A rigid-flexible pneumatic component hybrid-driven robot joint system

Abstract

The present invention discloses a rigid-flexible pneumatic component hybrid-driven robot joint system, belonging to the technical field of robots. The robot has the function of whole-body joint movement: three cylinders are connected in parallel to drive the movement of the waist joint. Multiple cylinders of the waist joint and the pneumatic muscles of the pelvis together drive the movement of the hip joint; the pneumatic motor and the pneumatic muscles in the form of antagonist muscles together drive the movement of the knee joint; four pneumatic muscles are connected in parallel to drive the movement of the ankle joint, and another two pneumatic muscles are connected to the lower end of the foot through the rear connecting shaft guide and drive the ankle joint together with the four pneumatic muscles of the ankle joint. A group of antagonist muscles in the wrist joint-elbow joint and the shoulder joint-elbow joint respectively drive the rotation of the elbow joint, and the pneumatic muscles in the form of two groups of antagonist muscles in the wrist joint-elbow joint and the wrist joint drive the movement of the wrist joint, and the pneumatic gripper has the function of clamping items. The present invention drives the joints by combining pneumatic components with mechanism, and has the characteristics of compact structure, strong adaptability and flexible working mode.

Description

Technical Field

[0001] The present invention belongs to the technical field of robotics and relates to a robot joint system with a hybrid drive of rigid and flexible pneumatic components. Background Art

[0002] Bionic robots have a human-like appearance, which is easy to attract the attention of visitors and has strong attraction at various exhibitions, causing different reactions for the promotion of brands and the publicity of popularity, and will surely make people remember certain brands. Therefore, major brand manufacturers have been researching humanoid robots. For example, the humanoid robot launched by Toyota in Japan has had a very positive effect on the sales of Toyota cars.

[0003] Chinese Patent CN112171646A proposes a flexible spine mechanism of pneumatic muscles, which only mimics and realizes some functions from a functional perspective and does not meet the actual needs. However, the human spine has evolved over tens of millions of years and can adapt to the needs of human joint movements in various environmental situations, such as walking upright, climbing, crawling, etc. Especially when a robot moves on a complex road condition, the spine needs to adjust the human body's posture and center of gravity in real time to ensure the stable movement of the robot. The human ankle joint is similar to the spine and also needs to actively adjust the coordinated movement of different human muscles according to the actual working environment. Chinese Patent CN115157313A designs a structure of parallel pneumatic muscles and even a series structure after parallel connection to solve such problems, but its adaptability range is small and its adjustment ability to the environment is poor.

[0004] In addition, the human elbow joint has a complex structure, is connected to the upper arm and the forearm at the same time, and is affected by the muscles of the upper arm and the forearm at the same time. Pneumatic muscles often exist in the form of antagonist muscles. Chinese Patents CN112171646A and CN113561167A both adopt this driving method, but their stiffness and movement range are limited by the contraction amount of pneumatic muscles, and the robustness of the output force is poor. Summary of the Invention

[0005] The purpose of the present invention is to provide a robot joint system with a hybrid drive of rigid and flexible pneumatic components in view of the above existing technical defects. The present invention has the advantages of compact structure, strong adaptability, flexible working mode, etc.

[0006] To achieve the above object, the technical solution adopted by the present invention is as follows: A rigid-flexible pneumatic component hybrid-driven robot joint system, which includes a robot body and a control system. The robot body includes arm joints, a waist joint 2, leg joints, and foot joints. The arm joints include a left arm joint 1-1 and a right arm joint 1-2 with exactly the same structure. The leg joints include a left leg joint 3-1 and a right leg joint 3-2 with exactly the same structure. The foot joints include a left foot and a right foot with exactly the same structure. The left arm joint 1-1 and the right arm joint 1-2 are respectively fixedly connected to the left and right sides of the top of the waist joint 2. The left leg joint 3-1 and the right leg joint 3-2 are respectively fixedly connected to the left and right sides of the lower end of the waist joint 2. The left leg joint 3-1 and the right leg joint 3-2 are respectively rotatably connected to the left foot and the right foot at the lower end. Pneumatic components 69 are installed in the arm joints, the waist joint 2, the leg joints, and the foot joints, and the pneumatic components 69 are connected to the control system.

[0007] Specifically, the control system includes a computer 73, a data acquisition system 72, a pressure sensor 70, and a displacement sensor 71. One end of the pressure sensor 70 and the displacement sensor 71 is connected to the pneumatic component 69, and the other end is connected to the data acquisition system 72. The data acquisition system 72 communicates bidirectionally with the computer 73, and the pneumatic component 69 is connected to the data acquisition system 72.

[0008] Specifically, in the waist joint 2: The two ends of the first waist joint cylinder 5, the second waist joint cylinder 7, and the third waist joint cylinder 8 are respectively rotatably connected to the upper waist joint connecting plate 6 and the middle waist joint connecting plate 10. The upper waist joint support rod 4 is fixedly connected to the upper waist joint connecting plate 6. The lower waist joint support rod 9 is fixedly connected to the middle waist joint connecting plate 10. The upper waist joint support rod 4 and the lower waist joint support rod 9 are rotatably connected.

[0009] The middle waist joint connecting plate 10, the first vertebra 11, the second vertebra 12, and the pelvis 13 are connected in sequence, and the connections between them are all rotatably connected.

[0010] The two ends of the first hip joint cylinder 14 and the second hip joint cylinder 15 are respectively rotatably connected to the middle waist joint connecting plate 10 and the left hip joint connecting member 20-1. The two ends of the first hip joint pneumatic muscle 16 are respectively rotatably connected to the pelvis 13 and the left hip joint connecting member 20-1. And the first hip joint cylinder 14 and the second hip joint cylinder 15 are on the outside, and the first hip joint pneumatic muscle 16 is on the inside.

[0011] The two ends of the third hip joint cylinder 17 and the fourth hip joint cylinder 18 are respectively rotatably connected to the middle waist joint connecting plate 10 and the right hip joint connecting member 20-2. The two ends of the second hip joint pneumatic muscle 19 are respectively rotatably connected to the pelvis 13 and the right hip joint connecting member 20-2. And the third hip joint cylinder 17 and the fourth hip joint cylinder 18 are on the outside, and the second hip joint pneumatic muscle 19 is on the inside.

[0012] The left hip joint connecting member 20-1 and the right hip joint connecting member 20-2 are respectively fixedly connected to the left leg joint 3-1 and the right leg joint 3-2.

[0013] Specifically, in the left leg joint 3-1 and the left foot, the thigh connecting plate 26 is fixedly connected to the left side of the waist joint 2. The first rotating wheel 23 is rotatably connected to the thigh connecting plate 26 and fixedly connected to the knee joint connecting plate 24. One end of each of the first knee pneumatic muscle 21 and the second knee pneumatic muscle 22 is fixedly connected to the thigh connecting plate 26, and the other end drives the relative rotation between the first rotating wheel 23 and the thigh connecting plate 26 in the form of a group of antagonistic muscles through a rope. The housing of the pneumatic motor 25 is fixedly connected to the knee joint connecting plate 24, and the rotating shaft of the pneumatic motor 25 is fixedly connected to the second rotating wheel 27. The first rotating wheel 23 and the second rotating wheel 27 are driven by a rope;

[0014] The calf connecting plate 28 is fixedly connected to the knee joint connecting plate 24 and rotatably connected to the first side connecting plate 34 and the second side connecting plate 39. The pneumatic muscle connecting plate 45 is fixedly connected to the calf connecting plate 28;

[0015] Both ends of the first intermediate connecting plate 35 and the second intermediate connecting plate 40 are respectively fixedly connected to the first side connecting plate 34 and the second side connecting plate 39. One end of the first rear connecting shaft 36 is fixedly connected to the guide wheel 37, and the other end is rotatably connected to the first side connecting plate 34. One end of the second rear connecting shaft 38 is fixedly connected to the guide wheel 37, and the other end is rotatably connected to the second side connecting plate 39. Both ends of the guide shaft 42 and the third intermediate connecting plate 43 are respectively fixedly connected to the third side connecting plate 41 and the fourth side connecting plate 44. The guide shaft 42 is rotatably connected to the first side connecting plate 34 and the second side connecting plate 39;

[0016] One end of each of the first calf pneumatic muscle 29, the second calf pneumatic muscle 30, the third calf pneumatic muscle 31, and the fourth calf pneumatic muscle 32 is fixedly connected to the knee joint connecting plate 24, and the other end is rotatably connected to the first intermediate connecting plate 35 in the foot 33;

[0017] One end of the first foot pneumatic muscle 46 is fixedly connected to the pneumatic muscle connecting plate 45, and the other end uses a rope, which is guided by the second rear connecting shaft 38 and rotatably connected to the third intermediate connecting plate 43 in the foot 33 on the lower bottom surface. Both ends of the second foot pneumatic muscle 47 and the third foot pneumatic muscle 48 are fixedly connected to the pneumatic muscle connecting plate 45 and the first connecting member 49. The rope is rotatably connected to the first connecting member 49, guided by the guide wheel 37, and rotatably connected to the second intermediate connecting plate 40 in the foot 33 on the lower bottom surface. One end of the fourth foot pneumatic muscle 50 is fixedly connected to the pneumatic muscle connecting plate 45, and the other end uses a rope, which is guided by the first rear connecting shaft 36 and rotatably connected to the third intermediate connecting plate 43 in the foot 33 on the lower bottom surface.

[0018] Specifically, in the left arm joint 1-1, the shoulder connecting piece 59 is fixedly connected to the left side of the top of the waist joint 2, the upper arm connecting plate 51 is fixedly connected to the shoulder connecting piece 59, and the fifth rotating wheel 60 is rotatably connected to the upper arm connecting plate 51. The second rotating shaft 63 is fixedly connected to the sixth rotating wheel 64, the third rotating wheel 52, and the forearm connecting plate 53, and is rotatably connected to the upper arm connecting plate 51. The seventh rotating wheel 67 and the fourth rotating wheel 56 are rotatably connected to the forearm connecting plate 53, the wrist joint connecting plate 57 is connected to the forearm connecting plate 53, and the air gripper 58 is fixedly connected to the wrist joint connecting plate 57. The first elbow pneumatic muscle 61 and the second elbow pneumatic muscle 62 are a group of antagonist muscles, the first multi-joint pneumatic muscle 65 and the second multi-joint pneumatic muscle 66 are a group of antagonist muscles, and the first wrist joint pneumatic muscle 54 and the second wrist joint pneumatic muscle 55 are a group of antagonist muscles.

[0019] Preferably, the upper support rod 4 of the waist joint is rotatably connected to the lower support rod 9 of the waist joint through a universal joint. The two ends of the first waist joint cylinder 5, the second waist joint cylinder 7, and the third waist joint cylinder 8 are respectively rotatably connected to the upper connecting plate 6 of the waist joint and the middle connecting plate 10 of the waist joint through a universal joint. The two ends of the first hip joint cylinder 14 and the second hip joint cylinder 15 are respectively rotatably connected to the middle connecting plate 10 of the waist joint and the left hip joint connecting piece 20-1 through a universal joint. The two ends of the third hip joint cylinder 17 and the fourth hip joint cylinder 18 are respectively rotatably connected to the middle connecting plate 10 of the waist joint and the right hip joint connecting piece 20-2 through a universal joint.

[0020] The middle connecting plate 10 of the waist joint, the first vertebra 11, the second vertebra 12, and the pelvis 13 are rotatably connected through a ball joint. The two ends of the first hip joint pneumatic muscle 16 are respectively rotatably connected to the pelvis 13 and the left hip joint connecting piece 20-1 through a ball joint. The two ends of the second hip joint pneumatic muscle 19 are respectively rotatably connected to the pelvis 13 and the right hip joint connecting piece 20-2 through a ball joint.

[0021] Preferably, the knee joint connecting plate 24 is rotatably connected to the thigh connecting plate 26 through a bearing. The first rear connecting shaft 36 is rotatably connected to the first side connecting plate 34 through a bearing. The second rear connecting shaft 38 is rotatably connected to the second side connecting plate 39 through a bearing. The guide shaft 42 is rotatably connected to the first side connecting plate 34 and the second side connecting plate 39 through a bearing.

[0022] Preferably, the fifth rotating wheel 60 is rotatably connected to the upper arm connecting plate 51 through a bearing. The second rotating shaft 63 is rotatably connected to the upper arm connecting plate 51 through a bearing. The fourth rotating wheel 56 and the seventh rotating wheel 67 are rotatably connected to the forearm connecting plate 53 through a bearing.

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

[0024] 1. The present invention utilizes multiple cylinders and pneumatic muscles in a series-parallel connection to drive the hip joint movement, ensuring that the hip joint and the spine can better adapt to the various motion requirements of the robot.

[0025] 2. The present invention uses four pneumatic muscles in parallel, together with the pneumatic muscles starting from the two calves and ending at the soles of the feet, to drive the ankle joint, enabling the ankle joint to better adapt to the needs of complex terrains during walking.

[0026] 3. The present invention uses multiple groups of antagonistic pneumatic muscles to drive the joints, making the joints have higher load-bearing capacity and stronger robustness.

[0027] 4. The waist joint, hip joint, knee joint, ankle joint, elbow joint, wrist joint, and pneumatic gripper of the present invention have 2, 4, 1, 2, 1, 1, and 2 degrees of freedom respectively, which helps the functions of various pneumatic components in the robot joint movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is the overall mechanical structure diagram of the rigid-flexible pneumatic component hybrid-driven robot joint system;

[0029] Figure 2 is the mechanical structure diagram of the waist joint of the rigid-flexible pneumatic component hybrid-driven robot joint system;

[0030] Figure 3 is the mechanical structure diagram of a single leg of the rigid-flexible pneumatic component hybrid-driven robot joint system;

[0031] Figure 4 is the mechanical structure diagram of the thigh of the rigid-flexible pneumatic component hybrid-driven robot joint system;

[0032] Figure 5 is the mechanical structure diagram of the calf of the rigid-flexible pneumatic component hybrid-driven robot joint system;

[0033] Figure 6 is the mechanical structure diagram of the foot of the rigid-flexible pneumatic component hybrid-driven robot joint system;

[0034] Figure 7 is the mechanical structure diagram of the foot drive system of the rigid-flexible pneumatic component hybrid-driven robot joint system;

[0035] Figure 8 is the mechanical structure diagram of a single arm of the rigid-flexible pneumatic component hybrid-driven robot joint system;

[0036] Figure 9 is the control block diagram of the rigid-flexible pneumatic component hybrid-driven robot joint system.

[0037] In the figure: left arm joint 1-1, right arm joint 1-2, waist joint 2, left leg joint 3-1, right leg joint 3-2, upper support rod of waist joint 4, first waist joint cylinder 5, upper connecting plate of waist joint 6, second waist joint cylinder 7, third waist joint cylinder 8, lower support rod of waist joint 9, middle connecting plate of waist joint 10, first vertebra 11, second vertebra 12, pelvis 13, first hip joint cylinder 14, second hip joint cylinder 15, first hip joint pneumatic muscle 16, third hip joint cylinder 17, fourth hip joint cylinder 18, second hip joint pneumatic muscle 19, left hip joint connecting part 20-1, right hip joint connecting part 20-2, first knee joint pneumatic muscle 21, second knee joint pneumatic muscle 22, first rotating wheel 23, knee joint connecting plate 24, pneumatic motor 25, thigh connecting plate 26, second rotating wheel 27, calf connecting plate 28, first calf pneumatic muscle 29, second calf pneumatic muscle 30, third calf pneumatic muscle 31, fourth calf pneumatic muscle 32, foot 33, first side connecting plate 34, first middle connecting plate 35, first rear connecting shaft 36, guide wheel 37, second rear connecting shaft 38, second side connecting plate 39, second middle connecting plate 40, third side connecting plate 41, guide shaft 42, third middle connecting plate 43, fourth side connecting plate 44, pneumatic muscle connecting plate 45, first foot pneumatic muscle 46, second foot pneumatic muscle 47, third foot pneumatic muscle 48, first connecting part 49, fourth foot pneumatic muscle 50, upper arm connecting plate 51, third rotating wheel 52, forearm connecting plate 53, first wrist joint pneumatic muscle 54, second wrist joint pneumatic muscle 55, fourth rotating wheel 56, wrist joint connecting plate 57, air gripper 58, shoulder connecting part 59, fifth rotating wheel 60, first elbow joint pneumatic muscle 61, second elbow joint pneumatic muscle 62, second rotating shaft 63, sixth rotating wheel 64, first multi-joint pneumatic muscle 65, second multi-joint pneumatic muscle 66, seventh rotating wheel 67, robot joint 68, pneumatic component 69, air pressure sensor 70, displacement sensor 71, data acquisition system 72, computer 73. Detailed implementation mode

[0038] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0039] Embodiment 1: As Figures 1-9As shown in the figure, a robot joint system with a hybrid drive of rigid and flexible pneumatic components includes a robot body and a control system. The robot body includes arm joints, a waist joint 2, leg joints, and foot joints. The arm joints include a left arm joint 1-1 and a right arm joint 1-2 with exactly the same structure. The leg joints include a left leg joint 3-1 and a right leg joint 3-2 with exactly the same structure. The foot joints include a left foot and a right foot with exactly the same structure. The left arm joint 1-1 and the right arm joint 1-2 are respectively fixedly connected to the left and right sides of the top of the waist joint 2. The left leg joint 3-1 and the right leg joint 3-2 are respectively fixedly connected to the left and right sides of the lower end of the waist joint 2. The left leg joint 3-1 and the right leg joint 3-2 are respectively rotatably connected to the left foot and the right foot at the lower end. Pneumatic components 69 are installed in the arm joints, the waist joint 2, the leg joints, and the foot joints, and the pneumatic components 69 are connected to the control system.

[0040] As Figure 9 shown, the control system includes a computer 73, a data acquisition system 72, a pressure sensor 70, and a displacement sensor 71. One end of the pressure sensor 70 and the displacement sensor 71 is connected to the pneumatic component 69, and the other end is connected to the data acquisition system 72. The data acquisition system 72 communicates bidirectionally with the computer 73, and the pneumatic component 69 is connected to the data acquisition system 72. The waist joint, hip joint, knee joint, ankle joint, elbow joint, wrist joint, and pneumatic claw together form the robot joint 68, and the movement of the robot joint 68 is controlled by the pneumatic component 69 inside each of them.

[0041] Since the left arm joint 1-1 and the right arm joint 1-2 have exactly the same structure, the left leg joint 3-1 and the right leg joint 3-2 have exactly the same mechanism, and the left foot and the right foot are exactly the same, only the specific connection structures of the left arm joint 1-1, the left leg joint 3-1, and the left foot are described below. The structures and working principles of the right side are exactly the same as those of the left side and will not be described in detail.

[0042] As Figure 2 shown, both ends of the first waist joint cylinder 5, the second waist joint cylinder 7, and the third waist joint cylinder 8 are respectively rotatably connected to the upper waist joint connecting plate 6 and the middle waist joint connecting plate 10. The upper waist joint support rod 4 is fixedly connected to the upper waist joint connecting plate 6, and the lower waist joint support rod 9 is fixedly connected to the middle waist joint connecting plate 10. The upper waist joint support rod 4 and the lower waist joint support rod 9 are rotatably connected.

[0043] The middle waist joint connecting plate 10, the first vertebra 11, the second vertebra 12, and the pelvis 13 are connected in sequence, and the connections between them are rotatable connections.

[0044] The two ends of the hip joint cylinder 14 and the hip joint cylinder 15 are respectively rotatably connected to the waist joint intermediate connecting plate 10 and the left hip joint connecting member 20-1. The two ends of the hip joint pneumatic muscle 16 are respectively rotatably connected to the pelvis 13 and the left hip joint connecting member 20-1. And the hip joint cylinder 14 and the hip joint cylinder 15 are on the outside, while the hip joint pneumatic muscle 16 is on the inside.

[0045] The two ends of the hip joint cylinder 17 and the hip joint cylinder 18 are respectively rotatably connected to the waist joint intermediate connecting plate 10 and the right hip joint connecting member 20-2. The two ends of the hip joint pneumatic muscle 19 are respectively rotatably connected to the pelvis 13 and the right hip joint connecting member 20-2. And the hip joint cylinder 17 and the hip joint cylinder 18 are on the outside, while the hip joint pneumatic muscle 19 is on the inside.

[0046] The left hip joint connecting member 20-1 and the right hip joint connecting member 20-2 are respectively fixedly connected to the left leg joint 3-1 and the right leg joint 3-2.

[0047] The waist joint cylinder 5, the waist joint cylinder 7, and the waist joint cylinder 8 together drive the relative rotation between the upper connecting plate 6 and the intermediate connecting plate 10 of the waist joint around the X-axis and the Y-axis.

[0048] The hip joint cylinder 14 and the hip joint cylinder 15 together drive the left hip joint connecting member 20-1 to rotate around the X-axis and the Z-axis and move along the Z-axis relative to the waist joint intermediate connecting plate 10.

[0049] The hip joint cylinder 14, the hip joint cylinder 15, and the hip joint pneumatic muscle 16 together drive the left hip joint connecting member 20-1 to rotate around the X-axis, the Y-axis, and the Z-axis and move along the X-axis, the Y-axis, and the Z-axis relative to the waist joint intermediate connecting plate 10. At the same time, they can drive the relative rotation between the first vertebra 11, the second vertebra 12, and the pelvis 13 around the X-axis and the Y-axis.

[0050] Since the right side has the same structure as the left side, the connection relationships and working principles between 17, 18, 19 and each component are the same, and will not be described in detail.

[0051] As Figure 3 、 4 、5, 6, 7 show that the first rotating wheel 23 is rotatably connected to the thigh connecting plate 26 and fixedly connected to the knee joint connecting plate 24. One end of each of the knee joint pneumatic muscle 21 and the knee joint pneumatic muscle 22 is fixedly connected to the thigh connecting plate 26, and the other end drives the relative rotation between the first rotating wheel 23 and the thigh connecting plate 26 in the form of a group of antagonist muscles through a rope. The housing of the pneumatic motor 25 is fixedly connected to the knee joint connecting plate 24, the rotating shaft of the pneumatic motor 25 is fixedly connected to the second rotating wheel 27, and the first rotating wheel 23 and the second rotating wheel 27 are driven by a rope.

[0052] The calf connecting plate 28 is fixedly connected to the knee joint connecting plate 24, and is rotatably connected to the side connecting plate 1 34 and the side connecting plate 2 39. The pneumatic muscle connecting plate 45 is fixedly connected to the calf connecting plate 28.

[0053] Both ends of the intermediate connecting plate 1 35 and the intermediate connecting plate 2 40 are fixedly connected to the side connecting plate 1 34 and the side connecting plate 2 39 respectively. One end of the rear connecting shaft 1 36 is fixedly connected to the guide wheel 37, and the other end is rotatably connected to the side connecting plate 1 34. One end of the rear connecting shaft 2 38 is fixedly connected to the guide wheel 37, and the other end is rotatably connected to the side connecting plate 2 39. Both ends of the guide shaft 42 and the intermediate connecting plate 3 43 are fixedly connected to the side connecting plate 3 41 and the side connecting plate 4 44 respectively. The guide shaft 42 is rotatably connected to the side connecting plate 1 34 and the side connecting plate 2 39.

[0054] One end of the calf pneumatic muscle 1 29, the calf pneumatic muscle 2 30, the calf pneumatic muscle 3 31, and the calf pneumatic muscle 4 32 is fixedly connected to the knee joint connecting plate 24, and the other end is rotatably connected to the intermediate connecting plate 1 35 in the foot 33.

[0055] One end of the foot pneumatic muscle 1 46 is fixedly connected to the pneumatic muscle connecting plate 45, and the other end uses a rope, which is guided by the rear connecting shaft 2 38 and rotatably connected to the intermediate connecting plate 3 43 in the foot 33 on the lower bottom surface. Both ends of the foot pneumatic muscle 2 47 and the foot pneumatic muscle 3 48 are fixedly connected to the pneumatic muscle connecting plate 45 and the connecting member 1 49. The rope is rotatably connected to the connecting member 1 49 and is guided by the guide wheel 37 and rotatably connected to the intermediate connecting plate 2 40 in the foot 33 on the lower bottom surface. One end of the foot pneumatic muscle 4 50 is fixedly connected to the pneumatic muscle connecting plate 45, and the other end uses a rope, which is guided by the rear connecting shaft 1 36 and rotatably connected to the intermediate connecting plate 3 43 in the foot 33 on the lower bottom surface.

[0056] The calf pneumatic muscle 1 29, the calf pneumatic muscle 2 30, the calf pneumatic muscle 3 31, the calf pneumatic muscle 4 32, the foot pneumatic muscle 2 47, the foot pneumatic muscle 3 48, the foot pneumatic muscle 1 46, and the foot pneumatic muscle 4 50 together drive the foot 33 to rotate around the X-axis relative to the calf connecting plate 28. The foot pneumatic muscle 1 46 and the foot pneumatic muscle 4 50 drive the side connecting plate 3 41 and the side connecting plate 4 44 to rotate around the X-axis relative to the side connecting plate 1 34 and the side connecting plate 2 39.

[0057] Such as Figure 1 、 2As shown in FIGS. 8, the shoulder connecting member 59 is fixedly connected to the upper connecting plate 6 of the waist joint, the large arm connecting plate 51 is fixedly connected to the shoulder connecting member 59, and the fifth rotating wheel 60 is rotatably connected to the large arm connecting plate 51. The second rotating shaft 63 is fixedly connected to the sixth rotating wheel 64, the third rotating wheel 52, and the small arm connecting plate 53, and is rotatably connected to the large arm connecting plate 51. The seventh rotating wheel 67 and the fourth rotating wheel 56 are rotatably connected to the small arm connecting plate 53, the wrist joint connecting plate 57 is connected to the small arm connecting plate 53, and the gripper 58 is fixedly connected to the wrist joint connecting plate 57. The first elbow pneumatic muscle 61 and the second elbow pneumatic muscle 62 are a group of antagonist muscles, the first multi-joint pneumatic muscle 65 and the second multi-joint pneumatic muscle 66 are a group of antagonist muscles, and the first wrist joint pneumatic muscle 54 and the second wrist joint pneumatic muscle 55 are a group of antagonist muscles.

[0058] The first elbow pneumatic muscle 61 and the second elbow pneumatic muscle 62 simultaneously drive the relative rotation about the Y-axis between the fifth rotating wheel 60 and the large arm connecting plate 51, and between the sixth rotating wheel 64 and the large arm connecting plate 51 through ropes. The first multi-joint pneumatic muscle 65 and the second multi-joint pneumatic muscle 66 simultaneously drive the relative rotation about the Y-axis between the third rotating wheel 52 and the large arm connecting plate 51, and between the seventh rotating wheel 67 and the small arm connecting plate 53 through ropes. The first wrist joint pneumatic muscle 54 and the second wrist joint pneumatic muscle 55 drive the relative rotation about the Y-axis between the fourth rotating wheel 56 and the small arm connecting plate 53 through ropes. The gripper 58 can rotate about the X-axis and clamp in the YZ plane.

[0059] In summary, the pneumatic components 69 in the present invention include the first waist joint cylinder 5, the second waist joint cylinder 7, the third waist joint cylinder 8, the first hip joint cylinder 14, the second hip joint cylinder 15, the first hip joint pneumatic muscle 16, the third hip joint cylinder 17, the fourth hip joint cylinder 18, the second hip joint pneumatic muscle 19, the first knee joint pneumatic muscle 21, the second knee joint pneumatic muscle 22, the pneumatic motor 25, the first calf pneumatic muscle 29, the second calf pneumatic muscle 30, the third calf pneumatic muscle 31, the fourth calf pneumatic muscle 32, the first foot pneumatic muscle 46, the second foot pneumatic muscle 47, the third foot pneumatic muscle 48, the fourth foot pneumatic muscle 50, the first wrist joint pneumatic muscle 54, the second wrist joint pneumatic muscle 55, the gripper 58, the first elbow pneumatic muscle 61, the second elbow pneumatic muscle 62, the first multi-joint pneumatic muscle 65, and the second multi-joint pneumatic muscle 66. All pneumatic muscles are of the DMSP series of FESTO Corporation.

[0060] Further, to balance the stiffness and weight of the system, the materials of the upper strut 4 of the waist joint, the upper connecting plate 6 of the waist joint, the lower strut 9 of the waist joint, the middle connecting plate 10 of the waist joint, vertebra 11, vertebra 12, the lower connection 13 of the waist joint, the left hip joint connecting member 20-1, the right hip joint connecting member 20-2, the first rotating wheel 23, the knee joint connecting plate 24, the thigh connecting plate 26, the second rotating wheel 27, the calf connecting plate 28, the first side connecting plate 34, the first middle connecting plate 35, the first rear connecting shaft 36, the guide wheel 37, the second rear connecting shaft 38, the second side connecting plate 39, the second middle connecting plate 40, the third side connecting plate 41, the guide shaft 42, the third middle connecting plate 43, the fourth side connecting plate 44, the first connecting member 49, the upper arm connecting plate 51, the third rotating wheel 52, the forearm connecting plate 53, the fourth rotating wheel 56, the wrist joint connecting plate 57, the shoulder connecting member 59, the fifth rotating wheel 60, the second rotating shaft 63, the sixth rotating wheel 64, and the seventh rotating wheel 67 are aluminum alloy.

[0061] The working principle of the present invention is as follows: The computer 73 controls the pneumatic components 69 through the data acquisition system 72. The movement combination thereof is manifested as the movement of the robot joints 68. The states of each pneumatic component 69 are respectively detected by the air pressure sensor 70 and the displacement sensor 71. The data detected by the air pressure sensor 70 and the displacement sensor 71 are fed back to the computer 73 through the data acquisition system 72. The computer 73 continuously adjusts the issued instructions according to the feedback of the data acquisition system 72, and finally makes the actions of the robot joints 68 consistent with the issued instructions.

[0062] In the present invention, by controlling each pneumatic component 69, the control of the pose of the robot joint 68 system is realized, and accurate trajectory control can be achieved. The present invention has advantages that cannot be compared with other robot joints driven by pneumatic components. The present invention drives the joints by combining pneumatic components with mechanism, and has the characteristics of compact structure, strong adaptability, and flexible working mode, and can be used for teaching, demonstration, and exhibition.

[0063] The above-described embodiments are only one of the more preferred specific embodiments of the present invention. The ordinary variations and substitutions made by those skilled in the art within the scope of the technical solution of the present invention should be included in the protection scope of the present invention.

Claims

1. A rigid-flexible pneumatic component hybrid-driven robot joint system, characterized in that, The robot comprises a robot body and a control system. The robot body comprises arm joints, a waist joint (2), leg joints and foot joints. The arm joints comprise a left arm joint (1-1) and a right arm joint (1-2) with completely identical structures. The leg joints comprise a left leg joint (3-1) and a right leg joint (3-2) with completely identical structures. The foot joints comprise a left foot and a right foot with completely identical structures. The left arm joint (1-1) and the right arm joint (1-2) are respectively fixedly connected to the left and right sides of the top of the waist joint (2). The left leg joint (3-1) and the right leg joint (3-2) are respectively fixedly connected to the left and right sides of the lower end of the waist joint (2). The left leg joint (3-1) and the right leg joint (3-2) are respectively rotatably connected to the left foot and the right foot at the lower end. Pneumatic elements (69) are installed in the arm joints, the waist joint (2), the leg joints and the foot joints. The pneumatic elements (69) are connected to the control system. In the left leg joint (3-1) and the left foot, the thigh connecting plate (26) is fixedly connected to the left side of the waist joint (2), the rotating wheel 1 (23) is rotatably connected to the thigh connecting plate (26), and is fixedly connected to the knee joint connecting plate (24), one end of the knee joint pneumatic muscle 1 (21) and the knee joint pneumatic muscle 2 (22) are both fixedly connected to the thigh connecting plate (26), and the other end drives the rotating wheel 1 (23) and the thigh connecting plate (26) to rotate relative to each other in the form of a group of antagonistic muscles through a rope, the housing of the pneumatic motor (25) is fixedly connected to the knee joint connecting plate (24), the rotating shaft of the pneumatic motor (25) is fixedly connected to the rotating wheel 2 (27), and the rotating wheel 1 (23) and the rotating wheel 2 (27) are driven by a rope; The calf connection plate (28) is fixedly connected to the knee joint connection plate (24), and is rotatably connected to the side connection plate 1 (34) and the side connection plate 2 (39); the pneumatic muscle connection plate (45) is fixedly connected to the calf connection plate (28); The ends of the middle connecting plate 1 (35) and the middle connecting plate 2 (40) are fixedly connected to the side connecting plate 1 (34) and the side connecting plate 2 (39), respectively; one end of the rear connecting shaft 1 (36) is fixedly connected to the guide wheel (37), and the other end is rotatably connected to the side connecting plate 1 (34); one end of the rear connecting shaft 2 (38) is fixedly connected to the guide wheel (37), and the other end is rotatably connected to the side connecting plate 2 (39); the ends of the guide shaft (42) and the middle connecting plate 3 (43) are fixedly connected to the side connecting plate 3 (41) and the side connecting plate 4 (44), respectively; the guide shaft (42) is rotatably connected to the side connecting plate 1 (34) and the side connecting plate 2 (39); One end of the calf pneumatic muscle 1 (29), the calf pneumatic muscle 2 (30), the calf pneumatic muscle 3 (31), and the calf pneumatic muscle 4 (32) is fixedly connected to the knee joint connecting plate (24), and the other end is rotatably connected to the middle connecting plate 1 (35) in the foot (33); One end of the foot pneumatic muscle one (46) is fixedly connected to the pneumatic muscle connecting plate (45), and the other end uses a rope. After being guided by the rear connecting shaft two (38), it is rotatably connected to the middle connecting plate three (43) in the foot (33) on the lower bottom surface. Both ends of the foot pneumatic muscle two (47) and the foot pneumatic muscle three (48) are fixedly connected to the pneumatic muscle connecting plate (45) and the connecting piece one (49). The rope is rotatably connected to the connecting piece one (49), and after being guided by the guide wheel (37), it is rotatably connected to the middle connecting plate two (40) in the foot (33) on the lower bottom surface. One end of the foot pneumatic muscle four (50) is fixedly connected to the pneumatic muscle connecting plate (45), and the other end uses a rope. After being guided by the rear connecting shaft one (36), it is rotatably connected to the middle connecting plate three (43) in the foot (33) on the lower bottom surface.

2. The flexible and rigid pneumatic component hybrid-driven robot joint system according to claim 1, wherein The described control system includes a computer (73), a data acquisition system (72), a pressure sensor (70), and a displacement sensor (71). One end of the pressure sensor (70) and the displacement sensor (71) is connected to the pneumatic component (69), and the other end is connected to the data acquisition system (72). The data acquisition system (72) communicates bidirectionally with the computer (73), and the pneumatic component (69) is connected to the data acquisition system (72).

3. A rigid-flexible pneumatic component hybrid-driven robot joint system according to claim 1 or 2, characterized in that In the waist joint (2): Both ends of the waist joint cylinder one (5), the waist joint cylinder two (7), and the waist joint cylinder three (8) are respectively rotatably connected to the upper waist joint connecting plate (6) and the middle waist joint connecting plate (10). The upper waist joint support rod (4) is fixedly connected to the upper waist joint connecting plate (6), the lower waist joint support rod (9) is fixedly connected to the middle waist joint connecting plate (10), and the upper waist joint support rod (4) is rotatably connected to the lower waist joint support rod (9); The middle waist joint connecting plate (10), the vertebra one (11), the vertebra two (12), and the pelvis (13) are connected in sequence, and the connections between them are all rotatable connections; Both ends of the hip joint cylinder one (14) and the hip joint cylinder two (15) are respectively rotatably connected to the middle waist joint connecting plate (10) and the left hip joint connecting piece (20-1). Both ends of the hip joint pneumatic muscle one (16) are respectively rotatably connected to the pelvis (13) and the left hip joint connecting piece (20-1); and the hip joint cylinder one (14) and the hip joint cylinder two (15) are on the outside, and the hip joint pneumatic muscle one (16) is on the inside; Both ends of the hip joint cylinder three (17) and the hip joint cylinder four (18) are respectively rotatably connected to the middle waist joint connecting plate (10) and the right hip joint connecting piece (20-2). Both ends of the hip joint pneumatic muscle two (19) are respectively rotatably connected to the pelvis (13) and the right hip joint connecting piece (20-2); and the hip joint cylinder three (17) and the hip joint cylinder four (18) are on the outside, and the hip joint pneumatic muscle two (19) is on the inside; The left hip joint connecting piece (20-1) and the right hip joint connecting piece (20-2) are respectively fixedly connected to the left leg joint (3-1) and the right leg joint (3-2).

4. A rigid-flexible pneumatic component hybrid-driven robot joint system according to claim 1 or 2, characterized in that, In the left arm joint (1-1), the shoulder connecting piece (59) is fixedly connected to the left side at the top of the waist joint (2). The large arm connecting plate (51) is fixedly connected to the shoulder connecting piece (59). The fifth rotating wheel (60) is rotatably connected to the large arm connecting plate (51). The second rotating shaft (63) is fixedly connected to the sixth rotating wheel (64), the third rotating wheel (52), and the small arm connecting plate (53), and is rotatably connected to the large arm connecting plate (51). The seventh rotating wheel (67) and the fourth rotating wheel (56) are rotatably connected to the small arm connecting plate (53). The wrist joint connecting plate (57) is connected to the small arm connecting plate (53), and the air gripper (58) is fixedly connected to the wrist joint connecting plate (57). The first elbow pneumatic muscle (61) and the second elbow pneumatic muscle (62) are a group of antagonist muscles. The first multi-joint pneumatic muscle (65) and the second multi-joint pneumatic muscle (66) are a group of antagonist muscles. The first wrist joint pneumatic muscle (54) and the second wrist joint pneumatic muscle (55) are a group of antagonist muscles.

5. The robotic joint system with hybrid rigid-flexible pneumatic component drive according to claim 3, wherein The upper rod (4) of the waist joint and the lower rod (9) of the waist joint are rotatably connected by a universal joint. The two ends of the first waist joint cylinder (5), the second waist joint cylinder (7), and the third waist joint cylinder (8) are respectively rotatably connected to the upper connecting plate (6) and the middle connecting plate (10) of the waist joint by a universal joint. The two ends of the first hip joint cylinder (14) and the second hip joint cylinder (15) are respectively rotatably connected to the middle connecting plate (10) of the waist joint and the left hip joint connecting piece (20-1) by a universal joint. The two ends of the third hip joint cylinder (17) and the fourth hip joint cylinder (18) are respectively rotatably connected to the middle connecting plate (10) of the waist joint and the right hip joint connecting piece (20-2) by a universal joint. The middle connecting plate (10) of the waist joint, the first vertebra (11), the second vertebra (12), and the pelvis (13) are rotatably connected by a ball joint. The two ends of the first hip joint pneumatic muscle (16) are respectively rotatably connected to the pelvis (13) and the left hip joint connecting piece (20-1) by a ball joint. The two ends of the second hip joint pneumatic muscle (19) are respectively rotatably connected to the pelvis (13) and the right hip joint connecting piece (20-2) by a ball joint.

6. The robotic joint system with hybrid rigid-flexible pneumatic component drive according to claim 1, characterized in that, The knee joint connecting plate (24) and the thigh connecting plate (26) are rotatably connected by a bearing. The first rear connecting shaft (36) and the first side connecting plate (34) are rotatably connected by a bearing. The second rear connecting shaft (38) and the second side connecting plate (39) are rotatably connected by a bearing. The guide shaft (42) and the first side connecting plate (34) and the second side connecting plate (39) are rotatably connected by a bearing.

7. The flexible and rigid pneumatic component hybrid-driven robot joint system according to claim 4, characterized in that, The fifth rotating wheel (60) and the large arm connecting plate (51) are rotatably connected by a bearing. The second rotating shaft (63) and the large arm connecting plate (51) are rotatably connected by a bearing. The fourth rotating wheel (56) and the seventh rotating wheel (67) and the small arm connecting plate (53) are rotatably connected by a bearing.

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