A pneumatic transmission robot system based on a combination of multiple modes

Abstract

The present invention discloses a pneumatic transmission robot system based on a combination of multiple modes, belonging to the technical field of robots. The movement of the hip joint, knee joint, ankle joint, shoulder joint, elbow joint, and wrist joint of the robot is driven by pneumatic muscles, and the waist joint is driven by balloon cylinders and cylinder combinations, having the function of fully simulating the joint movement of a human. The balloon cylinder and the waist joint cylinder are connected in series as a branch chain, and three branch chains are connected in parallel to form a single-layer waist joint, and six branch chains between two layers are evenly distributed on the circumference. A group of pneumatic muscles combined with a guide wheel drive the hip joint to rotate around the Z axis, two pneumatic muscles combined with a four-bar mechanism drive the flexion and extension movement of the knee joint, and two groups of pneumatic muscles are rotatably connected to the calf bone II, and with this as a support and combined with a universal joint, the flexion, extension, adduction, and abduction movements of the ankle joint are realized. The present invention is driven by pneumatic muscles and cylinders, and has the characteristics of compact structure, combination of rigidity and flexibility, and good explosion-proof performance.

Description

Technical Field

[0001] The present invention belongs to the technical field of robotics and relates to a pneumatic drive robot system based on a combination of multiple modes. Background Art

[0002] Pneumatic muscles and cylinders, as the main pneumatic actuators, are widely used in the fields of agriculture, industry, and automation. As an interdisciplinary subject integrating multiple disciplines such as machinery, electricity, and communication, robots are gradually replacing some human labor and are also gradually attracting the attention of major research institutions. As a branch of robots, bionic robots are highly attractive in international exhibitions, mall services, and reception due to their human-like appearance and are easily accepted by people. Therefore, major enterprises or research institutions have been researching humanoid robots.

[0003] Chinese patents CN112171646A and CN113561167A respectively designed a pneumatic muscle direct drive joint in the form of antagonistic muscles, with a support in the middle and pneumatic muscles arranged on the outside. In this way, the movement direction, output force magnitude, and installation position of the joint driven by the pneumatic muscle are restricted by the external matching parts of the pneumatic muscle. In response to the above problems, this application proposes a variety of solutions according to the actual needs of different joints.

[0004] CN113084788A, CN111761606B, CN113290550A, and CN115157313A designed a method of using parallel pneumatic muscles, but their movement range is restricted by the telescopic length of the pneumatic muscle, and their movement range is inevitably limited. In response to the above problems, this application provides a new type of flexible element - a balloon-type cylinder, combined with a linear cylinder, which not only solves the problem that the movement range of the joint is affected by the movement range of the actuator but also ensures the flexibility of the joint. Summary of the Invention

[0005] The purpose of the present invention is to provide a pneumatic drive robot system based on a combination of multiple modes in view of the above existing technical defects. The present invention has the advantages of a compact structure, a combination of rigidity and flexibility, and good explosion-proof performance.

[0006] To achieve the above object, the technical solution adopted by the present invention is: a pneumatic transmission robot system based on a combination of multiple modes, including: an upper limb joint 1, a waist joint 2, a lower limb joint 3, a foot joint, and a control system. The upper limb joint 1 includes a left upper limb joint and a right upper limb joint with exactly the same structure. The ends of the left upper limb joint and the right upper limb joint are connected to a pneumatic claw. The lower limb joint 3 includes a left lower limb 3-1 and a right lower limb 3-2 with exactly the same structure. The foot joint includes a left foot and a right foot with exactly the same structure. The left upper limb joint and the right upper limb joint are respectively fixedly connected to the left and right sides of the top of the waist joint 2. The left lower limb 3-1 and the right lower limb 3-2 are respectively fixedly connected to the left and right sides of the lower end of the waist joint 2. The left lower limb 3-1 and the right lower limb 3-2 are respectively rotatably connected to the left foot and the right foot at the lower end. The left upper limb joint, the right upper limb joint, the left lower limb 3-1, and the right lower limb 3-2 have exactly the same structure. Pneumatic components 46 are installed in the upper limb joint 1, the waist joint 2, the lower limb joint 3, and the foot joint. The pneumatic components 46 are connected to the control system.

[0007] Specifically, the control system includes a computer 50, a data acquisition card 49, a pressure sensor 47, and a displacement sensor 48. One end of the pressure sensor 47 and the displacement sensor 48 is connected to the pneumatic component 46, and the other end is connected to the data acquisition card 49. The data acquisition card 49 communicates bidirectionally with the computer 50. The pneumatic component 46 is connected to the data acquisition card 49.

[0008] Specifically, in the waist joint 2, the upper end component one 4, the upper end component two 10, and the upper end component three 11 are respectively rotatably connected to the middle connecting piece 5 and the upper end connecting plate 9 at both ends in a parallel connection form. The lower end component one 6, the lower end component two 7, and the lower end component three 13 are respectively rotatably connected to the middle connecting piece 5 and the lower end connecting plate 8 at both ends in a parallel connection form.

[0009] The upper end component one 4, the upper end component two 10, the upper end component three 11, the lower end component one 6, the lower end component two 7, and the lower end component three 13 have exactly the same structure. The lower end component three 13 includes an airbag type cylinder 12 at the upper end and a waist joint cylinder 14 at the lower end. The airbag type cylinder 12 is fixedly connected to the waist joint cylinder 14. On the middle connecting piece 5, in the order of the upper end component one 4, the lower end component one 6, the upper end component three 11, the lower end component three 13, the upper end component two 10, and the lower end component two 7, the line segments formed by connecting one component to the adjacent two components are at an angle of 60°.

[0010] The left upper limb joint and the right upper limb joint are respectively fixedly connected to the left and right sides of the upper end connecting plate 9. The left lower limb 3-1 and the right lower limb 3-2 are respectively fixedly connected to the left and right sides of the lower end connecting plate 8.

[0011] Specifically, in the left lower limb 3-1 and the left foot, the housing and the rotating shaft of the pneumatic motor 21 are fixedly connected to the thigh bone 24 and the third transmission wheel 20 respectively. One end of the first hip pneumatic muscle 17 and the second hip pneumatic muscle 18 is fixedly connected to the first rope 19-1. The first rope 19-1 passes through the third transmission wheel 20, and the other end is fixedly connected to the second rope 19-2. The second rope 19-2 passes through the second transmission wheel 16, the first transmission wheel 15, and the fourth transmission wheel 23. The second transmission wheel 16 and the fourth transmission wheel 23 are both perpendicular to the first transmission wheel 15 and are both rotatably connected to the thigh bone 24. The lower end of the hip joint connecting shaft 22 is fixedly connected to the first transmission wheel 15, and the upper end is fixedly connected to the lower end of the waist joint 2.

[0012] One end of the side connecting plate 29 is rotatably connected to the thigh bone 24, and the other end is fixedly connected to the first calf bone 36. Both ends of the first connecting rod 27 are rotatably connected to the first intermediate connecting member 26 and the thigh bone 24 respectively. Both ends of the second connecting rod 28 are rotatably connected to the first intermediate connecting member 26 and the side connecting plate 29 respectively. Both ends of the third connecting rod 31 are rotatably connected to the second intermediate connecting member 33 and the thigh bone 24 respectively. Both ends of the fourth connecting rod 34 are rotatably connected to the second intermediate connecting member 33 and the side connecting plate 29 respectively. The left four-bar mechanism 32 includes the first connecting rod 27, the second connecting rod 28, the third connecting rod 31, and the fourth connecting rod 34. The right four-bar mechanism 35 has the same structure as the left four-bar mechanism 32. The left four-bar mechanism 32 and the right four-bar mechanism 35 are connected by the second intermediate connecting member 33 and the first intermediate connecting member 26 respectively before and after. One end of the second knee pneumatic muscle 30 is fixedly connected to the lower end of the waist joint 2, and the other end is rotatably connected to the second intermediate connecting member 33. One end of the first knee pneumatic muscle 25 is fixedly connected to the lower end of the waist joint 2, and the other end is rotatably connected to the first intermediate connecting member 26;

[0013] The second calf bone 37 is fixedly connected to the first calf bone 36. The fifth transmission wheel 40 is rotatably connected to the second calf bone 37 in the X-axis direction. The sixth transmission wheel 44 is rotatably connected to the second calf bone 37 in the Y-axis direction. The fifth transmission wheel 40 is rotatably connected to the foot 41 through a universal joint;

[0014] One end of the first calf pneumatic muscle 38 and the second calf pneumatic muscle 39 are both fixedly connected to the second calf bone 37, and the other end passes through the fifth transmission wheel 40 in the form of a group of antagonist muscles by combining with ropes. One end of the third calf pneumatic muscle 42 and the fourth calf pneumatic muscle 43 are both fixedly connected to the second calf bone 37, and the other end passes through the sixth transmission wheel 44 in the form of a group of antagonist muscles by combining with ropes.

[0015] Preferably, the displacement sensor 48 is a wire-drawing encoder or a rotary encoder.

[0016] Preferably, the airbag cylinder 12 is selected from the EB series of FESTO Corporation.

[0017] The beneficial effects of the present invention are:

[0018] 1. The present invention combines a linear cylinder and a pneumatic muscle cylinder to take into account both the rigidity and flexibility of the joint, avoiding the situation where the joint cannot adapt to the changing external working environment due to single rigidity or flexibility.

[0019] 2. The pneumatic muscle drive of the pneumatic muscle cylinder used in the present invention has advantages such as a large power / mass ratio, good compliance, and a compact structure.

[0020] 3. The hip joint, knee joint, ankle joint, shoulder joint, elbow joint, wrist joint, and waist joint of the present invention have 1, 1, 2, 1, 1, 2, and 3 degrees of freedom respectively, which can vividly simulate the movements of human joints and help understand the role of each component in joint movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is the overall mechanical structure diagram of the pneumatic transmission robot system;

[0022] Figure 2 is the mechanical structure diagram of the waist joint of the pneumatic transmission robot system;

[0023] Figure 3 is the mechanical structure diagram of the double lower limbs of the pneumatic transmission robot system;

[0024] Figure 4 is the mechanical structure diagram of a single lower limb of the pneumatic transmission robot system;

[0025] Figure 5 is the mechanical structure diagram of the hip joint of the pneumatic transmission robot system;

[0026] Figure 6 is the mechanical structure diagram of the knee joint of the pneumatic transmission robot system;

[0027] Figure 7 is the mechanical structure diagram of the ankle joint of the pneumatic transmission robot system;

[0028] Figure 8 is the block diagram of the control system of the pneumatic transmission robot system;

[0029] In the figure: upper limb joint 1, waist joint 2, lower limb joint 3, left lower limb 3-1, right lower limb 3-2, upper end component one 4, intermediate connecting piece 5, lower end component one 6, lower end component two 7, lower end connecting plate 8, upper end connecting plate 9, upper end component two 10, upper end component three 11, airbag type cylinder 12, lower end component three 13, waist joint cylinder 14, driving wheel one 15, driving wheel two 16, hip pneumatic muscle one 17, hip pneumatic muscle two 18, rope one 19-1, rope two 19-2, driving wheel three 20, pneumatic motor 21, hip joint connecting shaft 22, driving wheel four 23, thigh bone 24, knee joint pneumatic muscle one 25, intermediate connecting piece one 26, connecting rod one 27, connecting rod two 28, side connecting plate 29, knee joint pneumatic muscle two 30, connecting rod three 31, left four-bar mechanism 32, intermediate connecting piece two 33, connecting rod four 34, right four-bar mechanism 35, lower leg bone one 36, lower leg bone two 37, lower leg pneumatic muscle one 38, lower leg pneumatic muscle two 39, driving wheel five 40, foot 41, lower leg pneumatic muscle three 42, lower leg pneumatic muscle four 43, driving wheel six 44, robot joint 45, pneumatic component 46, air pressure sensor 47, displacement sensor 48, data acquisition card 49, computer 50. Detailed implementation mode

[0030] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0031] Embodiment 1: As shown in Figure 1 , 2 , 3, 4, 5, 6, 7, 8, a pneumatic transmission robot system based on a combination of multiple modes includes: upper limb joint 1, waist joint 2, lower limb joint 3, foot joint, and control system. The upper limb joint 1 includes a left upper limb joint and a right upper limb joint with exactly the same structure. The ends of the left upper limb joint and the right upper limb joint are connected to air grippers. The lower limb joint 3 includes a left lower limb 3-1 and a right lower limb 3-2 with exactly the same structure. The foot joint includes a left foot and a right foot with exactly the same structure. The left upper limb joint and the right upper limb joint are respectively fixedly connected to the left and right sides of the top of the waist joint 2. The left lower limb 3-1 and the right lower limb 3-2 are respectively fixedly connected to the left and right sides of the lower end of the waist joint 2. The left lower limb 3-1 and the right lower limb 3-2 are respectively rotatably connected to the left foot and the right foot at the lower end. The structures of the left upper limb joint, the right upper limb joint, the left lower limb 3-1, and the right lower limb 3-2 are exactly the same. Pneumatic components 46 are installed in the upper limb joint 1, the waist joint 2, the lower limb joint 3, and the foot joint. The pneumatic components 46 are connected to the control system.

[0032] As shown in Figure 8As shown in the figure, the control system includes a computer 50, a data acquisition card 49, a pneumatic pressure sensor 47, and a displacement sensor 48. One end of the pneumatic pressure sensor 47 and the displacement sensor 48 is connected to a pneumatic component 46, and the other end is connected to the data acquisition card 49. The data acquisition card 49 communicates bidirectionally with the computer 50, and the pneumatic component 46 is connected to the data acquisition card 49.

[0033] The hip joint, knee joint, ankle joint, shoulder joint, elbow joint, wrist joint, and lumbar joint together constitute the robot joint 45, and the movement of the robot joint 45 is controlled by the pneumatic components 46 inside each of them.

[0034] The structures of the left upper limb joint, right upper limb joint, left lower limb 3-1, and right lower limb 3-2 are exactly the same. Therefore, only the specific connection structure of the left leg joint 3-1 will be described below. The structures and movements of the shoulder joint, elbow joint, and wrist joint are respectively consistent with those of the hip joint, knee joint, and ankle joint. The structures and working principles of the left upper limb joint, right upper limb joint, and right lower limb 3-2 are exactly the same as those of the left leg joint 3-1, and will not be elaborated further.

[0035] As Figure 2 shown, the upper end component one 4, upper end component two 10, and upper end component three 11 are respectively and rotatably connected to the middle connecting piece 5 and the upper end connecting plate 9 at both ends in a parallel connection form. The lower end component one 6, lower end component two 7, and lower end component three 13 are respectively and rotatably connected to the middle connecting piece 5 and the lower end connecting plate 8 at both ends in a parallel connection form.

[0036] The upper end component one 4, upper end component two 10, upper end component three 11, lower end component one 6, lower end component two 7, and lower end component three 13 have exactly the same structure. Taking the structure of the lower end component three 13 as an example, it includes an airbag type cylinder 12 at the upper end and a lumbar joint cylinder 14 at the lower end. The airbag type cylinder 12 is fixedly connected to the lumbar joint cylinder 14. On the middle connecting piece 5, in the order of the upper end component one 4, lower end component one 6, upper end component three 11, lower end component three 13, upper end component two 10, and lower end component two 7, the line segments formed by connecting one component to the adjacent two components are at an angle of 60°. The upper end component one 4, lower end component one 6, upper end component three 11, lower end component three 13, upper end component two 10, and lower end component two 7 together drive the movement along the Z-axis and rotation around the X-axis and Y-axis between the middle connecting piece 5, the upper end connecting plate 9, and the lower end connecting plate 8.

[0037] As Figure 3 、 4As shown in FIGS. 5, 6, and 7, the left lower limb 3-1 and the right lower limb 3-2 are both connected to the lower end connecting plate 8. The housing and the rotating shaft of the pneumatic motor 21 are fixedly connected to the thigh bone 24 and the third transmission wheel 20 respectively. One ends of the first hip pneumatic muscle 17 and the second hip pneumatic muscle 18 are fixedly connected to the first rope 19-1. The first rope 19-1 passes through the third transmission wheel 20, and the other end is fixedly connected to the second rope 19-2. The second rope 19-2 passes through the second transmission wheel 16, the first transmission wheel 15, and the fourth transmission wheel 23. The second transmission wheel 16 and the fourth transmission wheel 23 are both perpendicular to the first transmission wheel 15 and are both rotatably connected to the thigh bone 24. The lower end of the hip joint connecting shaft 22 is fixedly connected to the first transmission wheel 15, and the upper end is fixedly connected to the lower end of the waist joint 2.

[0038] Working mode 1: The pneumatic motor 21 is kept pressurized and does not rotate. The third transmission wheel 20 functions to fix the first hip pneumatic muscle 17 and the second hip pneumatic muscle 18. The first hip pneumatic muscle 17 and the second hip pneumatic muscle 18 drive the relative rotation between the lower end connecting plate 8 and the thigh bone 24 around the Z-axis in the form of a group of antagonistic muscles. Working mode 2: The first hip pneumatic muscle 17 and the second hip pneumatic muscle 18 are in an equal-pressure mode. At this moment, the first hip pneumatic muscle 17 and the second hip pneumatic muscle 18 are integrated with the first rope 19-1 and the second rope 19-2, and only the movement of the pneumatic motor 21 is transmitted to drive the relative rotation between the lower end connecting plate 8 and the thigh bone 24 around the Z-axis. Working mode 3: The pneumatic motor 21, the first hip pneumatic muscle 17, and the second hip pneumatic muscle 18 are all in a working state and drive the relative rotation between the lower end connecting plate 8 and the thigh bone 24 around the Z-axis together.

[0039] One end of the side connecting plate 29 is rotatably connected to the thigh bone 24, and the other end is fixedly connected to the first calf bone 36. Both ends of the first connecting rod 27 are rotatably connected to the first intermediate connecting piece 26 and the thigh bone 24 respectively. Both ends of the second connecting rod 28 are rotatably connected to the first intermediate connecting piece 26 and the side connecting plate 29 respectively. Both ends of the third connecting rod 31 are rotatably connected to the second intermediate connecting piece 33 and the thigh bone 24 respectively. Both ends of the fourth connecting rod 34 are rotatably connected to the second intermediate connecting piece 33 and the side connecting plate 29 respectively. The left four-bar mechanism 32 includes the first connecting rod 27, the second connecting rod 28, the third connecting rod 31, and the fourth connecting rod 34. The right four-bar mechanism 35 has the same structure as the left four-bar mechanism 32. The left four-bar mechanism 32 and the right four-bar mechanism 35 are connected by the second intermediate connecting piece 33 and the first intermediate connecting piece 26 in the front and back. One end of the second knee pneumatic muscle 30 is fixedly connected to the lower end connecting plate 8, and the other end is rotatably connected to the second intermediate connecting piece 33. One end of the first knee pneumatic muscle 25 is fixedly connected to the lower end connecting plate 8, and the other end is rotatably connected to the first intermediate connecting piece 26.

[0040] The pneumatic muscle two 30 of the knee joint and the pneumatic muscle one 25 of the knee joint are combined with the left four-bar mechanism 32 and the right four-bar mechanism 35 to drive the relative rotation of the side connecting plate 29 and the femur 24 about the Y-axis.

[0041] The calf bone two 37 is fixedly connected to the calf bone one 36. The transmission wheel five 40 is rotatably connected to the calf bone two 37 in the X-axis direction, and the transmission wheel six 44 is rotatably connected to the calf bone two 37 in the Y-axis direction. The transmission wheel five 40 is rotatably connected to the foot 41 through a universal joint. In the initial position, the two ends of the universal joint are respectively along the X-axis and the Z-axis; the transmission wheel six 44 is rotatably connected to the foot 41 through a universal joint. In the initial position, the two ends of the universal joint are respectively along the Y-axis and the Z-axis.

[0042] One end of the calf pneumatic muscle one 38 and the calf pneumatic muscle two 39 are both fixedly connected to the calf bone two 37, and the other end is combined with a rope and passes through the transmission wheel five 40 in the form of a group of antagonistic muscles. One end of the calf pneumatic muscle three 42 and the calf pneumatic muscle four 43 are both fixedly connected to the calf bone two 37, and the other end is combined with a rope and passes through the transmission wheel six 44 in the form of a group of antagonistic muscles.

[0043] The calf pneumatic muscle one 38, the calf pneumatic muscle two 39, the calf pneumatic muscle three 42, and the calf pneumatic muscle four 43 together drive the foot 41 to rotate about the X-axis and the Y-axis relative to the calf bone two 37.

[0044] In summary, the pneumatic components 46 include the airbag type cylinder 12, the waist joint cylinder 14, the hip joint pneumatic muscle one 17, the hip joint pneumatic muscle two 18, the pneumatic motor 21, the knee joint pneumatic muscle one 25, the knee joint pneumatic muscle two 30, the calf pneumatic muscle one 38, the calf pneumatic muscle two 39, the calf pneumatic muscle three 42, and the calf pneumatic muscle four 43. For the convenience of installation and implementation, the hip joint pneumatic muscle one 17, the hip joint pneumatic muscle two 18, the knee joint pneumatic muscle one 25, the knee joint pneumatic muscle two 30, the calf pneumatic muscle one 38, the calf pneumatic muscle two 39, the calf pneumatic muscle three 42, and the calf pneumatic muscle four 43 are preferably selected from the DMSP series of FESTO company.

[0045] Furthermore, considering factors such as the light weight, reliability, and small external interference of the components, the displacement sensor 48 of the pneumatic component 46 with linear drive preferably selects a wire-pulling encoder, and the displacement sensor 48 of the pneumatic component 46 with rotary drive preferably selects a rotary encoder, which can be selected according to the actual working conditions.

[0046] Furthermore, to reduce the weight of the system while ensuring its stiffness, the materials of the intermediate connecting member 5, lower end connecting plate 8, upper end connecting plate 9, first driving wheel 15, second driving wheel 16, third driving wheel 20, hip joint connecting shaft 22, fourth driving wheel 23, thigh bone 24, first intermediate connecting member 26, first connecting rod 27, second connecting rod 28, side connecting plate 29, third connecting rod 31, second intermediate connecting member 33, fourth connecting rod 34, right four-bar mechanism 35, first calf bone 36, second calf bone 37, fifth driving wheel 40, foot 41, and sixth driving wheel 44 are aluminum alloy.

[0047] The working principle of the present invention is as follows: As Figure 8 shown, the computer 50 controls the pneumatic components 46 through the data acquisition card 49, and their combined motion is manifested as the motion of the robot joint 45. The state of each pneumatic component 46 is detected by the air pressure sensor 47 and the displacement sensor 48 respectively. The data detected by the air pressure sensor 47 and the displacement sensor 48 are fed back to the computer 50 through the data acquisition card 49. The computer 50 continuously adjusts the issued instructions according to the feedback of the data acquisition card 49, and finally makes the action of the robot joint 45 consistent with the issued instructions.

[0048] In the present invention, by controlling the pneumatic components 46 of each robot joint 45, the control of the pose of the pneumatic transmission robot is realized, and accurate trajectory control can be dynamically and vividly achieved. The present invention has advantages that cannot be compared with other pneumatic transmission robots. The present invention is driven by pneumatic muscles and cylinders, and has the characteristics of compact structure, combination of rigidity and flexibility, and good explosion-proof performance, and can be used for teaching demonstrations, conference exhibitions, exhibition greetings and other services.

[0049] The above-described embodiments are only one of the more preferred specific embodiments of the present invention. The ordinary changes 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 pneumatic drive robot system based on a combination of multiple modes, characterized in that, Comprising: Upper limb joints (1), lumbar joint (2), lower limb joints (3), foot joints, and a control system. The upper limb joints (1) include a left upper limb joint and a right upper limb joint with identical structures. The ends of the left upper limb joint and the right upper limb joint are connected to a pneumatic gripper. The lower limb joints (3) include a left lower limb (3-1) and a right lower limb (3-2) with identical structures. The foot joints include a left foot and a right foot with identical structures. The left upper limb joint and the right upper limb joint are respectively fixedly connected to the left and right sides of the top of the lumbar joint (2). The left lower limb (3-1) and the right lower limb (3-2) are respectively fixedly connected to the left and right sides of the lower end of the lumbar joint (2). The left lower limb (3-1) and the right lower limb (3-2) are respectively rotatably connected to the left foot and the right foot at the lower end. The structures of the left upper limb joint, the right upper limb joint, the left lower limb (3-1), and the right lower limb (3-2) are completely identical. Pneumatic components (46) are installed in the upper limb joints (1), lumbar joint (2), lower limb joints (3), and foot joints. The pneumatic components (46) are connected to the control system. In the lumbar joint (2), the upper component one (4), upper component two (10), and upper component three (11) are respectively rotatably connected to the middle connecting piece (5) and the upper connecting plate (9) at both ends in a parallel connection form. The lower component one (6), lower component two (7), and lower component three (13) are respectively rotatably connected to the middle connecting piece (5) and the lower connecting plate (8) at both ends in a parallel connection form. The upper component one (4), upper component two (10), upper component three (11), lower component one (6), lower component two (7), and lower component three (13) have identical structures. The lower component three (13) includes an airbag type cylinder (12) at the upper end and a lumbar joint cylinder (14) at the lower end. The airbag type cylinder (12) is fixedly connected to the lumbar joint cylinder (14). On the middle connecting piece (5), in the order of the upper component one (4), lower component one (6), upper component three (11), lower component three (13), upper component two (10), and lower component two (7), the line segments formed by connecting one component to the adjacent two components are at an angle of 60°. The left upper limb joint and the right upper limb joint are respectively fixedly connected to the left and right sides of the upper connecting plate (9). The left lower limb (3-1) and the right lower limb (3-2) are respectively fixedly connected to the left and right sides of the lower connecting plate (8).

2. The pneumatic drive robot system based on a combination of multiple modes according to claim 1, characterized in that, The said control system includes a computer (50), a data acquisition card (49), a pressure sensor (47), and a displacement sensor (48). One end of the pressure sensor (47) and the displacement sensor (48) is connected to the pneumatic component (46), and the other end is connected to the data acquisition card (49). The data acquisition card (49) communicates bidirectionally with the computer (50). The pneumatic component (46) is connected to the data acquisition card (49).

3. The pneumatic drive robot system based on a combination of multiple modes according to claim 1 or 2, characterized in that, In the left lower limb (3-1) and the left foot, the housing and the rotating shaft of the pneumatic motor (21) are fixedly connected to the thigh bone (24) and the third transmission wheel (20) respectively. One end of the first hip pneumatic muscle (17) and the second hip pneumatic muscle (18) is fixedly connected to the first rope (19-1). The first rope (19-1) passes through the third transmission wheel (20) and the fourth transmission wheel 23, and the other end is fixedly connected to the second rope (19-2). The second rope (19-2) passes through the second transmission wheel (16), the first transmission wheel (15), and the fourth transmission wheel (23). The second transmission wheel (16) and the fourth transmission wheel (23) are both perpendicular to the first transmission wheel (15) and are both rotatably connected to the thigh bone (24). The lower end of the hip joint connecting shaft (22) is fixedly connected to the first transmission wheel (15), and the upper end is fixedly connected to the lower end of the waist joint (2); One end of the side connecting plate (29) is rotatably connected to the thigh bone (24), and the other end is fixedly connected to the first lower leg bone (36). Both ends of the first connecting rod (27) are rotatably connected to the first intermediate connecting piece (26) and the thigh bone (24) respectively. Both ends of the second connecting rod (28) are rotatably connected to the first intermediate connecting piece (26) and the side connecting plate (29) respectively. Both ends of the third connecting rod (31) are rotatably connected to the second intermediate connecting piece (33) and the thigh bone (24) respectively. Both ends of the fourth connecting rod (34) are rotatably connected to the second intermediate connecting piece (33) and the side connecting plate (29) respectively. The left four-bar mechanism (32) includes the first connecting rod (27), the second connecting rod (28), the third connecting rod (31), and the fourth connecting rod (34). The right four-bar mechanism (35) has the same structure as the left four-bar mechanism (32). The left four-bar mechanism (32) and the right four-bar mechanism (35) are connected by the second intermediate connecting piece (33) and the first intermediate connecting piece (26) respectively before and after. One end of the second knee pneumatic muscle (30) is fixedly connected to the lower end of the waist joint (2), and the other end is rotatably connected to the second intermediate connecting piece (33). One end of the first knee pneumatic muscle (25) is fixedly connected to the lower end of the waist joint (2), and the other end is rotatably connected to the first intermediate connecting piece (26); The second lower leg bone (37) is fixedly connected to the first lower leg bone (36). The fifth transmission wheel (40) is rotatably connected to the second lower leg bone (37) in the X-axis direction. The sixth transmission wheel (44) is rotatably connected to the second lower leg bone (37) in the Y-axis direction. The fifth transmission wheel (40) is rotatably connected to the foot (41) through a universal joint; One end of the first lower leg pneumatic muscle (38) and the second lower leg pneumatic muscle (39) is fixedly connected to the second lower leg bone (37), and the other end passes through the fifth transmission wheel (40) in the form of a pair of antagonistic muscles by combining ropes. One end of the third lower leg pneumatic muscle (42) and the fourth lower leg pneumatic muscle (43) is fixedly connected to the second lower leg bone (37), and the other end passes through the sixth transmission wheel (44) in the form of a pair of antagonistic muscles by combining ropes.

4. The pneumatic drive robot system based on a combination of multiple modes according to claim 2, characterized in that, The displacement sensor (48) is a wire-pulling encoder or a rotary encoder.

5. The pneumatic drive robot system based on a combination of multiple modes according to claim 1, characterized in that, The airbag cylinder (12) is selected from the EB series of FESTO company.

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