Actuator and configuration combined robot joint

Abstract

The invention discloses an actuator and configuration combined robot joint, which relates to the technical field of bionic robots and mainly comprises an electric positioning shaft, an air cylinder, a pneumatic motor, a pneumatic tendon, a lead screw system, a spring, a plate and a connecting piece. The electric positioning shaft directly drives the shoulder joint to move, the three sets of air cylinders drive the elbow joint to move, the air cylinder and rod piece combination drives the gripper to grab, the pneumatic tendon and the spring are connected in parallel to drive the waist joint to move, the pneumatic motor drives the hip joint to move, and the lead screw system, the pneumatic tendon combination, the pneumatic motor, the rod piece and the pneumatic tendon combination form antagonistic muscles. And knee joints and ankle joints are driven to move. An electric positioning shaft, an air cylinder, a pneumatic motor, a pneumatic tendon, a lead screw system and components are combined to drive the shoulder joint, the elbow joint, the paw, the waist joint, the hip joint, the knee joint and the ankle joint to move, and the function of completely simulating the joint movement of the human body is achieved.

Description

Technical Field

[0001] This invention relates to the field of biomimetic robotics, and in particular to a robot joint that combines an actuator with a configuration. Background Technology

[0002] Pneumatic muscles, as actuators, have advantages such as good compliance, single influencing factor, and adjustable stiffness, and are therefore gaining increasing attention in the field of robotics. Since most human joint muscles exist as antagonistic muscles, the most typical examples are the biceps and triceps.

[0003] Chinese patents CN108724163B, CN113146582B, CN218802355U, CN116277130B, and CN115415997B have successively adopted pneumatic muscle actuation in the form of antagonistic muscles to drive joints. The contraction amount of the pneumatic muscle directly affects the angle of joint rotation, and the contraction amount of the pneumatic muscle is affected by the length of the rubber tube. The maximum contraction amount does not exceed 25% of the length of the rubber tube, which severely limits the accessibility of the joint's working space and the effectiveness of movement.

[0004] Most actuators can only drive the robot to move in a single direction, which severely limits the robot's freedom of movement and the functions it can perform. Summary of the Invention

[0005] In order to overcome the shortcomings of the prior art, this application proposes a robot joint that combines an actuator and a configuration to solve the problems existing in the prior art.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0007] A robot joint combining actuators and configuration includes a dual upper limb system, a lumbar joint system, and a dual lower limb system, each system being assembled into a whole via guide connectors, plates, and fasteners; wherein:

[0008] The dual upper limb system includes a symmetrically arranged left upper limb system and a right upper limb system. Each upper limb system includes an electric positioning shaft, an upper arm plate, a forearm plate assembly, three sets of upper arm cylinders, and a gripper assembly. The forearm plate assembly includes forearm plate one and forearm plate two. The three sets of upper arm cylinders include upper arm cylinder one, upper arm cylinder two, and upper arm cylinder three. One end of the electric positioning shaft is fixed to the upper side plate of the lumbar joint system, and the other end is connected to the upper arm plate, driving the upper arm plate to rotate around the X-axis and move along the Y-axis. The two ends of the three sets of upper arm cylinders are connected to the upper arm plate and the forearm plate assembly respectively through universal joints and rod end bearings, driving the forearm to move linearly along the Y-axis and rotate around the X-axis relative to the upper arm. The gripper assembly includes a gripper cylinder, a gripper rod assembly, and a connecting rod assembly. The gripper cylinder drives the gripper rod to move along the X-axis via the connecting rod. The direction enables the grasping action. The gripper assembly includes gripper 1, gripper 2, gripper 3, gripper 4, gripper 5, gripper 6, gripper 7 and gripper 8. The connecting rod assembly includes connecting rod 1 and connecting rod 2.

[0009] The lumbar joint system includes a lumbar joint plate assembly, six sets of lumbar joint pneumatic tendons, two sets of springs, and a guide connector assembly. The lumbar joint plate assembly consists of an upper lumbar joint plate, a middle lumbar joint plate, and a lower lumbar joint plate from top to bottom, with adjacent plates connected by guide connectors. The two ends of lumbar joint pneumatic tendons one, four, and five are rotatably connected to the upper lumbar joint plate and the middle lumbar joint plate, respectively. The two ends of lumbar joint pneumatic tendons two, three, and six are rotatably connected to the middle lumbar joint plate and the lower lumbar joint plate, respectively. The six sets of pneumatic tendons are distributed in a 60° crisscross pattern on the circumference.

[0010] The dual lower limb system includes a symmetrically arranged left and right lower limb system. Each lower limb system comprises three sets of pneumatic motors, lower limb plate groups, four sets of lower limb pneumatic tendons, and two sets of lead screw systems. The three sets of pneumatic motors are pneumatic motor one, pneumatic motor two, and pneumatic motor three. The lower limb plate groups include thigh plate one, thigh plate two, thigh plate three, calf plate one, calf plate two, calf plate three, foot plate one, and foot plate two. The four sets of lower limb pneumatic tendons are lower limb pneumatic tendon one, lower limb pneumatic tendon two, lower limb pneumatic tendon three, and lower limb pneumatic tendon four. The two sets of lead screw systems are lead screw system one and lead screw system two. Pneumatic motor one drives the thigh plate group to rotate around the lower side plate of the lumbar joint. The axis rotates, and the thigh plate assembly includes thigh plate one, thigh plate two, and thigh plate three. Pneumatic motor two and pneumatic motor three are connected to lower limb pneumatic tendon one and lower limb pneumatic tendon two respectively through connectors, driving the lower leg to rotate relative to the thigh and the foot plate to rotate relative to the lower leg around the X-axis; the lead screw system consists of a motor, lead screw, guide rod, connector three, connector four, and connector five, which cooperate with lower limb pneumatic tendon three and lower limb pneumatic tendon four respectively to form an antagonistic muscle structure, assisting in driving the rotation of the knee joint and ankle joint;

[0011] It also includes an air flotation valve, which is used to control the air pressure in all pneumatic tendons and cylinder cavities, reducing energy consumption caused by friction between the valve core and the valve body.

[0012] As a further technical solution of the present invention, it also includes guide connector one, guide connector two, guide connector three, and guide connector four. Guide connector one is fixedly connected to the lower end face of the upper side plate of the lumbar joint, guide connector two and guide connector three are fixedly connected to the upper and lower end faces of the middle plate of the lumbar joint, respectively, and guide connector four is fixedly connected to the upper end face of the lower side plate of the lumbar joint.

[0013] As a further technical solution of the present invention: the two ends of the spring one are respectively sleeved on the guide connector one and the guide connector two, and the two ends of the spring two are respectively sleeved on the guide connector three and the guide connector four. The spring one, together with the lumbar joint pneumatic tendon one, the lumbar joint pneumatic tendon four and the lumbar joint pneumatic tendon five, drives the rotation of the upper side plate of the lumbar joint and the middle plate of the lumbar joint around the X-axis and the Y-axis, and the movement along the Z-axis.

[0014] As a further technical solution of the present invention: it also includes a front side plate 1, a rear side plate 1, a left side plate 1, a right side plate 1, a front side plate 2, a rear side plate 2, a left side plate 2, and a right side plate 2, wherein the front side plate 1, the rear side plate 1, the left side plate 1, and the right side plate 1 are fixedly connected to the upper side plate of the lumbar joint at the front, rear, left, and right, respectively; and the front side plate 2, the rear side plate 2, the left side plate 2, and the right side plate 2 are fixedly connected to the middle plate of the lumbar joint at the front, rear, left, and right, respectively.

[0015] As a further technical solution of the present invention: the housing and rotating shaft of the pneumatic motor one are fixedly connected to the lower side plate of the waist joint and the thigh plate one, respectively. The pneumatic motor one drives the thigh plate one to rotate around the X-axis relative to the lower side plate of the waist joint. The upper and lower ends of the thigh plate two are fixedly connected to the thigh plate one and the thigh plate three, respectively. The upper and lower ends of the calf plate two are fixedly connected to the calf plate one and the calf plate three, respectively. The foot plate one is fixedly connected to the foot plate two. The thigh plate three is rotatably connected to the calf plate one and the calf plate three is rotatably connected to the foot plate one.

[0016] As a further technical solution of the present invention: the housing and rotating shaft of the pneumatic motor II are fixedly connected to the thigh plate I and the connector I, respectively, and the two ends of the lower limb pneumatic tendon I are rotatably connected to the connector I and the calf plate I, respectively; the rotation of the pneumatic motor II drives the thigh plate III and the calf plate I to rotate around the X-axis through the connector I and the lower limb pneumatic tendon I, or controls the extension and retraction of the lower limb pneumatic tendon I to drive the thigh plate III and the calf plate I to rotate around the X-axis.

[0017] As a further technical solution of the present invention: the housing and rotating shaft of the pneumatic motor three are fixedly connected to the lower leg plate two and the connecting piece two, respectively, and the two ends of the lower limb pneumatic tendon two are rotatably connected to the connecting piece two and the foot plate two, respectively; the rotation of the pneumatic motor three drives the lower leg plate three and the foot plate one to rotate relative to each other around the X-axis through the connecting piece two and the lower limb pneumatic tendon two, or controls the extension and retraction of the lower limb pneumatic tendon two to drive the lower leg plate three and the foot plate one to rotate relative to each other around the X-axis.

[0018] As a further technical solution of the present invention: the motor housing and the rotating shaft are fixedly connected to the connecting piece three and the lead screw respectively, the lead screw is engaged with the connecting piece four, the lead screw is rotatably connected to the connecting piece five, the guide rod is fixedly connected to the connecting piece three, the guide rod and the connecting piece four are clearance fit, and the guide rod and the connecting piece five are rotatably connected.

[0019] As a further technical solution of the present invention: the connecting parts three and five are fixedly connected to the thigh plate one and the thigh plate two respectively; the two ends of the lower limb pneumatic tendon three are rotatably connected to the connecting parts four and the calf plate one of the screw system one respectively; the screw system two is fixedly connected to the calf plate two; and the two ends of the lower limb pneumatic tendon four are rotatably connected to the connecting parts four and the foot plate one of the screw system two respectively.

[0020] As a further technical solution of the present invention: the lead screw system one drives the relative rotation of the thigh plate three and the calf plate one around the X-axis through the lower limb pneumatic tendon three, or controls the extension and retraction of the lower limb pneumatic tendon three to drive the relative rotation of the thigh plate three and the calf plate one around the X-axis; the lead screw system two drives the relative rotation of the calf plate three and the foot plate one around the X-axis through the lower limb pneumatic tendon four, or controls the extension and retraction of the lower limb pneumatic tendon three to drive the relative rotation of the calf plate three and the foot plate one around the X-axis.

[0021] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0022] 1. This invention utilizes a combination of multiple pneumatic muscles and springs to drive the joint, enabling simultaneous movement in multiple directions while maintaining both rigidity and flexibility.

[0023] 2. This invention utilizes a lead screw system, a pneumatic motor, and rods, combined with pneumatic muscles, to drive the joint, ensuring joint flexibility while increasing the range of motion of the joint;

[0024] 3. The present invention has 2, 2, 1, 3, 1, 1, 1 and 1 degrees of freedom for the shoulder joint, elbow joint, hand, waist joint, hip joint, knee joint and ankle joint respectively, which can vividly simulate various movements that the human body can perform, and help to understand human body structure and joint movement. Attached Figure Description

[0025] Figure 1 It is a diagram of the overall mechanical structure of the system;

[0026] Figure 2 This is a diagram of the overall internal mechanical structure of the lumbar joint;

[0027] Figure 3 This is a diagram of the overall external mechanical structure of the lumbar joint;

[0028] Figure 4 This is a diagram of the overall mechanical structure of the lower limb system;

[0029] Figure 5 This is a diagram of the mechanical structure of the inner side of the skeleton of a single lower limb;

[0030] Figure 6 This is a diagram of the overall mechanical structure of a single lower limb system;

[0031] Figure 7 This is a mechanical structure diagram of a lead screw system;

[0032] Figure 8 This is a diagram of the oblique lateral mechanical structure of a single lower limb skeleton;

[0033] Figure 9 This is a diagram of the overall mechanical structure of the dual upper limb system;

[0034] Figure 10 This is a diagram of the overall mechanical structure of a single upper limb system;

[0035] Figure 11 This is a diagram of the mechanical structure of the forearm and gripper;

[0036] In the diagram: 1. Bilateral upper limb system; 1-1. Left upper limb system; 1-2. Right upper limb system; 2. Lumbar joint system; 3. Bilateral lower limb system; 3-1. Left lower limb system; 3-2. Right lower limb system; 4. Guide connector 1; 5. Upper lumbar joint plate; 6. Lumbar joint pneumatic tendon 1; 7. Middle lumbar joint plate; 8. Lumbar joint pneumatic tendon 2; 9. Lumbar joint pneumatic tendon 3; 10. Lower lumbar joint plate; 11. Lumbar joint pneumatic tendon 4; 12. Spring 1; 13. Lumbar joint pneumatic tendon 5. 14. Guide Connector II; 15. Guide Connector III; 16. Lumbar Joint Pneumatic Tendon VI; 17. Spring II; 18. Guide Connector IV; 19. Left Side Plate I; 20. Front Side Plate I; 21. Rear Side Plate I; 22. Right Side Plate I; 23. Left Side Plate II; 24. Front Side Plate II; 25. Rear Side Plate II; 26. Right Side Plate II; 27. Pneumatic Motor I; 28. Thigh Plate I; 29. ​​Thigh Plate II; 30. Thigh Plate III; 31. Lower Leg Plate I; 32. Lower Leg Plate II 33. Lower leg plate 3; 34. Foot plate 1; 35. Foot plate 2; 36. Pneumatic motor 2; 37. Connector 1; 38. Lower limb pneumatic tendon 1; 39. Pneumatic motor 3; 40. Connector 2; 41. Lower limb pneumatic tendon 2; 42. Motor; 43. Connector 3; 44. Lead screw; 45. Connector 4; 46. Guide rod; 47. Connector 5; 48. Lead screw system 1; 49. Lower limb pneumatic tendon 3; 50. Lead screw system 2; 51. Lower limb pneumatic tendon 4; 52. Electric positioning shaft; 53. Large... Arm plate 53, boom cylinder 1 54, boom cylinder 2 55, boom cylinder 3 56, forearm plate 1 57, forearm plate 2 58, cylinder end piece 59, upper side plate 60, gripper rod 1 61, connecting rod 1 62, gripper rod 2 63, gripper rod 3 64, gripper rod 4 65, gripper cylinder 66, lower side plate 67, connecting rod 2 68, gripper rod 5 69, gripper rod 6 70, gripper rod 7 71, gripper rod 8 72, side panel 73. Detailed Implementation

[0037] The technical solutions in the embodiments of the present invention will be clearly and completely described below. 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 of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0038] like Figures 1-9As shown, a robot joint consisting of an actuator and a configuration includes: a dual upper limb system 1, a left upper limb system 1-1, a right upper limb system 1-2, a lumbar joint system 2, a dual lower limb system 3, a left lower limb system 3-1, a right lower limb system 3-2, a guide connector 4, an upper lumbar joint plate 5, a lumbar joint pneumatic tendon 1 6, a lumbar joint intermediate plate 7, a lumbar joint pneumatic tendon 2 8, a lumbar joint pneumatic tendon 3 9, a lower lumbar joint plate 10, a lumbar joint pneumatic tendon 4 11, and a spring. 12. Lumbar joint pneumatic tendon 5 13. Guide connector 2 14. Guide connector 3 15. Lumbar joint pneumatic tendon 6 16. Spring 2 17. Guide connector 4 18. Left side plate 1 19. Front side plate 1 20. Rear side plate 1 21. Right side plate 1 22. Left side plate 2 23. Front side plate 2 24. Rear side plate 2 25. Right side plate 2 26. Pneumatic motor 1 27. Thigh plate 1 28. Thigh plate 2 29. Thigh plate 3 30. Lower leg plate 1 31. Lower leg plate component two; 32. Lower leg plate component three; 33. Foot plate component one; 34. Foot plate component two; 35. Pneumatic motor two; 36. Connector one; 37. Lower limb pneumatic tendon one; 38. Pneumatic motor three; 39. Connector two; 40. Lower limb pneumatic tendon two; 41. Motor; 42. Connector three; 43. Lead screw; 44. Connector four; 45. Guide rod; 46. Connector five; 47. Lead screw system one; 48. Lower limb pneumatic tendon three; 49. Lead screw system two; 50. Lower limb pneumatic tendon four; 51. Electric positioning. Shaft 52, boom plate 53, boom cylinder 1 54, boom cylinder 2 55, boom cylinder 3 56, forearm plate 1 57, forearm plate 2 58, cylinder end piece 59, upper side plate 60, gripper rod 1 61, connecting rod 1 62, gripper rod 2 63, gripper rod 3 64, gripper rod 4 65, gripper cylinder 66, lower side plate 67, connecting rod 2 68, gripper rod 5 69, gripper rod 6 70, gripper rod 7 71, gripper rod 8 72, side panel 73.

[0039] like Figure 1 , 4 As shown in Figures 9 and 1, the present invention mainly includes a dual upper limb system 1, a lumbar joint system 2, and a dual lower limb system 3. The dual upper limb system 1 includes a left upper limb system 1-1 and a right upper limb system 1-2, while the dual lower limb system 3 includes a left lower limb system 3-1 and a right lower limb system 3-2.

[0040] like Figure 2 , 3As shown, guide connector 1 4 is fixedly connected to the lower end face of the upper side plate 5 of the lumbar joint; guide connector 2 14 and guide connector 3 15 are fixedly connected to the upper and lower end faces of the middle plate 7 of the lumbar joint, respectively; and guide connector 4 18 is fixedly connected to the upper end face of the lower side plate 10 of the lumbar joint. The two ends of pneumatic tendons 1 6, 4 11, and 5 13 of the lumbar joint are rotatably connected to the upper side plate 5 and the middle plate 7 of the lumbar joint, respectively, and are evenly distributed around the circumference. The two ends of pneumatic tendons 2 8, 3 9, and 6 16 of the lumbar joint are rotatably connected to the middle plate 7 and the lower side plate 10 of the lumbar joint, respectively, and are evenly distributed around the circumference. The lumbar joint pneumatic tendons 1-6, lumbar joint pneumatic tendon 3-9, lumbar joint pneumatic tendon 5-13, lumbar joint pneumatic tendon 6-16, lumbar joint pneumatic tendon 4-11, and lumbar joint pneumatic tendon 2-8 are distributed in a cross pattern, with an included angle of 60° between them.

[0041] Spring 12 is fitted onto guide connector 14 and guide connector 24 at both ends, and spring 27 is fitted onto guide connector 315 and guide connector 418 at both ends. Spring 12, together with lumbar joint pneumatic tendon 16, lumbar joint pneumatic tendon 41, and lumbar joint pneumatic tendon 513, drives the rotation of the upper side plate 5 and the middle plate 7 of the lumbar joint around the X and Y axes, as well as the movement along the Z axis. Spring 217, together with lumbar joint pneumatic tendon 28, lumbar joint pneumatic tendon 39, and lumbar joint pneumatic tendon 616, drives the rotation of the middle plate 7 and the lower side plate 10 of the lumbar joint around the X and Y axes, as well as the movement along the Z axis.

[0042] Front side plate 20, rear side plate 21, left side plate 19, and right side plate 22 are fixedly connected to the upper side plate 5 of the lumbar joint at the front, rear, left, and right, respectively. Front side plate 20, rear side plate 21, left side plate 19, and right side plate 22 protect the lumbar joint pneumatic tendon 6, lumbar joint pneumatic tendon 4 11, lumbar joint pneumatic tendon 5 13, and spring 12, preventing interference from external substances during joint movement. Front side plate 24, rear side plate 25, left side plate 23, and right side plate 26 are fixedly connected to the middle plate 7 of the lumbar joint at the front, rear, left, and right, respectively. The front side plate 24, rear side plate 25, left side plate 23, and right side plate 26 protect the lumbar joint pneumatic tendon 28, lumbar joint pneumatic tendon 39, lumbar joint pneumatic tendon 616, and spring 27, preventing interference from other external substances during joint movement.

[0043] like Figure 4 , 5 As shown in Figures 6, 7, and 8, the left lower limb system 3-1 and the right lower limb system 3-2 are respectively provided on the left and right sides of the lower lumbar joint plate 10, and the left lower limb system 3-1 and the right lower limb system 3-2 have the same structure.

[0044] The housing and rotating shaft of pneumatic motor 27 are fixedly connected to the lower side plate 10 of the lumbar joint and thigh plate 28, respectively. Pneumatic motor 27 drives thigh plate 28 to rotate around the X-axis relative to the lower side plate 10 of the lumbar joint. The upper and lower ends of thigh plate 29 are fixedly connected to thigh plate 28 and thigh plate 30, respectively. The upper and lower ends of calf plate 22 are fixedly connected to calf plate 31 and calf plate 33, respectively. Foot plate 34 is fixedly connected to foot plate 25. Thigh plate 30 is rotatably connected to calf plate 31, and calf plate 33 is rotatably connected to foot plate 34.

[0045] The housing and rotating shaft of the pneumatic motor 2 36 are fixedly connected to the thigh plate 1 28 and the connector 1 37, respectively. The two ends of the lower limb pneumatic tendon 1 38 are rotatably connected to the connector 1 37 and the calf plate 1 31, respectively. The rotation of the pneumatic motor 2 36 drives the thigh plate 3 30 and the calf plate 1 31 to rotate around the X-axis through the connector 1 37 and the lower limb pneumatic tendon 1 38. It can also control the extension and retraction of the lower limb pneumatic tendon 1 38 to drive the thigh plate 3 30 and the calf plate 1 31 to rotate around the X-axis.

[0046] The housing and rotating shaft of the pneumatic motor 39 are fixedly connected to the lower leg plate 32 and the connecting piece 40, respectively. The two ends of the lower limb pneumatic tendon 41 are rotatably connected to the connecting piece 40 and the foot plate 35, respectively. The rotation of the pneumatic motor 39 drives the lower leg plate 33 and the foot plate 34 to rotate relative to each other around the X-axis through the connecting piece 40 and the lower limb pneumatic tendon 41. It can also control the extension and retraction of the lower limb pneumatic tendon 41 to drive the lower leg plate 33 and the foot plate 34 to rotate relative to each other around the X-axis.

[0047] The lead screw system mainly includes a motor 42, a third connector 43, a lead screw 44, a fourth connector 45, a guide rod 46, and a fifth connector 47. The housing and rotating shaft of the motor 42 are fixedly connected to the third connector 43 and the lead screw 44, respectively. The lead screw 44 meshes with the fourth connector 45 and is rotatably connected to the fifth connector 47. The guide rod 46 is fixedly connected to the third connector 43, and there is a clearance fit between the guide rod 46 and the fourth connector 45. The guide rod 46 is rotatably connected to the fifth connector 47.

[0048] Connector 3 43 and connector 5 47 of screw system 1 48 are fixedly connected to thigh plate 1 28 and thigh plate 2 29, respectively. The two ends of lower limb pneumatic tendon 3 49 are rotatably connected to connector 4 45 and calf plate 1 31 of screw system 1 48, respectively. Screw system 2 50 is fixedly connected to calf plate 2 32. The two ends of lower limb pneumatic tendon 4 51 are rotatably connected to connector 4 and foot plate 1 34 of screw system 2 50, respectively.

[0049] Screw system 1 48 drives the relative rotation of thigh plate 30 and calf plate 31 around the X-axis via lower limb pneumatic tendon 3 49. It can also control the extension and retraction of lower limb pneumatic tendon 3 49 to drive the relative rotation of thigh plate 30 and calf plate 31 around the X-axis. Screw system 2 50 drives the relative rotation of calf plate 33 and foot plate 34 around the X-axis via lower limb pneumatic tendon 4 51. It can also control the extension and retraction of lower limb pneumatic tendon 3 49 to drive the relative rotation of calf plate 33 and foot plate 34 around the X-axis.

[0050] like Figure 9 , 10 As shown in Figures 1 and 11, the left upper limb system 1-1 and the right upper limb system 1-2 are respectively provided on the left and right sides of the upper side plate 5 of the lumbar joint, and the left upper limb system 1-1 and the right upper limb system 1-2 have the same structure.

[0051] The electric positioning shaft 52 is fixedly connected to the upper side plate 5 of the lumbar joint, and the upper arm plate 53 is fixedly connected to the rotation shaft of the electric positioning shaft 52. The electric positioning shaft 52 drives the upper arm plate 53 to rotate around the X-axis and move along the Y-axis. The forearm plate 1 57 and the forearm plate 2 58 are fixedly connected to each other, forming the basic frame of the forearm. The upper arm cylinder 1 54, upper arm cylinder 2 55, and upper arm cylinder 3 56 are rotatably connected at both ends to the upper arm plate 53, the forearm plate 1 57, and the forearm plate 2 58, respectively. Considering the actual structure, a universal joint is used to connect with the upper arm plate 53, and a rod end bearing is used to connect with the forearm plate 1 57 and the forearm plate 2 58. The upper arm cylinder 1 54, upper arm cylinder 2 55, and upper arm cylinder 3 56 together drive the linear movement of the upper arm plate 53, the forearm plate 1 57, and the forearm plate 2 58 along the Y-axis and the relative rotation around the X-axis.

[0052] The upper side plate 60 and the lower side plate 67 are fixedly connected to the forearm plate 57 and the forearm plate 58 on the upper and lower sides respectively. The gripper rod 61 and the gripper rod 69 are rotatably connected to the upper side plate 60. The gripper rod 63 and the gripper rod 70 are rotatably connected to the lower side plate 67. The gripper rod 64 and the gripper rod 65 are fixedly connected to the gripper rod 61 and the gripper rod 63. The gripper rod 71 and the gripper rod 72 are fixedly connected to the gripper rod 69 and the gripper rod 70.

[0053] The side panel 73 is fixedly connected to the upper side panel 60 and the lower side panel 67. The cylinder body and cylinder rod of the gripper cylinder 66 are fixedly connected to the side panel 73 and the cylinder end piece 59, respectively. One end of the connecting rod 62 is rotatably connected to the cylinder end piece 59, and the other end is rotatably connected to the gripper rod 61 and the gripper rod 63. One end of the connecting rod 68 is rotatably connected to the cylinder end piece 59, and the other end is rotatably connected to the gripper rod 69 and the gripper rod 70. The driving path of the gripper driven by the gripper cylinder 66 includes: the gripper cylinder 66 passes through the cylinder end part 59, connecting rod 1 62, gripper rod 1 61 and gripper rod 2 63, gripper rod 3 64 and gripper rod 4 65, and the gripper cylinder 66 passes through the cylinder end part 59, connecting rod 2 68, gripper rod 5 69 and gripper rod 6 70, gripper rod 7 71 and gripper rod 8 72, so as to realize the gripper grasping in the X direction.

[0054] This invention simulates the movement of human joints by controlling various motors, electric positioning axes, pneumatic motors, and pneumatic tendons, thereby achieving robot joint control. It can dynamically and vividly simulate the movements of human joints and achieve precise trajectory control. This invention has unparalleled advantages over other humanoid robot joints.

[0055] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within the present invention.

[0056] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment have been appropriately combined to form other embodiments that are easy for those skilled in the art to understand.

Claims

1. A robot joint combining an actuator and a configuration, characterized in that, It includes a dual upper limb system (1), a lumbar joint system (2), and a dual lower limb system (3), each system being assembled into a whole through guide connectors, plates, and fasteners; wherein: The dual upper limb system (1) includes a symmetrically arranged left upper limb system (1-1) and right upper limb system (1-2). Each upper limb system includes an electric positioning shaft (52), an upper arm plate (53), a forearm plate group, three sets of upper arm cylinders, and a hand gripper assembly. The forearm plate group includes forearm plate one (57) and forearm plate two (58). The three sets of upper arm cylinders include upper arm cylinder one (54), upper arm cylinder two (55), and upper arm cylinder three (56). One end of the electric positioning shaft (52) is fixed to the upper side plate (5) of the waist joint system (2), and the other end is connected to the upper arm plate (53), driving the upper arm plate (53) to rotate around the X-axis and move along the Y-axis. The two ends of the three sets of upper arm cylinders are connected to the upper arm plate (53) and the forearm plate group through universal joints and rod end joint bearings, respectively, driving the forearm to move linearly along the Y-axis and rotate around the X-axis relative to the upper arm. The shaft rotates; the gripper assembly includes a gripper cylinder (66), a gripper rod assembly, and a connecting rod assembly. The gripper cylinder (66) drives the gripper rods along the X direction to perform a gripping action through the connecting rods. The gripper rod assembly includes gripper rod one (61), gripper rod two (63), gripper rod three (64), gripper rod four (65), gripper rod five (69), gripper rod six (70), gripper rod seven (71), and gripper rod eight (72). The connecting rod assembly includes connecting rod one (62) and connecting rod two (68). The lumbar joint system (2) includes a lumbar joint plate assembly, six sets of lumbar joint pneumatic tendons, two sets of springs and guide connectors; the lumbar joint plate assembly consists of an upper lumbar joint plate (5), a middle lumbar joint plate (7) and a lower lumbar joint plate (10) from top to bottom, and adjacent plates are connected by guide connectors; the two ends of the lumbar joint pneumatic tendon one (6), the lumbar joint pneumatic tendon four (11) and the lumbar joint pneumatic tendon five (13) are rotatably connected to the upper lumbar joint plate (5) and the middle lumbar joint plate (7) respectively, and the two ends of the lumbar joint pneumatic tendon two (8), the lumbar joint pneumatic tendon three (9) and the lumbar joint pneumatic tendon six (16) are rotatably connected to the middle lumbar joint plate (7) and the lower lumbar joint plate (10) respectively, and the six sets of pneumatic tendons are distributed in a 60° angle on the circumference; The dual lower limb system (3) includes a symmetrically arranged left lower limb system (3-1) and right lower limb system (3-2). Each lower limb system includes three sets of pneumatic motors, lower limb plate groups, four sets of lower limb pneumatic tendons, and two sets of lead screw systems. The three sets of pneumatic motors are pneumatic motor one (27), pneumatic motor two (36), and pneumatic motor three (39). The lower limb plate groups include thigh plate one (28), thigh plate two (29), thigh plate three (30), and calf plate one. (31) Lower leg plate 2 (32) Lower leg plate 3 (33) Foot plate 1 (34) Foot plate 2 (35) The four groups of lower limb pneumatic tendons are lower limb pneumatic tendon 1 (38) Lower limb pneumatic tendon 2 (41) Lower limb pneumatic tendon 3 (49) and lower limb pneumatic tendon 4 (51); The two sets of lead screw systems are lead screw system 1 (48) and lead screw system 2 (50) Pneumatic motor 1 (27) drives the thigh plate group to rotate around the lower side plate (10) of the waist joint. The thigh plate assembly includes thigh plate one (28), thigh plate two (29) and thigh plate three (30). Pneumatic motor two (36) and pneumatic motor three (39) are connected to lower limb pneumatic tendon one (38) and lower limb pneumatic tendon two (41) respectively through connectors, driving the lower leg to rotate relative to the thigh and the foot plate to rotate relative to the lower leg around the X-axis. The lead screw system consists of motor (42), lead screw (44), guide rod (46), connector three (43), connector four (45) and connector five (47), which cooperate with lower limb pneumatic tendon three (49) and lower limb pneumatic tendon four (51) respectively to form an antagonistic muscle structure to assist in driving the rotation of the knee joint and ankle joint. It also includes an air flotation valve, which is used to control the air pressure in all pneumatic tendons and cylinder cavities, reducing energy consumption caused by friction between the valve core and the valve body.

2. The robot joint of the actuator and configuration combination according to claim 1, characterized in that, It also includes guide connector one (4), guide connector two (14), guide connector three (15), and guide connector four (18). Guide connector one (4) is fixedly connected to the lower end face of the upper side plate (5) of the lumbar joint. Guide connector two (14) and guide connector three (15) are fixedly connected to the upper and lower end faces of the middle plate (7) of the lumbar joint, respectively. Guide connector four (18) is fixedly connected to the upper end face of the lower side plate (10) of the lumbar joint.

3. The robot joint of the actuator and configuration combination according to claim 2, characterized in that, The two ends of the spring one (12) are respectively fitted onto the guide connector one (4) and the guide connector two (14), and the two ends of the spring two (17) are respectively fitted onto the guide connector three (15) and the guide connector four (18). The spring one (12), together with the lumbar joint pneumatic tendon one (6), the lumbar joint pneumatic tendon four (11) and the lumbar joint pneumatic tendon five (13), drives the rotation of the upper side plate (5) of the lumbar joint and the middle plate (7) of the lumbar joint around the X-axis and Y-axis and the movement along the Z-axis.

4. The robot joint of the actuator and configuration combination according to claim 3, characterized in that, It also includes front side plate 1 (20), rear side plate 1 (21), left side plate 1 (19), right side plate 1 (22), front side plate 2 (24), rear side plate 2 (25), left side plate 2 (23) and right side plate 2 (26). The front side plate 1 (20), rear side plate 1 (21), left side plate 1 (19) and right side plate 1 (22) are fixedly connected to the upper side plate (5) of the waist joint in front, back, left and right respectively; the front side plate 2 (24), rear side plate 2 (25), left side plate 2 (23) and right side plate 2 (26) are fixedly connected to the middle plate (7) of the waist joint in front, back, left and right respectively.

5. The robot joint of the actuator and configuration combination according to claim 4, characterized in that, The housing and rotating shaft of the pneumatic motor 1 (27) are fixedly connected to the lower side plate of the waist joint (10) and the thigh plate 1 (28) respectively. The pneumatic motor 1 (27) drives the thigh plate 1 (28) to rotate around the X-axis relative to the lower side plate of the waist joint (10). The upper and lower ends of the thigh plate 2 (29) are fixedly connected to the thigh plate 1 (28) and the thigh plate 3 (30) respectively. The upper and lower ends of the calf plate 2 (32) are fixedly connected to the calf plate 1 (31) and the calf plate 3 (33) respectively. The foot plate 1 (34) is fixedly connected to the foot plate 2 (35). The thigh plate 3 (30) is rotatably connected to the calf plate 1 (31). The calf plate 3 (33) is rotatably connected to the foot plate 1 (34).

6. The robot joint of the actuator and configuration combination according to claim 5, characterized in that, The housing and rotating shaft of the pneumatic motor 2 (36) are fixedly connected to the thigh plate 1 (28) and the connector 1 (37) respectively. The two ends of the lower limb pneumatic tendon 1 (38) are rotatably connected to the connector 1 (37) and the calf plate 1 (31) respectively. The rotation of the pneumatic motor 2 (36) drives the thigh plate 3 (30) and the calf plate 1 (31) to rotate around the X-axis through the connector 1 (37) and the lower limb pneumatic tendon 1 (38), or controls the extension and retraction of the lower limb pneumatic tendon 1 (38) to drive the thigh plate 3 (30) and the calf plate 1 (31) to rotate around the X-axis.

7. The robot joint of the actuator and configuration combination according to claim 6, characterized in that, The housing and rotating shaft of the pneumatic motor three (39) are fixedly connected to the lower leg plate two (32) and the connecting piece two (40) respectively. The two ends of the lower limb pneumatic tendon two (41) are rotatably connected to the connecting piece two (40) and the foot plate two (35) respectively. The rotation of the pneumatic motor three (39) drives the lower leg plate three (33) and the foot plate one (34) to rotate relative to each other around the X-axis through the connecting piece two (40) and the lower limb pneumatic tendon two (41), or controls the extension and retraction of the lower limb pneumatic tendon two (41) to drive the lower leg plate three (33) and the foot plate one (34) to rotate relative to each other around the X-axis.

8. The robot joint of the actuator and configuration combination according to claim 1, characterized in that, The housing and rotating shaft of the motor (42) are fixedly connected to the connecting part three (43) and the lead screw (44) respectively. The lead screw (44) meshes with the connecting part four (45) and is rotatably connected to the connecting part five (47). The guide rod (46) is fixedly connected to the connecting part three (43). The guide rod (46) and the connecting part four (45) are in clearance fit. The guide rod (46) and the connecting part five (47) are rotatably connected.

9. The robot joint of the actuator and configuration combination according to claim 1, characterized in that, The connecting parts three (43) and five (47) are fixedly connected to the thigh plate one (28) and thigh plate two (29) respectively. The two ends of the lower limb pneumatic tendon three (49) are rotatably connected to the connecting parts four (45) and calf plate one (31) of the screw system one (48) respectively. The screw system two (50) is fixedly connected to the calf plate two (32). The two ends of the lower limb pneumatic tendon four (51) are rotatably connected to the connecting parts four and foot plate one (34) of the screw system two (50) respectively.

10. The robot joint of the actuator and configuration combination according to claim 1, characterized in that, The first lead screw system (48) drives the relative rotation of the thigh plate (30) and the calf plate (31) around the X-axis via the third pneumatic tendon of the lower limb (49), or controls the extension and retraction of the third pneumatic tendon of the lower limb (49) to drive the relative rotation of the thigh plate (30) and the calf plate (31) around the X-axis. The second lead screw system (50) drives the relative rotation of the calf plate (33) and the foot plate (34) around the X-axis via the fourth pneumatic tendon of the lower limb (51), or controls the extension and retraction of the third pneumatic tendon of the lower limb (49) to drive the relative rotation of the calf plate (33) and the foot plate (34) around the X-axis.

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