A hydraulic skeletal muscle cooperatively driven mechanical arm and its testing device and control method

Abstract

The invention relates to the technical field of bionic skeletal muscle driver testing, in particular to a hydraulic skeletal muscle cooperative driving mechanical arm and a testing device and a control method thereof, comprising: a supporting frame, a hydraulic mechanical arm, an inertial sensor, a driving unit and a computer unit. The invention uses a lithium battery in the driving unit to supply power to a pump, a control module and a valve, and a control panel controls the switching of three valves to complete power outputs of different combinations, controls the contraction movement of three skeletal muscles of the hydraulic mechanical arm, thereby completing the bending and twisting posture of the arm. At the same time, the inertial sensor transmits a signal to the computer unit to complete the information collection of the hydraulic skeletal muscle cooperative driving of the hydraulic mechanical arm, and compares and analyzes the motion parameters of a human arm to complete the bionic design of a human arm. The invention uses liquid as a driving medium, drives the bionic skeletal muscle through a combination of low-pressure liquids, simulates the motion of an arm joint, and tests its motion performance.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic skeletal muscle driver testing, in particular to a hydraulic skeletal muscle cooperatively driven mechanical arm and a testing device and a control method thereof. Background Art

[0002] In the fields of industrial automation and medical care, the application of simulated robotic arms has been widespread. However, traditional robotic arms have not yet been fully developed and applied in terms of the application of hydraulic skeletal muscle collaborative drive technology. The control methods of traditional robotic arms often rely on pre-set paths and force feedback, and are unable to achieve highly simulated and precise collaboration with human movements.

[0003] Currently, there is no comprehensive and effective robotic arm solution for the research and application of hydraulic skeletal muscle collaborative drive technology that can achieve highly dynamic response and flexible adjustment of external forces. In addition, existing test devices and control methods often lack special optimization and integration for hydraulic skeletal muscle collaborative drive robotic arms. Therefore, there is an urgent need for a new type of hydraulic skeletal muscle collaborative drive robotic arm and its test device and control method to make up for the shortcomings of the existing technology and achieve highly simulated and precise collaboration of human movements. Summary of the invention

[0004] The purpose of the present invention is to provide a hydraulic skeletal muscle cooperatively driven robotic arm and its testing device and control method, which controls the contraction of skeletal muscles on the hydraulic robotic arm through the cooperation of a two-position three-way reversing valve and a solenoid valve to complete the bending and rotation of the hydraulic robotic arm to solve the above problems.

[0005] To achieve the above purpose, the following technical solution is provided: a hydraulic skeletal muscle cooperatively driven mechanical arm, comprising: a support frame, a hydraulic mechanical arm, an inertial sensor, a drive unit and a computer unit, wherein the drive unit is arranged on one side of the support frame, and the drive unit is provided with a two-position three-way reversing valve, and the two-position three-way reversing valve controls the hydraulic mechanical arm to perform bending and rotational movements, the upper end of the hydraulic mechanical arm is fixedly connected to the support frame, the lower end of the hydraulic mechanical arm is electrically connected to the inertial sensor, and the inertial sensor is fixed to the hand model by bolts, the inertial sensor measures the angle, angular velocity and acceleration of the hydraulic mechanical arm during movement, and transmits the collected signal to the computer unit, and the computer unit calculates and displays the output result.

[0006] Preferably, the hydraulic robotic arm comprises: a humerus, a radius, an ulna, a rod end joint bearing, a straight rod ball joint bearing, a biceps brachii, a pronator teres, a supinator teres and a hand model, wherein the upper end of the humerus is fixedly connected to a support frame; one side of the lower end of the humerus is movably connected to the radius through a straight rod ball joint bearing, and the other side of the lower end of the humerus is movably connected to the ulna through a rod end joint bearing, and the ulna moves in an arc with the rod end joint bearing as an axis, and the lower end of the radius and the lower end of the ulna are movably connected through the rod end joint bearing, and the radius rotates around the ulna with the rod end joint bearing as an axis.

[0007] Preferably, one end of the biceps brachii is connected to the upper end of the humerus, and the other end is connected to the upper end of the radius, and the contraction of the biceps brachii drives the lower arm of the hydraulic mechanical arm to lift; one end of the pronator teres is connected to the lower end of the humerus, and the other end is connected to the middle of the radius and the middle of the ulna; one end of the supinator muscle is connected to the lower end of the humerus, and the other end is connected to the middle of the radius, and the contraction of the supinator muscle and the pronator teres muscles drives the radius in the lower arm of the hydraulic mechanical arm to rotate around the ulna; the hand model is bonded and fixed to the bottom of the radius.

[0008] Preferably, the biceps brachii, pronator teres, supinator muscle and hand model are all made of flexible soft silicone material, and a nylon braided mesh hose is provided inside the biceps brachii, pronator teres and supinator muscle. When liquid is transported to the hose, the nylon braided mesh hose expands laterally and contracts in length, driving the biceps brachii, pronator teres and supinator muscle to contract in length.

[0009] Preferably, the driving unit comprises a casing, a lithium battery, an infrared remote control device, a pump, an overflow valve, a cross four-way one, a spring one-way valve, a water pressure gauge, a reducer, a cross four-way two, a two-position three-way reversing valve and a control module. The casing is made of waterproof material, and the interior of the casing contains the liquid required by the test device. Except for the casing, the other components of the driving unit are arranged on the upper part of the casing. The water inlet of the pump is connected to the casing through a conduit, and the liquid outlet of the pump is connected to the cross four-way one. The cross four-way one is connected to the overflow valve, the water pressure gauge and the spring one-way valve through a conduit. The other end of the spring one-way valve is connected to the reducer through a conduit. The reducer The other end of the head is connected to the cross four-way two through a conduit, and the cross four-way two is connected to three two-position three-way reversing valves through a conduit, and the two-position three-way reversing valves are respectively reversing valve one, reversing valve two and reversing valve three, and the two-position three-way reversing valve has a liquid outlet one and a liquid outlet two, and the liquid outlet one of the three two-position three-way reversing valves is connected through the cross four-way two and then leads into the box body, and the liquid outlet two of the three two-position three-way reversing valves are respectively connected to the biceps brachii, the pronator teres and the supinator posterior through a conduit, the lithium battery supplies power to the pump and the control module, the two-position three-way reversing valve changes the flow direction of the liquid, and the control module controls the combined reversing of the two-position three-way reversing valve.

[0010] Preferably, the control module includes: a single-chip microcomputer, an electromagnetic relay and an infrared control module. The single-chip microcomputer controls the attraction of the electromagnetic relay; the electromagnetic relay produces a magnetic attraction on the valve body in the two-position three-way reversing valve to reverse the valve body. The infrared control module is used in conjunction with an infrared remote control device to receive remote signals and transmit them to the single-chip microcomputer to control the bending and rotation of the hydraulic robotic arm.

[0011] The present invention also provides a testing device for a hydraulic skeletal muscle cooperatively driven mechanical arm, wherein the testing device comprises a wireless transmission module, and the wireless transmission module is arranged on an inertial sensor.

[0012] The present invention also provides a control method for hydraulic skeletal muscle cooperatively driving a hydraulic manipulator arm, comprising the following steps:

[0013] The pump sucks the liquid in the box through the conduit, and after pressurization, pumps the liquid into the overflow valve, the water pressure gauge and the spring check valve through the cross four-way one. When the liquid is pumped into the overflow valve, when the pressure is greater than the threshold, the overflow valve is turned on to discharge the liquid into the box. The liquid is pumped into the water pressure gauge to display the current working pressure. After the liquid is pumped into the spring check valve, it is pumped into the reversing valve one, the reversing valve two and the reversing valve three through the cross four-way two to control the contraction movement of the biceps brachii, the pronator teres and the supinator teres respectively.

[0014] When the hydraulic mechanical arm needs to be bent, by pressing the bending key of the infrared remote control device, the infrared remote control device sends a control signal to the single chip microcomputer, and the single chip microcomputer controls the corresponding electromagnetic relay to be attracted after receiving the control signal, so as to change the direction of liquid outflow from the reversing valve, and transport the liquid to the biceps brachii. The liquid flowing into the biceps brachii expands laterally and contracts in length, driving the hydraulic mechanical arm to bend;

[0015] When the hydraulic manipulator arm needs to rotate, by pressing the rotation key of the infrared remote control device, the infrared remote control device sends a control signal to the single-chip microcomputer. After receiving the control signal, the single-chip microcomputer controls the corresponding electromagnetic relay to be attracted, changes the liquid outflow direction of the reversing valve 2 and the reversing valve 3, and delivers the liquid to the pronator teres and the supinator muscle respectively. The liquid flowing into the pronator teres and the supinator muscle expands laterally and contracts in length, driving the hydraulic manipulator arm to rotate;

[0016] When the hydraulic robotic arm needs to bend and rotate, by pressing the bend+rotate button of the infrared remote control device, the infrared remote control device sends a control signal to the single-chip microcomputer. After receiving the control signal, the single-chip microcomputer controls the corresponding electromagnetic relay to energize, thereby changing the liquid outflow direction of the reversing valve one, reversing valve two and reversing valve three, and delivering the liquid to the biceps brachii, pronator teres and supinator muscle respectively. The liquid flowing into the biceps brachii, pronator teres and supinator muscle expands laterally and contracts in length, thereby driving the hydraulic robotic arm to bend and rotate.

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

[0018] 1. The present invention supplies power to the pump, control module and electromagnetic relay through the lithium battery in the driving unit. The control module controls the opening and closing state of the electromagnetic relay, controls the switch of three two-position three-way reversing valves through magnetic attraction, completes the power output of different combinations, controls the contraction movement of three skeletal muscles of the hydraulic mechanical arm, thereby completing the bending and twisting posture of the arm. At the same time, the inertial sensor transmits the bending and twisting posture signal of the arm to the computer unit, completes the information collection of the hydraulic skeletal muscle cooperative driving of the hydraulic mechanical arm, and compares and analyzes with the movement parameters of the human arm to complete the bionic design of the human arm;

[0019] 2. The present invention adopts a straight rod ball joint bearing to connect the humerus and the radius, completing the ball joint bionics between the humerus and the radius, adopts a rod end joint bearing to connect the humerus and the ulna, completing the rotational pair bionics between the humerus and the ulna, adopts a rod end joint bearing to connect the radius and the ulna, completing the rotational pair bionics between the radius and the ulna, and the driving unit pumps the biceps brachii, the pronator teres and the supinator muscles to complete their contraction movement, driving the lower end of the hydraulic mechanical arm to complete the bending and twisting of the arm;

[0020] 3. The present invention can use liquid water as the working medium to complete low-pressure driving and meet the pressure requirements of the skeletal muscle with a nylon braided mesh hose. By changing the pressure of the overflow valve and closing different combinations of electromagnetic relays in the control module, the combined bending and torsion tests of the hydraulic robot arm under different pressures can be completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall assembly of the present invention;

[0022] Figure 2 It is a schematic diagram of the hydraulic mechanical arm of the present invention;

[0023] Figure 3 This is a schematic diagram of the connection between the humerus, radius and ulna of the hydraulic manipulator arm of the present invention;

[0024] Figure 4 It is a schematic diagram of the connection between the radius, ulna and hand model of the hydraulic manipulator arm of the present invention;

[0025] Figure 5 It is a lateral schematic diagram of the connection between the humerus, radius and ulna of the hydraulic manipulator arm of the present invention;

[0026] Figure 6 It is a schematic diagram of the internal hoses of the biceps brachii, pronator teres and supinator muscles of the hydraulic mechanical arm of the present invention;

[0027] Figure 7 is a schematic diagram of a driving unit of the present invention;

[0028] Figure 8 The driving unit control module of the present invention is shown in FIG. Figure 1 ;

[0029] Fig. 9 It is a schematic diagram of the hydraulic system of the present invention;

[0030] Fig.10 It is a connection schematic diagram of a two-position three-way reversing valve of the present invention;

[0031] In the figure:

[0032] 1. Support frame,

[0033] 2. Hydraulic robot arm, 201. Humerus, 202. Rod end joint bearing, 203. Straight rod ball joint bearing, 204. Radius, 205. Ulna, 206. Biceps, 207. Pronator, 208. Supinator, 209. Hand model, 210. Hose, 211. Nylon braided mesh,

[0034] 3. Inertial sensors,

[0035] 4. Drive unit, 401. Box, 402. Lithium battery, 403. Infrared remote control device, 404. Pump, 405. Overflow valve, 406. Cross four-way one, 407. Spring check valve, 408. Water pressure gauge, 409. Reducer, 410. Cross four-way two, 411. Two-position three-way reversing valve, 4111. Reversing valve one, 4112. Reversing valve two, 4113. Reversing valve three, 4114. Liquid outlet one, 4115. Liquid outlet two, 4116. Water inlet, 412. Control module, 4121. Single chip microcomputer, 4122. Electromagnetic relay, 4123. Infrared control module,

[0036] 5. Computer unit. DETAILED DESCRIPTION

[0037] The technical solutions of the structural diagrams in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0038] According to the following Figure 1-10 A hydraulic-skeletal-muscle cooperatively driven robotic arm and a testing device and control method thereof according to an embodiment of the present invention are described in detail.

[0039] like Figure 1-7As shown, the embodiment of the present invention discloses a hydraulic skeletal muscle cooperative drive mechanical arm and a test device thereof, comprising: a support frame 1, a hydraulic mechanical arm 2, an inertial sensor 3, a drive unit 4 and a computer unit 5, wherein the drive unit 4 is arranged on one side of the support frame 1, and the drive unit 4 is provided with a two-position three-way reversing valve 411, and the drive unit 4 is powered by a lithium battery 402, and the switch state controlled by the battery relay controls the two-position three-way reversing valve 411 to adjust the liquid outlet, when the skeletal muscle of the hydraulic mechanical arm 2 is supplied with liquid, the hydraulic mechanical arm 2 bends and rotates, the upper end of the hydraulic mechanical arm 2 is fixedly connected to the support frame 1, so that the hydraulic mechanical arm 2 remains stable during operation, the lower end of the hydraulic mechanical arm 2 is electrically connected to the inertial sensor 3, the inertial sensor 3 measures the angle, angular velocity and acceleration of the hydraulic mechanical arm 2 during movement, and transmits the collected signal to the computer unit 5, the computer unit 5 calculates the received data and displays the output result, in the present invention, the upper arm of the hydraulic mechanical arm 2 is fixed, and the lower arm of the hydraulic mechanical arm 2 bends and rotates.

[0040] In some embodiments, the hydraulic manipulator 2 includes a humerus 201, a radius 204, an ulna 205, a rod end joint bearing 202, a straight rod ball joint bearing 203, a biceps 206, a pronator 207, a supinator 208 and a hand model 209. The upper end of the humerus 201 is fixedly connected to the support frame 1 by bolts, and the lower end of the humerus 201 is connected to the radius 204 and the ulna 205. When connecting the radius 204, a threaded hole is set at the lower end of the humerus 201, and the threaded end of the straight rod ball joint bearing 203 is screwed into the humerus 201. A threaded hole is set at the upper end of the radius 204, and the other end of the straight rod ball joint bearing 203 is connected to the support frame 1. The stud is then screwed into the radius 204. When connecting the ulna 205, a groove for placing the rod end joint bearing 202 is set at the lower end of the humerus 201, a through hole is set at the end of the groove close to the outside, and a threaded hole is set at the end of the groove close to the inside. One side of the bearing in the rod end joint bearing 202 is placed in the groove, and then a bolt is passed through the through hole and screwed into the threaded hole to fix the rod end joint bearing 202. A threaded hole is set at the upper end of the ulna 205, and the threaded end of the rod end joint bearing 202 is screwed into the ulna 205. The bending and rotation functions of the lower arm of the hydraulic robot arm 2 are controlled through the connection between the humerus 201, the radius 204 and the ulna 205.

[0041] In some embodiments, the lower ends of the radius 204 and the ulna 205 are connected through a rod end bearing 202, a threaded hole is set on the side of the lower end of the radius 204, the threaded end of the rod end bearing 202 is screwed into the radius 204, a threaded hole is set at the lower end of the ulna 205, and then a bolt is passed through the rod end bearing 202 and screwed into the ulna 205 to complete the fixation of the rod end bearing 202. The connection between the radius 204 and the ulna 205 assists the radius 204 in the lower arm of the hydraulic robotic arm 2 to rotate around the ulna 205.

[0042] In some embodiments, the biceps 206 is connected to the humerus 201 at one end and to the radius 204 at the other end via a bolt, and is used to drive the bending of the lower arm of the hydraulic robotic arm 2 .

[0043] In some embodiments, the pronator 207 is connected to the humerus 201 at one end by a bolt, and is connected to the radius 204 and the ulna 205 at the other end. The supinator 208 is connected to the humerus 201 at one end by a bolt, and is connected to the radius 204 at the other end. The contraction of the supinator 208 drives the radius 204 in the lower arm of the hydraulic robotic arm 2 to rotate around the ulna 205.

[0044] In some embodiments, the hand model 209 is connected to the radius 204 by gluing.

[0045] In some embodiments, the biceps 206, pronator 207, supinator 208 and hand model 209 are all made of fully flexible soft silicone material, and are provided with a hose 210 with a nylon woven mesh 211 inside. When liquid is transported to the hose 210, the inside of the hose 210 is squeezed and expanded by the liquid and its length is reduced, completing the contraction function of the biceps 206, pronator 207 and supinator 208, driving the bending and rotation of the hydraulic robotic arm 2.

[0046] In some embodiments, the drive unit 4 controls the switches of three two-position three-way reversing valves 411 through the electromagnetic relay 4122 to adjust the direction of liquid flow, and controls the biceps 206, pronator 207 and supinator 208 of the hydraulic robotic arm 2 to perform contraction movement. The lower end of the hydraulic robotic arm 2 is electrically connected to the inertial sensor 3 for measuring the motion parameters of the hydraulic robotic arm 2, and the collected signals are displayed in the computer unit 5.

[0047] In some embodiments, the drive unit 4 includes a box 401, a lithium battery 402, an infrared remote control device 403, a pump 404, an overflow valve 405, a cross four-way 1 406, a spring check valve 407, a water pressure gauge 408, a reducer 409, a cross four-way 2 410, a two-position three-way reversing valve 411 and a control module 412. The box 401 is formed by bonding a waterproof sheet material. The interior of the box 401 is used to carry the liquid required by the test device. The upper part of the box 401 is fixed with the components required for the test device by bolts and adhesives; the water inlet 4116 is connected to the reversing valve 1 4111, and the reversing valve 1 4111 introduces the liquid into the box 401 through the liquid outlet 1 4114, the liquid outlet of the pump 404 is connected to the cross four-way 1 406, and the other three joints of the cross four-way 1 406 are respectively connected to the overflow valve 405, the water pressure gauge 408 and the spring The one-way valve 407 is used to prevent liquid backflow. The other end of the spring one-way valve 407 is connected to the reducer 409 through a conduit. The other end of the reducer 409 is connected to the cross four-way 2 410 through a conduit. The other three joints of the cross four-way 2 410 are respectively connected to three two-position three-way reversing valves 411 through conduits. The two-position three-way reversing valves 411 are respectively reversing valve 1 4111, reversing valve 2 4112, reversing valve 2 4113, reversing valve 2 4114, reversing valve 2 4115, reversing valve 2 4116, reversing valve 2 4117, reversing valve 2 4118, reversing valve 2 4119, reversing valve 2 4120, reversing valve 2 4121, reversing valve 2 4122, reversing valve 2 4123, reversing valve 2 4124, reversing valve 2 4125, reversing valve 2 4126, reversing valve 2 4127, reversing valve 2 4128, reversing valve 2 4129, reversing valve 2 4130, reversing valve 2 4131, reversing valve 2 4132, reversing valve 2 4133, reversing valve 2 4134, reversing valve 2 4135, reversing valve 2 4136, reversing valve 2 4137, reversing valve 2 4138, reversing valve 2 4139, reversing valve 2 4140, reversing valve 2 Valve two 4112 and reversing valve three 4113, the two-position three-way reversing valve 411 has a liquid outlet one 4114 and a liquid outlet two 4115, the liquid outlet one 4114 of the three two-position three-way reversing valves 411 is connected through a cross four-way two 410 and then leads into the box body 401, and the liquid outlet two 4115 of the three two-position three-way reversing valves 411 is connected to the biceps brachii 206, the pronator teres 207 and the supinator teres 208 through catheters respectively.

[0048] In some embodiments, the lithium battery 402 powers the pump 404, the two-position three-way reversing valve 411 and the control module 412, the spring check valve 407 is used to prevent liquid backflow, the overflow valve 405 is used to maintain the pressure of the water pressure system, the water pressure gauge 408 is used to detect the pressure of the water pressure system, the two-position three-way reversing valve 411 is used to change the flow direction of the liquid to complete the contraction and extension movement of the skeletal muscles, and the control module 412 is used to control the combined reversing of multiple two-position three-way reversing valves 411.

[0049] In some embodiments, the control module 412 includes a single-chip microcomputer 4121, an electromagnetic relay 4122 and an infrared control module 4123. The single-chip microcomputer 4121 is used to control the attraction of the electromagnetic relay 4122; the infrared control module 4123 is used in conjunction with the infrared remote control device 403 to remotely transmit signals to the single-chip microcomputer 4121 to complete the bending and rotation of the hydraulic robotic arm 2.

[0050] In some embodiments, the inertial sensor 3 is fixed to the hand model 209 by bolts, and is used to measure the angle, angular velocity and acceleration signals during the movement of the hydraulic robotic arm 2, and transmit the measurement data to the computer unit 5. The computer unit 5 can display the output results and analyze them. The computer unit displays the output results and compares and analyzes them with the human arm movement parameters.

[0051] Embodiment 1: An embodiment of the present invention is provided, wherein the pump 404 sucks the liquid contained in the box 401 through the conduit, and after pressurization, it is divided into three paths through a cross-shaped four-way joint 406, and the liquid pump 404 in the box 401 is respectively pumped into the overflow valve 405, the water pressure gauge 408 and the spring check valve 407. When the liquid pump 404 enters the overflow valve 405, the pressure regulation of the overflow valve 405 ensures the highest pressure of the system. When the pressure is greater than the threshold value, the overflow valve 405 is turned on to discharge the water into the box 401. When the liquid pump 404 enters the water pressure gauge 408, it is used to display the current working pressure. The liquid is pumped into the spring one-way valve 407 by the force, and then flows into three two-position three-way reversing valves 411 through the cross four-way two 410: reversing valve one 4111, reversing valve two 4112 and reversing valve three 4113, which respectively control the contraction movement of the biceps brachii 206, the pronator teres 207 and the supinator 208. When the hydraulic robot arm 2 does not need to bend and rotate, the electromagnetic relays 4122 are all turned on, and the liquid in the corresponding three two-position three-way reversing valves 411 flows out through the liquid outlet one 4114, and then is collected in another cross four-way two 410 and flows into the box body 401.

[0052] Embodiment 2: An embodiment of the present invention is provided. When the hydraulic robot arm 2 needs to be bent, by pressing the bending key of the infrared remote control device 403, the infrared remote control device sends a control signal to the single-chip computer 4121. After receiving the control signal, the single-chip computer 4121 controls the designated electromagnetic relay 4122 to be attracted. The attracted electromagnetic relay 4122 generates a magnetic force to act on the reversing valve 1 4111, and changes the outflow direction of the liquid from the reversing valve 1 4111 to the liquid outlet 2 4115, and transports the liquid to the biceps 206. After the liquid flows into the biceps 206, the hose 210 of the biceps 206 expands laterally to shrink its length. After the biceps 206 expands, its length shrinks. The contraction of the biceps 206 drives the humerus 201 and the ulna 205 to make a circular motion with the rod end joint bearing 202 as the axis, thereby completing the bending of the hydraulic robot arm 2.

[0053] Embodiment 3: An embodiment of the present invention is provided. When the hydraulic robot arm 2 needs to rotate, by pressing the rotation key of the infrared remote control device 403, the infrared remote control device sends a control signal to the single-chip computer 4121. After receiving the control signal, the single-chip computer 4121 controls the designated electromagnetic relay 4122 to be attracted. The attracted electromagnetic relay 4122 generates a magnetic force to act on the reversing valve 2 4112 and the reversing valve 3 4113, and changes the liquid outflow direction of the reversing valve 2 4112 and the reversing valve 3 4113 to the liquid outlet 2 4115, and transports the liquid to the pronator 207 and the supinator 208 respectively. After the liquid flows into the pronator 207 and the supinator 208, the hose 210 of the pronator 207 and the supinator 208 expands laterally to shrink in length. The contraction of the pronator 207 and the supinator 208 drives the radius 204 to rotate with the ulna 205 as the axis through the rod end joint bearing 202, thereby completing the rotation of the hydraulic robot arm 2.

[0054] Embodiment 4: An embodiment of the present invention is provided. When the hydraulic manipulator arm 2 needs to bend and rotate, by pressing the bend+rotate key of the infrared remote control device 403, the infrared remote control device sends a control signal to the single-chip microcomputer 4121. After receiving the control signal, the single-chip microcomputer 4121 controls the designated electromagnetic relay 4122 to be attracted. The attracted electromagnetic relay 4122 generates a magnetic force to produce a magnetic attraction to the reversing valve 1 4111, the reversing valve 2 4112 and the reversing valve 3 4113, thereby changing the liquid outflow direction of the reversing valve 1 4111, the reversing valve 2 4112 and the reversing valve 3 4113 to the liquid outlet 2 4115, and respectively transporting the liquid to the arm 2. The biceps 206, the pronator 207 and the supinator 208, the hose 210 in the biceps 206, the pronator 207 and the supinator 208 expands laterally, and the hose 210 contracts in the length direction after the transverse expansion, driving the biceps 206, the pronator 207 and the supinator 208 to contract, and the contraction of the biceps 206 drives the humerus 201 and the ulna 205 to make circular motion with the rod end joint bearing 202 as the axis, so that the hydraulic robot arm 2 bends, and the contraction of the pronator 207 and the supinator 208 drives the radius 204 to rotate with the ulna 205 as the axis through the rod end joint bearing 202, completing the bending and rotation of the hydraulic robot arm 2.

[0055] When the hydraulic robotic arm 2 bends and rotates, the inertial sensor 3 collects the three-axis angle, three-axis angular velocity and three-axis acceleration signals of the hydraulic robotic arm 2 during the movement, and transmits them to the computer unit 5. The computer unit 5 can display the output results, complete the information collection of the hydraulic skeletal muscle collaborative driving of the hydraulic robotic arm 2, and compare and analyze it with the human arm movement parameters to complete the bionic design of the human arm.

Claims

1. A hydraulic skeletal muscle cooperatively driven robotic arm, characterized in that: include: A support frame, a hydraulic mechanical arm, an inertial sensor, a drive unit and a computer unit, wherein the drive unit is arranged on one side of the support frame, and the drive unit is provided with a two-position three-way reversing valve, the two-position three-way reversing valve controls the hydraulic mechanical arm to perform bending and rotational movements, the upper end of the hydraulic mechanical arm is fixedly connected to the support frame, the lower end of the hydraulic mechanical arm is electrically connected to the inertial sensor, the inertial sensor measures the angle, angular velocity and acceleration of the hydraulic mechanical arm during movement, and transmits the collected signal to the computer unit, the computer unit calculates and displays the output result, the hydraulic mechanical arm includes: a humerus, a radius, an ulna, a rod end joint bearing, a straight rod ball joint bearing, a biceps The invention relates to a hand model of the present invention, wherein the upper end of the humerus is fixedly connected to the supporting frame; one side of the lower end of the humerus is movably connected to the radius through a straight rod ball joint bearing, and the other side of the lower end of the humerus is movably connected to the ulna through a rod end joint bearing, and the ulna moves in an arc with the rod end joint bearing as an axis, and the lower end of the radius and the lower end of the ulna are movably connected through the rod end joint bearing, and the radius rotates around the ulna with the rod end joint bearing as an axis, one end of the biceps brachii is connected to the upper end of the humerus, and the other end is connected to the upper end of the radius, and the contraction of the biceps brachii drives the lower arm of the hydraulic mechanical arm to lift; one end of the pronator teres is connected to the lower end of the humerus, and the other end is connected to the middle part of the radius and the middle part of the ulna, and one end of the supinator muscle is connected to the lower end of the humerus, and the other end is connected to the radius. The hand model is bonded and fixed to the bottom of the radius. The driving unit includes a housing, a lithium battery, an infrared remote control device, a pump, an overflow valve, a cross four-way one, a spring one-way valve, a water pressure gauge, a reducer, a cross four-way two, a two-position three-way reversing valve and a control module. The housing is made of waterproof material. The liquid required by the test device is contained inside the housing. Except for the housing, all other parts of the driving unit are arranged on the upper part of the housing. The water inlet of the pump is connected to the housing through a conduit, and the liquid outlet of the pump is connected to the cross four-way one. The cross four-way one is connected to the overflow valve, the water pressure gauge and the spring one-way valve through a conduit. The spring one The other end of the directional valve is connected to a reducer through a conduit, and the other end of the reducer is connected to a cross four-way two through a conduit, and the cross four-way two is connected to three two-position three-way directional valves through a conduit, and the two-position three-way directional valves are respectively a reversing valve one, a reversing valve two and a reversing valve three, and the two-position three-way directional valve has a liquid outlet one and a liquid outlet two, and the liquid outlet one of the three two-position three-way directional valves is connected through the cross four-way two and then leads into the box body, and the liquid outlet two of the three two-position three-way directional valves are respectively connected to the biceps brachii, the pronator teres and the supinator posterior through a conduit, and the lithium battery is used to power the pump and the control module, and the two-position three-way directional valve changes the flow direction of the liquid, and the control module controls the combined reversing of the two-position three-way directional valves.

2. According to claim 1, a hydraulic skeletal muscle cooperatively driven mechanical arm is characterized by: The biceps brachii, pronator teres, supinator muscle and hand model are all made of flexible soft silicone material. A nylon braided mesh hose is arranged inside the biceps brachii, pronator teres and supinator muscle. When liquid is transported to the hose, the nylon braided mesh hose expands laterally and contracts in length, driving the biceps brachii, pronator teres and supinator muscle to contract in length.

3. A hydraulic skeletal muscle cooperatively driven robotic arm according to claim 2, characterized in that: The control module includes: a single-chip microcomputer, an electromagnetic relay and an infrared control module. The single-chip microcomputer controls the attraction of the electromagnetic relay; the electromagnetic relay generates a magnetic attraction on the valve body in the two-position three-way reversing valve to cause the valve body to reverse. The infrared control module is used in conjunction with an infrared remote control device to receive remote signals and transmit them to the single-chip microcomputer to control the bending and rotation of the hydraulic robotic arm.

4. A testing device for testing a hydraulic skeletal muscle cooperatively driven mechanical arm as claimed in claim 1, characterized in that: The inertial sensor is fixed on the hand model by bolts, and the inertial sensor is provided with a wireless transmission module.

5. A control method for controlling a hydraulic skeletal muscle cooperatively driven hydraulic robot arm as claimed in claim 1, characterized in that: The steps include: The pump sucks the liquid in the box through the conduit, and after pressurization, pumps the liquid into the overflow valve, the water pressure gauge and the spring check valve through the cross four-way one. When the liquid is pumped into the overflow valve, when the pressure is greater than the threshold, the overflow valve is turned on to discharge the liquid into the box. The liquid is pumped into the water pressure gauge to display the current working pressure. After the liquid is pumped into the spring check valve, it is pumped into the reversing valve one, the reversing valve two and the reversing valve three through the cross four-way two to control the contraction movement of the biceps brachii, the pronator teres and the supinator teres respectively. When the hydraulic mechanical arm needs to be bent, by pressing the bending key of the infrared remote control device, the infrared remote control device sends a control signal to the single chip microcomputer, and the single chip microcomputer controls the corresponding electromagnetic relay to be attracted after receiving the control signal, so as to change the direction of liquid outflow from the reversing valve, and transport the liquid to the biceps brachii. The liquid flowing into the biceps brachii expands laterally and contracts in length, driving the hydraulic mechanical arm to bend; When the hydraulic manipulator arm needs to rotate, by pressing the rotation key of the infrared remote control device, the infrared remote control device sends a control signal to the single-chip microcomputer. After receiving the control signal, the single-chip microcomputer controls the corresponding electromagnetic relay to be attracted, changes the liquid outflow direction of the reversing valve 2 and the reversing valve 3, and delivers the liquid to the pronator teres and the supinator muscle respectively. The liquid flowing into the pronator teres and the supinator muscle expands laterally and contracts in length, driving the hydraulic manipulator arm to rotate; When the hydraulic manipulator arm needs to bend and rotate, by pressing the bend+rotate key of the infrared remote control device, the infrared remote control device sends a control signal to the single-chip microcomputer, and the single-chip microcomputer controls the corresponding electromagnetic relay to be attracted after receiving the control signal, so as to change the liquid outflow direction of the reversing valve 1, the reversing valve 2 and the reversing valve 3, and respectively deliver the liquid to the biceps brachii, the pronator teres and the supinator muscle. The liquid flowing into the biceps brachii, the pronator teres and the supinator muscle expands laterally and contracts in length, thereby driving the hydraulic manipulator arm to bend and rotate; When the hydraulic robotic arm bends, rotates, or bends and rotates, the inertial sensor collects the three-axis angle, three-axis angular velocity and three-axis acceleration signals during the movement of the hydraulic robotic arm. The inertial sensor transmits the collected signals to the computer unit, and the computer unit displays the output results and compares and analyzes them with the human arm movement parameters.

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