A humanoid shoulder joint robot based on a pneumatic soft actuator

Abstract

The application discloses a human body shoulder joint robot based on a pneumatic soft driver, which comprises a frame, a scapula mechanism installed on the frame, the scapula mechanism being driven by a first pneumatic muscle, a clavicle mechanism, one end of which is installed on the frame and the other end of which is hinged to a working end of the scapula mechanism, a glenohumeral joint mechanism comprising a glenohumeral joint top base and a glenohumeral joint bottom base, the glenohumeral joint bottom base being installed on one side of the working end of the scapula mechanism, and a bellows assembly and a plurality of second pneumatic muscles being installed between the glenohumeral joint top base and the glenohumeral joint bottom base. The application has the advantages of simple structure, high flexibility, high control precision and high activity range compared with a traditional shoulder joint driven by a pneumatic muscle.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a humanoid shoulder joint robot based on a pneumatic soft actuator. Background Technology

[0002] With the continuous advancement of science and the development of artificial intelligence technology, intelligent service robots, as a type of bionic robot, are the subject of the most active research. The research on bionic joints derived from them is particularly favored by scholars both domestically and internationally. The shoulder joint is a crucial joint in a robot, not only bearing the weight of the entire arm but also needing to achieve lateral or forward / backward movement relative to the robot's body. Pneumatic artificial muscles, as a novel actuator, possess high power, volume ratio, and good compliance, and are increasingly being used as actuators for bionic joints. The corrugated structure of a bellows is distributed circumferentially and undulates axially, giving it high radial stiffness to limit radial deformation of the actuator, while also providing good axial extensibility and torsional resistance.

[0003] However, existing robots have the following problems: Most existing service robots rely on metal skeletons, gearbox motors or servo motors mounted at the joints for shoulder support, connection between the shoulder and arm, and arm rotation. Their movement is driven by control circuits, which results in problems such as shoulder joint flexibility, low control precision, and small range of motion.

[0004] To address this, a humanoid shoulder joint robot based on a pneumatic soft actuator is proposed. Summary of the Invention

[0005] The purpose of this invention is to provide a humanoid shoulder joint robot based on a pneumatic soft actuator, which aims to solve or improve at least one of the above-mentioned technical problems.

[0006] To achieve the above objectives, the present invention provides the following solution: The present invention provides a humanoid shoulder joint robot based on a pneumatic soft actuator, comprising:

[0007] Frame;

[0008] A scapular mechanism is mounted on the frame; the scapular mechanism is driven by a first pneumatic muscle.

[0009] The clavicle mechanism is mounted on the frame at one end and hinged to the working end of the scapula mechanism at the other end.

[0010] The glenohumeral joint mechanism includes a glenohumeral joint top seat and a glenohumeral joint base; the glenohumeral joint base is installed on one side of the working end of the scapular mechanism, and a bellows assembly and several second pneumatic muscles are installed between the glenohumeral joint top seat and the glenohumeral joint base.

[0011] According to the present invention, a humanoid shoulder joint robot based on a pneumatic soft actuator is provided, wherein the bellows assembly includes an inner bellows and an outer bellows; one end of the inner bellows is fixed to the glenohumeral joint top seat, and the other end extends into the outer bellows; a cavity is provided inside the inner bellows.

[0012] One end of the outer corrugated tube is fixedly installed on the glenohumeral joint base by a retaining ring, and the other end is sleeved on the outside of the inner corrugated tube; the outer corrugated tube has an inner layer; a plurality of second pneumatic muscles are located on the outside of the outer corrugated tube and are arranged at equal intervals along the circumference of the outer corrugated tube.

[0013] According to the present invention, a humanoid shoulder joint robot based on a pneumatic soft actuator is provided, wherein the scapular mechanism includes:

[0014] The scapular four-bar linkage has two ends mounted on the frame via scapular connectors; the first pneumatic muscle is mounted on the scapular four-bar linkage; the scapular four-bar linkage has multiple degrees of freedom.

[0015] Sternoclavicular joint, which is mounted on the scapular four-link;

[0016] The third pneumatic muscle is installed between the sternoclavicular joint and the scapular four-bar linkage;

[0017] One end of the clavicle mechanism is hinged to the end of the sternoclavicular joint away from the scapular four-link; the glenohumeral joint base is installed on the side of the sternoclavicular joint away from the scapular four-link.

[0018] According to the present invention, a humanoid shoulder joint robot based on a pneumatic soft actuator is provided, wherein the clavicle mechanism includes:

[0019] First joint support, the first joint support is mounted on the frame;

[0020] A first connector is hinged to the first joint support;

[0021] The fourth pneumatic muscle has one end fixedly connected to the connector, and the other end is hinged to a ball hinge base via the second connector; the ball hinge base is fixedly installed at the end of the sternoclavicular joint away from the scapula four-link.

[0022] According to the present invention, a humanoid shoulder joint robot based on a pneumatic soft actuator is provided, wherein a Hooke's hinge is installed between the first connector and the first joint support, and the first connector is hinged to the first joint support through the Hooke's hinge.

[0023] According to the present invention, a humanoid shoulder joint robot based on a pneumatic soft actuator is provided, wherein the second connector is hinged to the ball hinge base via a ball hinge.

[0024] According to the present invention, a humanoid shoulder joint robot based on a pneumatic soft actuator is provided, wherein the sternoclavicular joint includes a first link, a second link, and a third link; one end of the first link is fixedly connected to the scapular four-link, and both ends of the second link are hinged to the first link and the third link, respectively; one end of the third pneumatic muscle is hinged to the third link, and the other end is hinged to the scapular four-link; the ball joint base and the glenohumeral joint base are both fixedly mounted on the third link.

[0025] According to the present invention, a humanoid shoulder joint robot based on a pneumatic soft actuator is provided, wherein the third pneumatic muscle is tilted.

[0026] According to the present invention, a humanoid shoulder joint robot based on a pneumatic soft actuator is provided, wherein the number of the second pneumatic muscles is six.

[0027] The present invention discloses the following technical effects:

[0028] This invention drives the scapular mechanism to move through a first pneumatic muscle, which can extend after being inflated and pressurized by the bellows assembly, thereby achieving control over the internal and external rotation of the shoulder joint; the movement of the robot's shoulder joint is achieved through the clavicle mechanism and the glenohumeral joint mechanism; the shoulder joint robot of this invention has a simple structure and has the advantages of being driven by both pneumatic muscles and bellows assembly, and has higher flexibility, control precision and range of motion compared to traditional pneumatic muscle driven shoulder joints. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the structure of the present invention;

[0031] Figure 2 This is a schematic diagram of the scapula mechanism in this invention;

[0032] Figure 3 This is a schematic diagram of the clavicle mechanism in this invention;

[0033] Figure 4 This is a schematic diagram of the glenohumeral joint mechanism in this invention;

[0034] Among them, 1. Scapular mechanism; 101. Scapular four-bar linkage; 102. Third pneumatic muscle; 103. Sternoclavicular joint; 2. Clavicle mechanism; 201. First joint support; 202. Hooke's hinge; 203. First connector; 204. Fourth pneumatic muscle; 205. Second connector; 206. Ball joint; 207. Ball joint base; 3. Glenohumeral joint mechanism; 301. Glenohumeral joint base; 302. Retaining ring; 303. Second pneumatic muscle; 304. Glenohumeral joint top seat; 305. Inner corrugated tube; 306. Outer corrugated tube; 4. Frame. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0037] Reference Figure 1-4 This invention provides a humanoid shoulder joint robot based on a pneumatic soft actuator, comprising:

[0038] Frame 4; The material of frame 4 can be set according to the specific usage environment. In this embodiment, frame 4 is made of aluminum alloy.

[0039] The scapular mechanism 1 is mounted on the frame 4; the scapular mechanism 1 is driven by a first pneumatic muscle; the adduction and abduction of the scapular mechanism 1 are achieved by the first pneumatic muscle;

[0040] The clavicle mechanism 2 is mounted on the frame 4 at one end and hinged to the working end of the scapula mechanism 1 at the other end.

[0041] The glenohumeral joint mechanism 3 includes a glenohumeral joint top seat 304 and a glenohumeral joint base 301; the glenohumeral joint base 301 is installed on one side of the working end of the scapula mechanism 1, and a bellows assembly and several second pneumatic muscles 303 are installed between the glenohumeral joint top seat 304 and the glenohumeral joint base 301; the two ends of the second pneumatic muscles 303 are respectively hinged to the glenohumeral joint top seat 304 and the glenohumeral joint base 301.

[0042] With this configuration, the present invention drives the scapular mechanism 1 to move through the first pneumatic muscle, and can extend after being inflated and pressurized by the bellows assembly, thereby achieving control over the internal and external rotation of the shoulder joint; the movement of the robot's shoulder joint is achieved through the clavicle mechanism 2 and the glenohumeral joint mechanism 3; the shoulder joint robot of the present invention has a simple structure and has the advantages of being driven by both pneumatic muscles and bellows assembly, and has higher flexibility, control precision and range of motion compared with the traditional pneumatic muscle driven shoulder joint.

[0043] The design is further optimized. The bellows assembly includes an inner bellows 305 and an outer bellows 306. One end of the inner bellows 305 is fixed to the glenohumeral joint top seat 304, and the other end extends into the outer bellows 306. A cavity is provided inside the inner bellows 305.

[0044] One end of the outer bellows 306 is fixedly mounted on the glenohumeral joint base 301 by a retaining ring 302, and the other end is sleeved on the outer bellows 305; the outer bellows 306 has a sandwich layer inside; the second pneumatic muscle 303 is V-shaped; several second pneumatic muscles 303 are located on the outside of the outer bellows 306 and are arranged at equal intervals along the circumference of the outer bellows 306; by adjusting the air pressure of the second pneumatic muscles 303, the glenohumeral joint mechanism 3 can realize the abduction, adduction, flexion, extension, internal rotation and external rotation of the shoulder joint;

[0045] With this configuration, the glenohumeral joint mechanism 3 is connected to the scapular mechanism 2 by two screws. The inner bellows 305 can be extended after being inflated and pressurized by six second pneumatic muscles 303, the inner bellows 305 and the outer bellows 306. The outer bellows 306 expands after being inflated and pressurized and comes into close contact with the inner bellows 305, thereby inhibiting the rotation of the inner bellows 305, thus achieving control and locking of the internal and external rotation of the shoulder joint.

[0046] Further optimization of the design includes the following for the scapular mechanism 1:

[0047] The scapula four-link 101 has two ends mounted on the frame 4 via scapula connectors, and both ends are hinged to the frame 4. A first pneumatic muscle is mounted on the scapula four-link 101. The scapula four-link 101 has multiple degrees of freedom. The scapula four-link 101 includes four connecting rods that are rotatably connected in sequence, with the connecting rods at both ends hinged to the frame 4. One end of the first pneumatic muscle intersects with the connecting rod located in the middle section, and the other end is hinged to the frame 4.

[0048] Sternoclavicular joint 103, which is mounted on scapular four-link 101;

[0049] The third pneumatic muscle 102 is installed between the sternoclavicular joint 103 and the scapular four-link 101;

[0050] One end of the clavicle mechanism 2 is hinged to the end of the sternoclavicular joint 103 away from the scapular four-link 101; the glenohumeral joint base 301 is installed on the side of the sternoclavicular joint 103 away from the scapular four-link 101; the glenohumeral joint base 301 is fixedly connected to the sternoclavicular joint 103 by screws; the third pneumatic muscle 102 is inclined; the inclined third pneumatic muscle 102 applies an oblique force to the sternoclavicular joint 103, thereby driving the overall flexion and extension of the shoulder joint.

[0051] The design has been further optimized, and the clavicle mechanism 2 includes:

[0052] First joint support 201, the first joint support 201 is installed on the frame 4;

[0053] The first connector 203 is hinged to the first joint support 201;

[0054] The fourth pneumatic muscle 204 is fixed at one end to the connector and at the other end is hinged to the ball hinge base 207 via the second connector 205. The ball hinge base 207 is fixedly installed at the end of the sternoclavicular joint 103 away from the scapula four-link 101.

[0055] In a further optimized design, a Hooke hinge 202 is installed between the first connector 203 and the first joint support 201, and the first connector 203 is hinged to the first joint support 201 through the Hooke hinge 202.

[0056] In a further optimized design, the second connector 205 is hinged to the ball hinge base 207 via a ball hinge 206.

[0057] The design is further optimized so that the sternoclavicular joint 103 includes a first link, a second link, and a third link; one end of the first link is fixedly connected to the scapular four-link 101, and both ends of the second link are hinged to the first link and the third link, respectively; one end of the third pneumatic muscle 102 is hinged to the third link, and the other end is hinged to the scapular four-link 101; the ball hinge base 207 and the glenohumeral joint base 301 are both fixedly installed on the third link.

[0058] Further optimization of the scheme: the second pneumatic muscle 303 is provided in three groups, each group including two second pneumatic muscles 303; the six second pneumatic muscles 303 are located on the outside of the outer corrugated tube 306 and are arranged at equal intervals along the circumference of the outer corrugated tube 306; the two adjacent second pneumatic muscles 303 are arranged in a V-shape.

[0059] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0060] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A humanoid shoulder joint robot based on a pneumatic soft actuator, characterized in that, include: Frame (4); A scapular mechanism (1) is mounted on the frame (4); the scapular mechanism (1) is driven by a first pneumatic muscle; The clavicle mechanism (2) is mounted on the frame (4) at one end and hinged to the working end of the scapula mechanism (1) at the other end. The glenohumeral joint mechanism (3) includes a glenohumeral joint top seat (304) and a glenohumeral joint base (301); the glenohumeral joint base (301) is installed on one side of the working end of the scapula mechanism (1), and a bellows assembly and several second pneumatic muscles (303) are installed between the glenohumeral joint top seat (304) and the glenohumeral joint base (301). The bellows assembly includes an inner bellows (305) and an outer bellows (306); one end of the inner bellows (305) is fixed to the glenohumeral joint top seat (304), and the other end extends into the outer bellows (306); the inner bellows (305) has a cavity inside. One end of the outer corrugated tube (306) is fixedly installed on the glenohumeral joint base (301) by a retaining ring (302), and the other end is sleeved on the outer corrugated tube (305); the outer corrugated tube (306) has a sandwich layer inside; a plurality of second pneumatic muscles (303) are located on the outside of the outer corrugated tube (306) and are arranged at equal intervals along the circumference of the outer corrugated tube (306); The scapular mechanism (1) includes: The scapular four-link (101) has two ends mounted on the frame (4) via scapular connectors; the first pneumatic muscle is mounted on the scapular four-link (101); the scapular four-link (101) has multiple degrees of freedom; Sternoclavicular joint (103), said sternoclavicular joint (103) is mounted on said scapular four-link (101); A third pneumatic muscle (102) is installed between the sternoclavicular joint (103) and the scapular four-link (101); Wherein, one end of the clavicle mechanism (2) is hinged to the end of the sternoclavicular joint (103) away from the scapular four-link (101); the glenohumeral joint base (301) is installed on the side of the sternoclavicular joint (103) away from the scapular four-link (101); The clavicle mechanism (2) includes: The first joint support (201) is mounted on the frame (4); The first connector (203) is hinged to the first joint support (201); The fourth pneumatic muscle (204) is fixed at one end to the connector and at the other end is hinged to a ball hinge base (207) via the second connector (205); the ball hinge base (207) is fixedly installed at the end of the sternoclavicular joint (103) away from the scapular four-link (101).

2. The humanoid shoulder joint robot based on a pneumatic soft actuator according to claim 1, characterized in that: A Hooke hinge (202) is installed between the first connector (203) and the first joint support (201), and the first connector (203) is hinged to the first joint support (201) through the Hooke hinge (202).

3. The humanoid shoulder joint robot based on a pneumatic soft actuator according to claim 1, characterized in that: The second connector (205) is hinged to the ball hinge base (207) via a ball hinge (206).

4. The humanoid shoulder joint robot based on a pneumatic soft actuator according to claim 1, characterized in that: The sternoclavicular joint (103) includes a first link, a second link, and a third link; one end of the first link is fixedly connected to the scapular four-link (101), and both ends of the second link are hinged to the first link and the third link, respectively; one end of the third pneumatic muscle (102) is hinged to the third link, and the other end is hinged to the scapular four-link (101); the ball hinge base (207) and the glenohumeral joint base (301) are both fixedly mounted on the third link.

5. The humanoid shoulder joint robot based on a pneumatic soft actuator according to claim 1, characterized in that: The third pneumatic muscle (102) is tilted.

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