One end of the first section 68 of the thigh support rod is rotatably connected to the lower limb connecting plate 61, and the other end is fixedly connected to the first support rod connecting piece 70. One end of the second section 76 of the thigh support rod is fixedly connected to the first support rod connecting piece 70, and the other end is rotatably connected to the second support rod connecting piece 77. One end of the third section 71 of the thigh support rod is fixedly connected to the second support rod connecting piece 77, and the other end is rotatably connected to the knee joint connecting plate 62. One end of the middle calf support rod 65 is fixedly connected to the knee joint connecting plate 62, and the other end is rotatably connected to the foot 67. In the initial stage, the hip pneumatic muscle two 75 and the hip pneumatic muscle one 69 are respectively on the positive and negative axes of the Y-axis, and their two ends are respectively rotatably connected to the lower limb connecting plate 61 and the second support rod connecting piece 77. The knee joint pneumatic muscle two 78 and the knee joint pneumatic muscle one 72 are respectively on the positive and negative axes of the X-axis, and their two ends are respectively rotatably connected to the first support rod connecting piece 70 and the knee joint connecting plate 62.

[0050] The multi-joint pneumatic muscle three 79 is on the positive axis of the Y-axis, and its two ends are respectively rotatably connected to the lower limb connecting plate 61 and the knee joint connecting plate 62. The hip joint pneumatic muscle two 75 is on the inner side, and the multi-joint pneumatic muscle three 79 is on the outer side. The two ends of the multi-joint pneumatic muscle one 73 and the multi-joint pneumatic muscle two 74 are respectively rotatably connected to the lower limb connecting plate 61 and the knee joint connecting plate 62. The upper end of the multi-joint pneumatic muscle one 73 is connected to the second quadrant of the plane formed by the X-axis and the Y-axis in the lower limb connecting plate 61, and the lower end is connected to the 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 multi-joint pneumatic muscle two 74 is connected to the 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 is connected to the fourth quadrant of the plane formed by the X-axis and the Y-axis in the knee joint connecting plate 62.

[0051] The first section of the thigh support rod 68 is rotatably connected to the lower limb connecting plate 61, the second section of the thigh support rod 76 is rotatably connected to the support rod connecting piece two 77, the third section of the thigh support rod 71 is rotatably connected to the knee joint connecting plate 62, and the middle calf support rod 65 is rotatably connected to the foot 67. The rotatable connection is a ball joint. The two ends of the hip joint pneumatic muscle two 75 and the hip joint pneumatic muscle one 69 are respectively rotatably connected to the lower limb connecting plate 61 and the support rod connecting piece two 77. The two ends of the knee joint pneumatic muscle two 78 and the knee joint pneumatic muscle one 72 are respectively rotatably connected to the support rod connecting piece one 70 and the knee joint connecting plate 62. The rotatable connection is a ball joint. The two ends of the multi-joint pneumatic muscle three 79, the multi-joint pneumatic muscle one 73, and the multi-joint pneumatic muscle two 74 are respectively rotatably connected to the lower limb connecting plate 61 and the knee joint connecting plate 62. The rotatable connection is a combination of a steel wire rope and a bolt.

[0052] The hip pneumatic muscle II 75 and the hip pneumatic muscle I 69 drive the first segment 68 of the thigh rod to rotate relative to the lower limb connecting plate 61 around the X-axis in the form of a group of antagonistic muscles, or the hip pneumatic muscle II 75 and the hip pneumatic muscle I 69 cooperate with the multi-joint pneumatic muscle I 73, the multi-joint pneumatic muscle II 74, and the multi-joint pneumatic muscle III 79 to drive the first segment 68 of the thigh rod to rotate relative to the lower limb connecting plate 61 around the X-axis, Y-axis, and Z-axis. The knee pneumatic muscle II 78 and the knee pneumatic muscle I 72 drive the knee joint connecting plate 62 to rotate relative to the third segment 71 of the thigh rod around the Y-axis in the form of a group of antagonistic muscles, or the knee pneumatic muscle II 78 and the knee pneumatic muscle I 72 cooperate with the multi-joint pneumatic muscle I 73, the multi-joint pneumatic muscle II 74, and the multi-joint pneumatic muscle III 79 to drive the knee joint connecting plate 62 to rotate relative to the third segment 71 of the thigh rod around the X-axis, Y-axis, and Z-axis. It is also possible that the hip pneumatic muscle II 75 and the hip pneumatic muscle I 69 keep the air pressure unchanged, and the multi-joint pneumatic muscle I 73, the multi-joint pneumatic muscle II 74, and the multi-joint pneumatic muscle III 79 drive the first segment 68 of the thigh rod to rotate relative to the lower limb connecting plate 61 around the Y-axis and Z-axis; or the knee pneumatic muscle II 78 and the knee pneumatic muscle I 72 keep the air pressure unchanged, and the multi-joint pneumatic muscle I 73, the multi-joint pneumatic muscle II 74, and the multi-joint pneumatic muscle III 79 drive the knee joint connecting plate 62 to rotate relative to the third segment 71 of the thigh rod around the X-axis and Z-axis.

[0053] The calf pneumatic muscle II 64 is in the negative Y-axis direction, and its two ends are respectively rotatably connected to the knee joint connecting plate 62 and the foot 67. The two ends of the calf pneumatic muscle III 66 and the calf pneumatic muscle I 63 are respectively rotatably connected to the knee joint connecting plate 62 and the foot 67. The upper end of the calf pneumatic muscle III 66 is connected to the second quadrant of the plane formed by the X-axis and Y-axis in the knee joint connecting plate 62, and the lower end is connected to the third quadrant of the plane formed by the X-axis and Y-axis in the foot 67. The upper end of the calf pneumatic muscle I 63 is connected to the first quadrant of the plane formed by the X-axis and Y-axis in the knee joint connecting plate 62, and the lower end is connected to the fourth quadrant of the plane formed by the X-axis and Y-axis in the foot 67. The calf pneumatic muscle II 64, the calf pneumatic muscle III 66, and the calf pneumatic muscle I 63 together drive the foot 67 to rotate relative to the middle calf rod 65 around the X-axis, Y-axis, and Z-axis.

[0054] Specifically, the joints of the humanoid robot 80 mainly include the double upper limb joints 2, the waist joint 3, and the double lower limb joints 4. A single pneumatic actuator 81 includes the first upper limb cylinder 11, the second upper limb cylinder 18, the third upper limb cylinder 19, 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 waist joint cylinder 37, the second waist joint cylinder 38, the third waist joint cylinder 39, the fourth waist joint cylinder 40, the fifth waist joint cylinder 41, the sixth waist joint cylinder 42, the seventh waist joint cylinder 49, the eighth waist joint cylinder 50, the ninth waist joint cylinder 51, the tenth waist joint cylinder 53, the eleventh waist joint cylinder 54, the twelfth waist joint cylinder 55, 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.

[0055] The first upper limb cylinder 11, the second upper limb cylinder 18, the third upper limb cylinder 19, the first waist joint cylinder 37, the second waist joint cylinder 38, the third waist joint cylinder 39, the fourth waist joint cylinder 40, the fifth waist joint cylinder 41, the sixth waist joint cylinder 42, the seventh waist joint cylinder 49, the eighth waist joint cylinder 50, the ninth waist joint cylinder 51, the tenth waist joint cylinder 53, the eleventh waist joint cylinder 54, and the twelfth waist joint cylinder 55 all need to use two pneumatic proportional pressure regulating valves 87 to control the displacement.

[0056] 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 all need to use one pneumatic proportional pressure regulating valve 87 to control the displacement.

[0057] Specifically, the pneumatic muscles of the shoulder joint 1 - 24, the pneumatic muscles of the shoulder joint 2 - 25, the pneumatic muscles of the shoulder joint 3 - 26, the pneumatic muscles of the shoulder joint 4 - 27, the pneumatic muscles of the shoulder and elbow joint 1 - 28, the pneumatic muscles of the shoulder and elbow joint 2 - 29, the pneumatic muscles of the wrist joint 1 - 30, the pneumatic muscles of the wrist joint 2 - 31, the pneumatic muscles of the wrist joint 3 - 32, the pneumatic muscles of the wrist joint 4 - 33, the pneumatic muscles of the calf 1 - 63, the pneumatic muscles of the calf 2 - 64, the pneumatic muscles of the calf 3 - 66, the pneumatic muscles of the hip joint 1 - 69, the pneumatic muscles of the knee joint 1 - 72, the multi-joint pneumatic muscles 1 - 73, the multi-joint pneumatic muscles 2 - 74, the pneumatic muscles of the hip joint 2 - 75, the pneumatic muscles of the knee joint 2 - 78, and the multi-joint pneumatic muscles 3 - 79 preferably select the FESTO DMSP series. The upper limb cylinder 1 - 11, the upper limb cylinder 2 - 18, the upper limb cylinder 3 - 19, the pneumatic muscles of the shoulder joint 1 - 24, the pneumatic muscles of the shoulder joint 2 - 25, the pneumatic muscles of the shoulder joint 3 - 26, the pneumatic muscles of the shoulder joint 4 - 27, the pneumatic muscles of the shoulder and elbow joint 1 - 28, the pneumatic muscles of the shoulder and elbow joint 2 - 29, the pneumatic muscles of the wrist joint 1 - 30, the pneumatic muscles of the wrist joint 2 - 31, the pneumatic muscles of the wrist joint 3 - 32, the pneumatic muscles of the wrist joint 4 - 33, the lumbar joint cylinder 1 - 37, the lumbar joint cylinder 2 - 38, the lumbar joint cylinder 3 - 39, the lumbar joint cylinder 4 - 40, the lumbar joint cylinder 5 - 41, the lumbar joint cylinder 6 - 42, the lumbar joint cylinder 7 - 49, the lumbar joint cylinder 8 - 50, the lumbar joint cylinder 9 - 51, the lumbar joint cylinder 10 - 53, the lumbar joint cylinder 11 - 54, the lumbar joint cylinder 12 - 55, the pneumatic muscles of the calf 1 - 63, the pneumatic muscles of the calf 2 - 64, the pneumatic muscles of the calf 3 - 66, the pneumatic muscles of the hip joint 1 - 69, the pneumatic muscles of the knee joint 1 - 72, the multi-joint pneumatic muscles 1 - 73, the multi-joint pneumatic muscles 2 - 74, the pneumatic muscles of the hip joint 2 - 75, the pneumatic muscles of the knee joint 2 - 78, and the multi-joint pneumatic muscles 3 - 79. The upper limb cylinder 1 - 11, the upper limb cylinder 2 - 18, the upper limb cylinder 3 - 19, the lumbar joint cylinder 1 - 37, the lumbar joint cylinder 2 - 38, the lumbar joint cylinder 3 - 39, the lumbar joint cylinder 4 - 40, the lumbar joint cylinder 5 - 41, the lumbar joint cylinder 6 - 42, the lumbar joint cylinder 7 - 49, the lumbar joint cylinder 8 - 50, the lumbar joint cylinder 9 - 51, the lumbar joint cylinder 10 - 53, the lumbar joint cylinder 11 - 54, the lumbar joint cylinder 12 - 55 preferably select the SMC CG1BN series.

[0058] Specifically, to maintain stiffness and lightness, the materials of the head connecting member 7, shoulder joint connecting member 9, first segment of the humerus 10, shoulder joint pneumatic muscle connecting plate 12, second segment of the humerus 13, first segment of the radius 14, radius pneumatic muscle connecting plate 15, first segment of the ulna 16, ulna pneumatic muscle connecting plate 17, second segment of the radius 20, second segment of the ulna 21, wrist joint connecting plate 22, link one 34, link two 35, link three 36, link four 43, link five 44, link six 45, link seven 46, link eight 47, link nine 48, middle connecting plate of the waist joint 52, link ten 56, link eleven 57, link twelve 58, cylinder connecting member 59, lower connecting plate of the waist joint 60, lower limb connecting plate 61, knee joint connecting plate 62, middle support rod of the lower leg 65, foot 67, first segment of the thigh support rod 68, support rod connecting member one 70, third segment of the thigh support rod 71, second segment of the thigh support rod 76, support rod connecting member two 77 are aluminum alloy.

[0059] As Figure 8 shown, the control system includes a pneumatic 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. The input ends of the pneumatic pressure sensor 82 and the displacement sensor 83 are both connected to a single pneumatic actuator 81, and the output ends are both connected to the input end of the voltage input module 84. The output end of the voltage input module 84 is connected to the input end of the computer 85. The output end of the computer 85 is connected to the input end of the voltage output module 86. The output end of the voltage output module 86 is connected to the input end of the pneumatic proportional pressure regulating valve 87. The output end of the pneumatic proportional pressure regulating valve 87 is connected to a single pneumatic actuator 81.

[0060] The humanoid robot joints 80 of the humanoid robot based on pneumatic actuators can be divided into left upper limb joints 2-1, right upper limb joints 2-2, waist joints 3, left lower limb joints 4-1, and right lower limb joints 4-2. The left upper limb joints 2-1, right upper limb joints 2-2, waist joints 3, left lower limb joints 4-1, and right lower limb joints 4-2 can be further decomposed into single pneumatic actuators 81 through kinematic calculations. The states of the single pneumatic actuators 81 are monitored in real time by the pneumatic pressure sensor 82 and the displacement sensor 83 and transmitted to the computer 85 through the NI9205 voltage input module 84. The computer 85 compares the set expected target with the voltage detected by the NI9205 voltage input module 84 and controls the pneumatic proportional pressure regulating valve 87 through the NI9264 voltage output module 86 to achieve the control of the single pneumatic actuator 81. The NI9205 voltage input module 84 can only collect 32 analog signals, and the NI9264 voltage output module 86 can only output 16 analog signals. Therefore, in the actual control process, multiple NI9205 voltage input modules 84 and NI9264 voltage output modules 86 need to be used in combination.

[0061] The present invention controls the cylinders and pneumatic muscles of each joint to achieve the control of the posture of the humanoid robot, can dynamically and vividly simulate the movements of human joints, and can achieve precise trajectory control. The present invention has advantages that cannot be compared with other humanoid robots.

[0062] The above-described embodiments are only one of the more preferred specific embodiments of the present invention. Those skilled in the art should include the usual changes and substitutions within the scope of the technical solution of the present invention in the protection scope of the present invention.

Claims

1. A humanoid robot based on a pneumatic actuator, characterized in that: It includes a head joint (1), double upper limb joints (2), a waist joint (3), double lower limb joints (4), and a control system. The double upper limb joints (2) include a left upper limb joint (2-1) and a right upper limb joint (2-2) with exactly the same structure. The double lower limb joints (4) include a left lower limb joint (4-1) and a right lower limb joint (4-2) with exactly the same 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 and right sides 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 and right sides of the lower end of the waist joint (3). A single pneumatic actuator (81) is provided in each of the double upper limb joints (2), the waist joint (3), and the double lower limb joints (4). The single pneumatic actuator (81) includes all the pneumatic muscles and cylinders in the double upper limb joints (2), the waist joint (3), and the double lower limb joints (4). The head joint (1) and the single pneumatic actuator (81) are both connected to the control system; In the double upper limb joints (2): The shoulder joint connecting piece (9) is connected to the waist joint (3), and the shoulder joint connecting piece (9) is fixedly connected to the upper end connecting plate (6) of the waist joint. The first section of the humerus (10) is rotatably connected to the shoulder joint connecting piece (9). The cylinder body of the first upper limb cylinder (11) is connected to the first section of the humerus (10). The piston rod of the first upper limb cylinder (11) is simultaneously connected to the shoulder joint pneumatic muscle connecting plate (12) and the second section of the humerus (13), and the piston rod simultaneously fixes the shoulder joint pneumatic muscle connecting plate (12) and the second section of the humerus (13). One end of the first section of the radius (14) is rotatably connected to the second section of the humerus (13), and the other end is simultaneously fixedly connected to the radius pneumatic muscle connecting plate (15) and the cylinder body of the second upper limb cylinder (18); One end of the second section of the radius (20) is rotatably connected to the wrist joint connecting plate (22), and the other end is fixedly connected to the piston rod of the second upper limb cylinder (18). One end of the first section of the ulna (16) is rotatably connected to the second section of the humerus (13), and the other end is simultaneously fixedly connected to the ulna pneumatic muscle connecting plate (17) and the cylinder body of the third upper limb cylinder (19); One end of the second section of the ulna (21) is rotatably connected to the wrist joint connecting plate (22), and the other end is fixedly connected to the piston rod of the third upper limb cylinder (19); The first section of the radius (14) is rotatably connected to the second section of the humerus (13), the second section of the radius (20) is rotatably connected to the wrist joint connecting plate (22), the first section of the ulna (16) is rotatably connected to the second section of the humerus (13), and the second section of the ulna (21) is rotatably connected to the wrist joint connecting plate (22), The two ends of the shoulder joint pneumatic muscle one (24), the shoulder joint pneumatic muscle two (25), the shoulder joint pneumatic muscle three (26), and the shoulder joint pneumatic muscle four (27) are respectively rotatably connected to 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 Z-axis is 45°. The two ends of the shoulder-elbow joint pneumatic muscle one (28) are respectively rotatably connected to the shoulder joint connecting piece (9) and the radius pneumatic muscle connecting plate (15). The two ends of the shoulder-elbow joint pneumatic muscle two (29) are respectively rotatably connected to the shoulder joint connecting piece (9) and the ulna pneumatic muscle connecting plate (17), and the initial position is in the Z-axis direction. The two ends of the wrist joint pneumatic muscle one (30) and the wrist joint pneumatic muscle two (31) are respectively rotatably connected to the radius pneumatic muscle connecting plate (15) and the wrist joint connecting plate (22). The two ends of the wrist joint pneumatic muscle three (32) and the wrist joint pneumatic muscle four (33) are respectively rotatably connected to the ulna pneumatic muscle connecting plate (17) and the wrist joint connecting plate (22). And in the initial position, the wrist joint pneumatic muscle one (30), the wrist joint pneumatic muscle two (31), the wrist joint pneumatic muscle three (32), the wrist joint pneumatic muscle four (33) and the shoulder joint pneumatic muscle one (24), the shoulder joint pneumatic muscle two (25), the shoulder joint pneumatic muscle three (26), the shoulder joint pneumatic muscle four (27) have the same orientation with respect to the Y-axis and the Z-axis. The above-mentioned rotatable connections are all realized by steel wires and bolts; The gripper (23) is fixedly connected to the wrist joint connecting plate (22).

2. The humanoid robot based on a pneumatic actuator according to claim 1, characterized in that The head joint (1) includes a pneumatic motor (5), an intermediate connecting piece (7), and a camera (8). The lower end of the camera (8) is connected to the pneumatic motor (5) through the intermediate connecting piece. The lower end of the pneumatic motor (5) is connected to the waist joint (3). The camera (8) and the pneumatic motor (5) are both connected to the control system.

3. The anthropomorphic robot based on a pneumatic actuator according to claim 1, characterized in that, In the waist joint (3): The upper waist joint connecting plate (6) and the middle waist joint connecting plate (52) are composed of 6 branches composed of cylinders and connecting rods. The cylinder block of the cylinder is fixedly connected to the middle waist joint connecting plate (52). The two ends of the connecting rod are respectively rotatably connected to the cylinder connecting piece and the piston rod of the cylinder. The cylinder connecting piece is fixedly connected to the upper waist joint connecting plate (6). The 6 branches composed of cylinders and connecting rods are respectively: connecting rod one (34) and waist joint cylinder two (38), connecting rod two (35) and waist joint cylinder one (37), connecting rod three (36) and waist joint cylinder three (39), connecting rod seven (46) and waist joint cylinder eight (50), connecting rod nine (48) and waist joint cylinder nine (51), connecting rod eight (47) and waist joint cylinder seven (49). Connecting rod two (35) and waist joint cylinder one (37), connecting rod three (36) and waist joint cylinder three (39) are in one group. Connecting rod one (34) and waist joint cylinder two (38), connecting rod seven (46) and waist joint cylinder eight (50) are in one group. Connecting rod nine (48) and waist joint cylinder nine (51), connecting rod eight (47) and waist joint cylinder seven (49) are in one group; The middle connecting plate (52) of the waist joint and the lower connecting plate (60) of the waist joint are also composed of six branches each consisting of a cylinder and a connecting rod. The cylinder block of the cylinder is fixedly connected to the middle connecting plate (52) of the waist joint. The two ends of the connecting rod are respectively rotatably connected to the cylinder connecting piece and the piston rod of the cylinder. The cylinder connecting piece is fixedly connected to the lower connecting plate (60) of the waist joint. The six branches each consisting of a cylinder and a connecting rod are respectively: waist joint cylinder five (41) and connecting rod six (45), waist joint cylinder four (40) and connecting rod four (43), waist joint cylinder six (42) and connecting rod five (44), waist joint cylinder eleven (54) and connecting rod ten (56), waist joint cylinder ten (53) and connecting rod eleven (57), waist joint cylinder twelve (55) and connecting rod twelve (58). Waist joint cylinder ten (53) and connecting rod eleven (57), waist joint cylinder twelve (55) and connecting rod twelve (58) form a group. Both connecting rod eleven (57) and connecting rod twelve (58) are rotatably connected to the cylinder connecting piece (59). The cylinder connecting piece (59) is fixedly connected to the lower connecting plate (60) of the waist joint. Waist joint cylinder five (41) and connecting rod six (45), waist joint cylinder eleven (54) and connecting rod ten (56) form a group. Waist joint cylinder four (40) and connecting rod four (43), waist joint cylinder six (42) and connecting rod five (44) form a group.

4. The humanoid robot based on a pneumatic actuator according to claim 1, wherein In the double lower limb joints (4): The lower limb connecting plate (61) is fixedly connected to the lower end of the waist joint (3). One end of the first section of the thigh support rod (68) is rotatably connected to the lower limb connecting plate (61), and the other end is fixedly connected to the first support rod connecting piece (70). One end of the second section of the thigh support rod (76) is fixedly connected to the first support rod connecting piece (70), and the other end is rotatably connected to the second support rod connecting piece (77). One end of the third section of the thigh support rod (71) is fixedly connected to the second support rod connecting piece (77), and the other end is rotatably connected to the knee joint connecting plate (62). One end of the middle calf support rod (65) is fixedly connected to the knee joint connecting plate (62), and the other end is rotatably connected to the foot (67). In the initial stage, the hip pneumatic muscle two (75) and the hip pneumatic muscle one (69) are respectively on the positive and negative axes of the Y-axis, and their two ends are respectively rotatably connected to the lower limb connecting plate (61) and the second support rod connecting piece (77). The knee joint pneumatic muscle two (78) and the knee joint pneumatic muscle one (72) are respectively on the positive and negative axes of the X-axis, and their two ends are respectively rotatably connected to the first support rod connecting piece (70) and the knee joint connecting plate (62). The multi-joint pneumatic muscle three (79) is on the positive axis of the Y-axis, and its two ends are respectively rotatably connected to the lower limb connecting plate (61) and the knee joint connecting plate (62). The hip pneumatic muscle two (75) is on the inner side, and the multi-joint pneumatic muscle three (79) is on the outer side. The two ends of the multi-joint pneumatic muscle one (73) and the multi-joint pneumatic muscle two (74) are respectively rotatably connected to the lower limb connecting plate (61) and the knee joint connecting plate (62). The upper end of the multi-joint pneumatic muscle one (73) is connected to the second quadrant of the plane formed by the X-axis and the Y-axis in the lower limb connecting plate (61), and the lower end is connected to the 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 multi-joint pneumatic muscle two (74) is connected to the 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 is connected to the fourth quadrant of the plane formed by the X-axis and the Y-axis in the knee joint connecting plate (62). The first section of the thigh support rod (68) is rotatably connected to the lower limb connecting plate (61). The second section of the thigh support rod (76) is rotatably connected to the second support rod connector (77). The third section of the thigh support rod (71) is rotatably connected to the knee joint connecting plate (62). The middle calf support rod (65) is rotatably connected to the foot (67). The two ends of the hip pneumatic muscle two (75) and the hip pneumatic muscle one (69) are respectively rotatably connected to the lower limb connecting plate (61) and the second support rod connector (77). The two ends of the knee joint pneumatic muscle two (78) and the knee joint pneumatic muscle one (72) are respectively rotatably connected to the first support rod connector (70) and the knee joint connecting plate (62). The two ends of the multi-joint pneumatic muscle three (79), the multi-joint pneumatic muscle one (73), and the multi-joint pneumatic muscle two (74) are respectively rotatably connected to the lower limb connecting plate (61) and the knee joint connecting plate (62). The calf pneumatic muscle two (64) is in the negative direction of the Y-axis, and its two ends are respectively rotatably connected to the knee joint connecting plate (62) and the foot (67). The two ends of the calf pneumatic muscle three (66) and the calf pneumatic muscle one (63) are respectively rotatably connected to the knee joint connecting plate (62) and the foot (67). The upper end of the calf pneumatic muscle three (66) is connected to 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 to the third quadrant of the plane formed by the X-axis and the Y-axis in the foot (67). The upper end of the calf pneumatic muscle one (63) is connected to the first 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 to the fourth quadrant of the plane formed by the X-axis and the Y-axis in the foot (67). The calf pneumatic muscle two (64), the calf pneumatic muscle three (66), and the calf pneumatic muscle one (63) together drive the foot (67) to rotate relative to the middle calf support rod (65) around the X-axis, Y-axis, and Z-axis.

5. The humanoid robot based on a pneumatic actuator according to claim 1, characterized in that, The described control system includes a pneumatic 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). The input ends of the pneumatic pressure sensor (82) and the displacement sensor (83) are both connected to a single pneumatic actuator (81), and the output ends are both connected to the input end of the voltage input module (84). The output end of the voltage input module (84) is connected to the input end of the computer (85). The output end of the computer (85) is connected to the input end of the voltage output module (86). The output end of the voltage output module (86) is connected to the input end of the pneumatic proportional pressure regulating valve (87). The output end of the pneumatic proportional pressure regulating valve (87) is connected to the single pneumatic actuator (81).

6. The humanoid robot based on a pneumatic actuator according to claim 5, characterized in that, The described voltage input module (84) uses a NI9205 voltage input module, and the voltage output module (86) uses a NI9264 voltage output module.

7. A humanoid robot based on a pneumatic actuator according to claim 5, characterized in that, Each pneumatic muscle in the double upper limb joints (2), the lumbar joint (3), and the double lower limb joints (4) is connected to a pneumatic proportional pressure regulating valve (87), and each cylinder is connected to two pneumatic proportional pressure regulating valves (87).

8. The anthropomorphic robot based on a pneumatic actuator according to claim 5, wherein, The described pneumatic proportional pressure regulating valve (87) selects the FESTO MPPE-3-1 / 8-10-010 model.

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