Humanoid robot based on pneumatic tendon

Abstract

The utility model discloses a humanoid robot based on pneumatic tendons, which comprises a skeleton, an abdomen system, a thoracolumbar fascia and trapezius muscle system, a lower limb system, a neck system and a shoulder system, and the neck system, the shoulder system, the abdomen system and the lower limb system are all mounted on the skeleton from top to bottom. The thoracolumbar fascia and trapezius muscle system is mounted on the skeleton. A plurality of groups of pneumatic tendons are used for driving the joint, so that the joint can move in multiple directions at the same time; the pneumatic tendon similar to the human muscle in shape is utilized, and the pneumatic tendon has the advantages of being larger in power / mass ratio, high in adaptability, large in output force and the like. The neck joint, the shoulder joint, the belly joint, the waist joint and the lower limb joint of the product respectively have three degrees of freedom, two degrees of freedom, two degrees of freedom, two degrees of freedom and six degrees of freedom, various actions of human joints can be vividly simulated, and the effect of each muscle in joint movement can be known.

Description

Technical Field

[0001] The utility model relates to the field of skin treatment, in particular to a humanoid robot based on pneumatic tendons. Background Art

[0002] Humanoid robots are similar in appearance to humans. Compared with traditional robots, humanoid robots have stronger affinity in assisting humans in completing work. Currently, with Tesla's humanoid robots as the trigger, many domestic companies and research institutes have begun to pay attention to this field. In the first half of 2024, governments at all levels will also provide strong support and assistance in this regard.

[0003] Pneumatic tendons have been used in some robot joints because their characteristics are similar to those of muscles. Chinese Patent Application No. 201810361204.6 and Grant Announcement No. CN108544473B proposed a humanoid robot driven by pneumatic tendons in all joints. In order to improve the stiffness of the robot, Chinese Patent Application Nos. 201810300528.9, 201810344584.2, 202010227531.X and 202010439577.8 successively proposed a humanoid robot with pneumatic tendons and cylinder-driven joints.

[0004] However, the pneumatic tendons of the above-mentioned humanoid robot are limited to the traditional DMSP series pneumatic tendons of FESTO, which are only similar to the muscle fibers of human joints and are quite different from the joint muscles of human bodies. Moreover, the muscles of human joints have different shapes, and their special shapes are the result of various sports exercises that humans often perform in the process of evolution to adapt to the surrounding environment. Therefore, they cannot meet people's requirements. Utility Model Content

[0005] The purpose of the utility model is to provide a humanoid robot based on pneumatic tendons to solve the problems raised by the above-mentioned background technology.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] A pneumatic tendon-based humanoid robot comprises a skeleton, an abdominal system, a thoracolumbar fascia and a trapezius muscle system, a lower limb system, a neck system and a shoulder system, wherein the neck system, the shoulder system, the abdominal system and the lower limb system are all mounted on the skeleton from top to bottom, the thoracolumbar fascia and the trapezius muscle system are mounted on the skeleton and the thoracolumbar fascia and the trapezius muscle system are located between the abdominal system and the shoulder system, and the skeleton comprises a skull, a femur, a fibula, a clavicle, anterior vertebra one, anterior vertebra two, anterior vertebra three, The front vertebra four, the front vertebra five and the pelvis, the posterior vertebra one, the posterior vertebra two, the posterior vertebra three, the posterior vertebra four, the posterior vertebra five, the posterior vertebra six, the posterior vertebra seven, the posterior vertebra eight, the posterior vertebra nine, the posterior vertebra ten, the posterior vertebra eleven, the posterior vertebra twelve, the posterior vertebra thirteen and the posterior vertebra fourteen are connected in rotation from top to bottom in sequence between the skull and the pelvis, the posterior vertebra five is fixedly connected to the first layer of the left ribs and the first layer of the right ribs at the same time, the posterior vertebra seven is fixedly connected to the left rib first layer at the same time The second layer of the ribs is fixedly connected to the second layer of the right ribs, the posterior vertebra nine is fixedly connected to the third layer of the left ribs and the third layer of the right ribs at the same time, the front vertebra one, the front vertebra two, the front vertebra three, the front vertebra four and the front vertebra five are rotated and connected in sequence from top to bottom, and the front vertebra one is fixedly connected to the first layer of the left ribs and the first layer of the right ribs at the same time, the front vertebra three is fixedly connected to the second layer of the left ribs and the second layer of the right ribs at the same time, the front vertebra five is fixedly connected to the third layer of the left ribs and the third layer of the right ribs at the same time. The pneumatic muscles are fixedly connected to the first layer of the right ribs, one end of the clavicle is rotationally connected to the first layer of the right ribs, the other end of the clavicle is fixedly connected to the scapula, both ends of the femur are rotationally connected to the pelvis and kneecap respectively; both ends of the fibula are rotationally connected to the kneecap and foot bone respectively, the abdominal system, thoracolumbar fascia and trapezius muscle system, lower limb system, neck system and shoulder system all use pneumatic tendons, both ends of the pneumatic tendons are sealed with metal clamps, the middle of the pneumatic tendon is a hollow cylinder, nylon fibers are embedded inside the cylinder, and the cylinder is made of rubber material.

[0008] On the basis of the above technical solutions, the present invention also provides the following optional technical solutions:

[0009] In an optional scheme: the cervical system includes the left posterior scalene muscle, the left sternocleidomastoid muscle, the left sternohyoid muscle, the right posterior oblique muscle, the right sternocleidomastoid muscle, the right sternohyoid muscle, the left posterior scalene muscle, the left sternocleidomastoid muscle and the left sternohyoid muscle, and both ends of the left posterior scalene muscle are respectively connected to the skull and the first layer of the left ribs; the right posterior oblique muscle, the right sternocleidomastoid muscle and the right sternohyoid muscle are respectively connected to the skull and the first layer of the right ribs, and the left posterior scalene muscle, the left sternocleidomastoid muscle, the left sternohyoid muscle, the right posterior oblique muscle, the right sternocleidomastoid muscle and the right sternohyoid muscle together drive the skull, posterior vertebra one, posterior vertebra two, posterior vertebra three, posterior vertebra four and posterior vertebra five to rotate relative to each other around the X-axis, Y-axis and Z-axis.

[0010] In an optional solution, the shoulder system includes the deltoid muscle, the infraspinatus muscle, the pectoralis major muscle and the pectoralis minor muscle. The two ends of the deltoid muscle and the infraspinatus muscle are respectively connected to the first layer of the right ribs and the scapula for rotation. The two ends of the pectoralis major muscle are respectively connected to the second layer of the right ribs and the scapula for rotation. The two ends of the pectoralis minor muscle are respectively connected to the third layer of the right ribs and the scapula for rotation. The deltoid muscle, the infraspinatus muscle, the pectoralis major muscle and the pectoralis minor muscle together drive the clavicle and the scapula to rotate relative to the first layer of the right ribs around the X-axis and the Z-axis.

[0011] In an optional solution: the abdominal system includes a first abdominal layer, a second abdominal layer and a third abdominal layer. The first abdominal layer, the second abdominal layer and the third abdominal layer are all bilaterally symmetrical structures and can be divided into a left half and a right half. The right half of the first abdominal layer includes transverse abdominal muscle 1, transverse abdominal muscle 2 and transverse abdominal muscle 3. The two ends of transverse abdominal muscle 1, transverse abdominal muscle 2 and transverse abdominal muscle 3 are respectively connected to the pelvis and the first layer of the right ribs for rotation; the right half of the second abdominal layer includes internal oblique muscle 1, internal oblique muscle 2 and internal oblique muscle 3. , internal oblique muscle aponeurosis 1 and internal oblique muscle aponeurosis 2, internal oblique muscle 1, internal oblique muscle 2, internal oblique muscle 3, internal oblique muscle aponeurosis 1 and internal oblique muscle aponeurosis 2 are rotationally connected to the pelvis and the second layer of the right ribs respectively; the right half of the third layer of the abdomen includes external oblique muscle 1, external oblique muscle 2, external oblique muscle 3, erector spinae 1, erector spinae 2 and rectus abdominis, external oblique muscle 1, external oblique muscle 2, external oblique muscle 3, erector spinae 1, erector spinae 2 and rectus abdominis are rotationally connected to the pelvis and the third layer of the right ribs respectively.

[0012] In an optional scheme: the thoracolumbar fascia and trapezius muscle system includes the left thoracolumbar fascia and trapezius muscle and the right thoracolumbar fascia and trapezius muscle, and the two ends of the left thoracolumbar fascia and trapezius muscle and the right thoracolumbar fascia and trapezius muscle are respectively connected to the skull and the pelvis for rotation, and the left thoracolumbar fascia and trapezius muscle and the right thoracolumbar fascia and trapezius muscle together drive the skull to rotate relative to the posterior vertebra one, the posterior vertebra two, the posterior vertebra three, the posterior vertebra four, the posterior vertebra five, the posterior vertebra six, the posterior vertebra seven, the posterior vertebra eight, the posterior vertebra nine, the posterior vertebra ten, the posterior vertebra eleven, the posterior vertebra twelve, the posterior vertebra thirteen, the posterior vertebra fourteen and the pelvis about the X-axis and the Y-axis, and the anterior vertebra one, the anterior vertebra two, the anterior vertebra three, the anterior vertebra four and the anterior vertebra five to rotate relative to the X-axis and the Y-axis.

[0013] In an optional embodiment: the lower limb system includes the vastus lateralis, biceps brachii, semitendinosus, gracilis, rectus femoris, peroneus longus, tibialis anterior, gastrocnemius and soleus muscles, and the two ends of the vastus lateralis, biceps brachii, semitendinosus, gracilis and rectus femoris are rotationally connected to the pelvis and kneecap respectively, and the two ends of the peroneus longus, tibialis anterior, gastrocnemius and soleus muscles are rotationally connected to the kneecap and foot bone respectively.

[0014] In an optional solution: the skeleton is made of aluminum alloy material, the parts have high strength, are easy to process and have low manufacturing cost.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] This product uses multiple groups of pneumatic tendons to drive the joints, which can achieve joint movement in multiple directions at the same time;

[0017] This product uses pneumatic tendons that are similar in shape to human muscles. Compared with the traditional standard pneumatic tendons of FESTO, it has the advantages of greater power / mass ratio, strong adaptability, and high output force.

[0018] The cervical joint, shoulder joint, abdominal joint, waist joint and lower limb joint of this product have 3, 2, 2, 2 and 6 degrees of freedom respectively, which can vividly simulate various movements of human joints and help to understand the role of each muscle in joint movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Schematic diagram of the overall structure of a humanoid robot based on pneumatic tendons.

[0020] Figure 2 This is the first structural schematic diagram of the upper body skeleton of a humanoid robot based on pneumatic tendons.

[0021] Figure 3 This is a schematic diagram of the second structure of the upper body skeleton of a humanoid robot based on pneumatic tendons.

[0022] Figure 4 Schematic diagram of the structure of the lower body skeleton of a humanoid robot based on pneumatic tendons.

[0023] Figure 5 This is a schematic diagram of the structure of the neck system of a humanoid robot based on pneumatic tendons.

[0024] Figure 6 Schematic diagram of the structure of the shoulder system in a humanoid robot based on pneumatic tendons.

[0025] Figure 7 This is a schematic diagram of the structure of the first layer of the abdomen of a humanoid robot based on pneumatic tendons.

[0026] Figure 8 This is a schematic diagram of the structure of the second layer of the abdomen of a humanoid robot based on pneumatic tendons.

[0027] Fig. 9 This is a schematic diagram of the structure of the third layer of the abdomen of a humanoid robot based on pneumatic tendons.

[0028] Fig.10Schematic diagram of the structure of the thoracolumbar fascia, trapezius muscle system and upper body of the pneumatic tendon-based humanoid robot.

[0029] Fig.11 This is a schematic diagram of the structure of the lower limb system of a humanoid robot based on pneumatic tendons.

[0030] Figure reference: abdominal system 1-1, thoracolumbar fascia and trapezius muscle system 1-2, lower limb system 2, cervical system 3, shoulder system 4, skull 5, posterior vertebra 2 6, posterior vertebra 4 7, posterior vertebra 6 8, posterior vertebra 8 9, posterior vertebra 10 10, posterior vertebra 12 11, posterior vertebra 14 12, posterior vertebra 1 13, posterior vertebra 3 14, posterior vertebra 5 15, posterior vertebra 7 16, posterior vertebra 9 1 7. Posterior vertebra 11 18, posterior vertebra 13 19, pelvis 20, left rib second layer 21, left rib third layer 22, front vertebra 1 23, front vertebra 3 24, front vertebra 5 25, left rib first layer 26, front vertebra 2 27, front vertebra 4 28, clavicle 29, scapula 30, right rib first layer 31, right rib second layer 32, right rib third layer 33, femur 34, knee Osteoarthritis 35, fibula 36, ​​foot bone 37, left posterior scalene 38, left sternocleidomastoid 39, left sternohyoid 40, right sternohyoid 41, deltoid 42, right posterior oblique 43, right sternocleidomastoid 44, rhomboid 45, infraspinatus 46, pectoralis minor 47, pectoralis major 48, transverse abdominis 1 49, transverse abdominis 2 50, transverse abdominis 3 51, internal oblique 1 52, internal oblique 2 53, internal oblique 3 54, internal Oblique aponeurosis 1 55, internal oblique aponeurosis 2 56, external oblique muscle 1 57, external oblique muscle 2 58, external oblique muscle 3 59, erector spinae 1 60, erector spinae 2 61, rectus abdominis 62, left thoracolumbar fascia and trapezius muscle 63, right thoracolumbar fascia and trapezius muscle 64, vastus lateralis 65, biceps brachii 66, semitendinosus 67, gracilis 68, rectus femoris 69, peroneus longus 70, tibialis anterior 71, gastrocnemius 72, soleus 73. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the utility model clearer, the utility model is further described in detail in conjunction with the accompanying drawings and embodiments below; in the drawings or descriptions, similar or identical parts use the same reference numerals, and in actual applications, the shape, thickness or height of each component can be enlarged or reduced. The various embodiments listed in the utility model are only used to illustrate the utility model, and are not used to limit the scope of the utility model. Any obvious modifications or changes made to the utility model do not depart from the spirit and scope of the utility model.

[0032] This product has the advantages of compact structure, strong environmental adaptability and large output force.

[0033] In one embodiment, Figure 1-Figure 11 As shown, a pneumatic tendon-based humanoid robot includes a skeleton, an abdominal system 1-1, a thoracolumbar fascia and a trapezius muscle system 1-2, a lower limb system 2, a neck system 3 and a shoulder system 4, wherein the neck system 3, the shoulder system 4, the abdominal system 1-1 and the lower limb system 2 are all mounted on the skeleton from top to bottom, the thoracolumbar fascia and the trapezius muscle system 1-2 are mounted on the skeleton and the thoracolumbar fascia and the trapezius muscle system 1-2 are located between the abdominal system 1-1 and the shoulder system 4, and the skeleton includes a skull 5, a femur 34, a fibula 36, ​​a clavicle 29, anterior vertebra one 27, anterior vertebra two 27, anterior vertebra three The skull 5 and the pelvis 20 are connected in sequence from top to bottom with the posterior vertebra 1 13, the posterior vertebra 2 6, the posterior vertebra 3 14, the posterior vertebra 4 7, the posterior vertebra 5 15, the posterior vertebra 6 8, the posterior vertebra 7 16, the posterior vertebra 8 9, the posterior vertebra 9 17, the posterior vertebra 10, the posterior vertebra 11 18, the posterior vertebra 12 11, the posterior vertebra 13 19 and the posterior vertebra 14 12. The posterior vertebra 5 15 is fixedly connected to the left rib first layer 26 and the right rib first layer 31. The posterior vertebra 7 16 The posterior vertebra nine 17 is fixedly connected to the left rib third layer 22 and the right rib third layer 33 at the same time, the front vertebra one 27, the front vertebra two 27, the front vertebra three 24, the front vertebra four 24 and the front vertebra five 25 are rotated and connected in sequence from top to bottom, and the front vertebra one 27 is fixedly connected to the left rib first layer 26 and the right rib first layer 31 at the same time, the front vertebra three 24 is fixedly connected to the left rib second layer 21 and the right rib second layer 32 at the same time, the front vertebra five 25 is fixedly connected to the left rib third layer 22 and The third layer 33 of the right rib is fixedly connected, one end of the clavicle 29 is rotatably connected to the first layer 31 of the right rib, the other end of the clavicle 29 is fixedly connected to the scapula 30, both ends of the femur 34 are rotatably connected to the pelvis 20 and the kneecap 35 respectively; both ends of the fibula 36 are rotatably connected to the kneecap 35 and the foot bone 37 respectively, the abdominal system 1-1, the thoracolumbar fascia and trapezius muscle system 1-2, the lower limb system 2, the neck system 3 and the shoulder system 4 all use pneumatic tendons, both ends of the pneumatic tendons are sealed with metal clamps, the middle of the pneumatic tendon is a hollow cylinder, nylon fibers are embedded in the cylinder, and the cylinder is made of rubber material.

[0034] In one embodiment: Figure 5The neck system 3 includes a left posterior scalene muscle 38, a left sternocleidomastoid muscle 39, a left sternohyoid muscle 40, a right posterior oblique muscle 43, a right sternocleidomastoid muscle 44 and a right sternohyoid muscle 41. The two ends of the left posterior scalene muscle 38, the left sternocleidomastoid muscle 39 and the left sternohyoid muscle 40 are respectively connected to the skull 5 and the first layer 26 of the left ribs; the two ends of the right posterior oblique muscle 43, the right sternocleidomastoid muscle 44 and the right sternohyoid muscle 41 are respectively connected to the skull 5 and the first layer 26 of the left ribs. The first layer 31 is rotationally connected, and the left posterior scalene muscle 38, the left sternocleidomastoid muscle 39, the left sternohyoid muscle 40, the right posterior oblique muscle 43, the right sternocleidomastoid muscle 44 and the right sternohyoid muscle 41 together drive the skull 5, the posterior vertebra one 13, the posterior vertebra two 6, the posterior vertebra three 14, the posterior vertebra four 7 and the posterior vertebra five 15 to rotate relative to each other around the X-axis, the Y-axis and the Z-axis. Taking the movement of the joints into consideration, the above-mentioned rotational connections are all realized by ball joints.

[0035] In one embodiment: Figure 6 The shoulder system 4 includes a deltoid muscle 42, an infraspinatus muscle 46, a pectoralis major muscle 48 and a pectoralis minor muscle 47. The two ends of the deltoid muscle 42 and the infraspinatus muscle 46 are respectively connected to the first layer of the right rib 31 and the scapula 30 for rotation. The two ends of the pectoralis major muscle 48 are respectively connected to the second layer of the right rib 32 and the scapula 30 for rotation. The two ends of the pectoralis minor muscle 47 are respectively connected to the third layer of the right rib 33 and the scapula 30 for rotation. The deltoid muscle 42, the infraspinatus muscle 46, the pectoralis major muscle 48 and the pectoralis minor muscle 47 together drive the clavicle 29 and the scapula 30 to rotate relative to the first layer of the right rib 31 around the X-axis and the Z-axis. Considering the size of the system installation space, the degree of ease of implementation and the manufacturing cost, a universal joint is used to achieve the above-mentioned rotation connection, and the universal joint is a purchased standard part.

[0036] In one embodiment: Figure 7-Figure 9The abdominal system 1-1 includes a first abdominal layer, a second abdominal layer and a third abdominal layer. The first abdominal layer, the second abdominal layer and the third abdominal layer are all bilaterally symmetrical structures and can be divided into a left half and a right half. The right half of the first abdominal layer includes a transverse abdominal muscle 1 49, a transverse abdominal muscle 2 50 and a transverse abdominal muscle 3 51. The two ends of the transverse abdominal muscle 1 49, the transverse abdominal muscle 2 50 and the transverse abdominal muscle 3 51 are rotatably connected to the pelvis 20 and the first layer 31 of the right rib respectively; the right half of the second abdominal layer includes an internal oblique muscle 1 52, an internal oblique muscle 2 53, an internal oblique muscle 3 54, an internal oblique muscle aponeurosis 1 55 and an internal oblique muscle aponeurosis 2 56. The internal oblique muscle 1 52, the internal oblique muscle 2 53, the internal oblique muscle 3 The two ends of the three, internal oblique aponeurosis 55 and internal oblique aponeurosis 56 are rotationally connected to the pelvis 20 and the second layer 32 of the right rib respectively; the right half of the third layer of the abdomen includes the external oblique muscles 1 57, the external oblique muscles 2 58, the external oblique muscles 3 59, the erector spinae 1 60, the erector spinae 2 61 and the rectus abdominis 62, and the two ends of the external oblique muscles 1 57, the external oblique muscles 2 58, the external oblique muscles 3 59, the erector spinae 1 60, the erector spinae 2 61 and the rectus abdominis 62 are rotationally connected to the pelvis 20 and the third layer 33 of the right rib respectively. Considering the size of the system installation space, the ease of implementation and the manufacturing cost, a universal joint is used to achieve the above-mentioned rotation connection, and the universal joint is a purchased standard part. The left half of the first layer of the abdomen, together with the transverse abdominal muscles 1 49, 2 50, and 3 51, drives the posterior vertebra 5 15, posterior vertebra 6 8, posterior vertebra 7 16, posterior vertebra 8 9, posterior vertebra 9 17, posterior vertebra 10, posterior vertebra 11 18, posterior vertebra 12 11, posterior vertebra 13 19, posterior vertebra 14 12 and pelvis 20 to rotate relative to each other around the X-axis and Y-axis, as well as the anterior vertebra 1 23, anterior vertebra 27, anterior vertebra 3 24, anterior vertebra 4 28 and anterior vertebra 5 25 to rotate relative to each other around the X-axis and Y-axis. The left half of the second layer of the abdomen, together with the internal oblique muscle 1 52, the internal oblique muscle 2 53, the internal oblique muscle 3 54, the internal oblique muscle aponeurosis 1 55 and the internal oblique muscle aponeurosis 2 56, drive the posterior vertebra 7 16, the posterior vertebra 8 9, the posterior vertebra 9 17, the posterior vertebra 10, the posterior vertebra 11 18, the posterior vertebra 12 11, the posterior vertebra 13 19, the posterior vertebra 14 12 and the pelvis 20 to rotate relative to each other around the X-axis and the Y-axis, as well as the anterior vertebra 3 24, the anterior vertebra 4 28 and the anterior vertebra 5 25 to rotate relative to each other around the X-axis and the Y-axis. The left half of the third layer of the abdomen, together with the external oblique muscles 1 57, 2 58, 3 59, erector spinae 1 60, erector spinae 2 61 and rectus abdominis 62, drives the posterior vertebra 9 17, posterior vertebra 10, posterior vertebra 11 18, posterior vertebra 12 11, posterior vertebra 13 19, posterior vertebra 14 12 and pelvis 20 to rotate relative to each other around the X-axis and Y-axis.

[0037] In one embodiment: Fig.10 The thoracolumbar fascia and trapezius muscle system 1-2 includes a left thoracolumbar fascia and trapezius muscle 63 and a right thoracolumbar fascia and trapezius muscle 64. The two ends of the left thoracolumbar fascia and trapezius muscle 63 and the right thoracolumbar fascia and trapezius muscle 64 are respectively connected to the skull 5 and the pelvis 20 for rotation. The left thoracolumbar fascia and trapezius muscle 63 and the right thoracolumbar fascia and trapezius muscle 64 drive the skull 5 to rotate relative to the posterior vertebra 1 13, the posterior vertebra 2 6, the posterior vertebra 3 14, the posterior vertebra 4 7, the posterior vertebra 5 15, the posterior vertebra 6 8, the posterior vertebra 7 16, the posterior vertebra 8 9, and the posterior vertebra The vertebra nine 17, the posterior vertebra ten 10, the posterior vertebra eleven 18, the posterior vertebra twelve 11, the posterior vertebra thirteen 19, the posterior vertebra fourteen 12 and the pelvis 20 rotate relative to each other around the X-axis and the Y-axis, and the anterior vertebra one 23, the anterior vertebra two 27, the anterior vertebra three 24, the anterior vertebra four 28 and the anterior vertebra five 25 rotate relative to each other around the X-axis and the Y-axis. Considering the size of the system installation space, the ease of implementation and the manufacturing cost, universal joints are used to achieve the above-mentioned rotation connection, and the universal joints are purchased standard parts.

[0038] In one embodiment: Fig.11 The lower limb system 2 includes the vastus lateralis 65, the biceps brachii 66, the semitendinosus 67, the gracilis 68, the rectus femoris 69, the peroneus longus 70, the tibialis anterior 71, the gastrocnemius 72 and the soleus 73. The two ends of the vastus lateralis 65, the biceps brachii 66, the semitendinosus 67, the gracilis 68 and the rectus femoris 69 are rotatably connected to the pelvis 20 and the kneecap 35 respectively. The two ends of the peroneus longus 70, the tibialis anterior 71, the gastrocnemius 72 and the soleus 73 are rotatably connected to the kneecap 35 and the foot bone 37 respectively. Considering the size of the system installation space, the ease of implementation and the manufacturing cost, a universal joint is used to achieve the above-mentioned rotation connection, and the universal joint is a purchased standard part.

[0039] In one embodiment: the skeleton is made of aluminum alloy material, the parts have high strength, are easy to process, and have low manufacturing costs.

[0040] The scalene muscles, cleidomastoid muscles, and hyoid muscles drive the joints of the neck system 3 to rotate relative to each other around the X-axis, Y-axis, and Z-axis. The deltoid muscles 42, infraspinatus muscles 46, pectoralis major muscles 48, and pectoralis minor muscles 47 drive the joints of the shoulder system 4 to rotate relative to each other around the X-axis and Z-axis. The transverse abdominal muscles, internal oblique muscles, internal oblique aponeurosis, external oblique muscles, erector spinae, and rectus abdominis 62 drive the joints of the abdominal system 1-1 to rotate relative to each other around the X-axis and Y-axis. The left thoracolumbar fascia and trapezius muscles 63 The right thoracolumbar fascia and trapezius muscle 64 drive the joints of the thoracolumbar fascia and trapezius muscle system 1-2 to rotate relative to each other around the X-axis and the Y-axis; the vastus lateralis 65, biceps brachii 66, semitendinosus 67, gracilis 68 and rectus femoris 69 drive the thigh of the lower limb system 2 to rotate relative to each other around the X-axis, the Y-axis and the Z-axis; the peroneus longus 70, the tibialis anterior 71, the gastrocnemius 72 and the soleus 73 drive the calf of the lower limb system 2 to rotate relative to each other around the X-axis, the Y-axis and the Z-axis.

[0041] This product is driven by a pneumatic tendon similar to the shape of human muscles. It has the characteristics of compact structure, strong environmental adaptability and large output force. It can be used for medical laboratory teaching, tendon function demonstration in human anatomy courses and rehabilitation training advice and guidance, and has a wide range of applications.

[0042] The above is only a specific implementation of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present disclosure, which should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A pneumatic tendon-based humanoid robot, comprising a skeleton, an abdominal system, a thoracolumbar fascia and a trapezius muscle system, a lower limb system, a neck system and a shoulder system, wherein the neck system, the shoulder system, the abdominal system and the lower limb system are all mounted on the skeleton from top to bottom, the thoracolumbar fascia and the trapezius muscle system are mounted on the skeleton and the thoracolumbar fascia and the trapezius muscle system are located between the abdominal system and the shoulder system, characterized in that: The skeleton includes a skull, a femur, a fibula, a clavicle, an anterior vertebra 1, an anterior vertebra 2, an anterior vertebra 3, an anterior vertebra 4, an anterior vertebra 5 and a pelvis; the skull and the pelvis are rotationally connected with a posterior vertebra 1, a posterior vertebra 2, a posterior vertebra 3, a posterior vertebra 4, a posterior vertebra 5, a posterior vertebra 6, a posterior vertebra 7, a posterior vertebra 8, a posterior vertebra 9, a posterior vertebra 10, a posterior vertebra 11, a posterior vertebra 12, a posterior vertebra 13 and a posterior vertebra 14 in sequence from top to bottom; the posterior vertebra 5 is fixedly connected to the first layer of the left ribs and the first layer of the right ribs at the same time; the posterior vertebra 7 is fixedly connected to the second layer of the left ribs and the second layer of the right ribs at the same time; the posterior vertebra 9 is fixedly connected to the third layer of the left ribs and the third layer of the right ribs at the same time Fixed connection, the anterior vertebra one, the anterior vertebra two, the anterior vertebra three, the anterior vertebra four and the anterior vertebra five are rotationally connected in sequence from top to bottom, and the anterior vertebra one is fixedly connected to the first layer of the left ribs and the first layer of the right ribs at the same time, the anterior vertebra three is fixedly connected to the second layer of the left ribs and the second layer of the right ribs at the same time, the anterior vertebra five is fixedly connected to the third layer of the left ribs and the third layer of the right ribs at the same time, one end of the clavicle is rotationally connected to the first layer of the right ribs, the other end of the clavicle is fixedly connected to the scapula, both ends of the femur are rotationally connected to the pelvis and the kneecap respectively; both ends of the fibula are rotationally connected to the kneecap and the foot bone respectively, the abdominal system, thoracolumbar fascia and trapezius muscle system, lower limb system, neck system and shoulder system all use pneumatic tendons.

2. The humanoid robot based on pneumatic tendons according to claim 1, characterized in that: The cervical system includes the left posterior scalene muscle, the left sternocleidomastoid muscle, the left sternohyoid muscle, the right posterior oblique muscle, the right sternocleidomastoid muscle, the right sternohyoid muscle, the left posterior scalene muscle, the left sternocleidomastoid muscle and the left sternohyoid muscle, and the two ends of which are respectively connected to the skull and the first layer of the left ribs for rotation; the two ends of the right posterior oblique muscle, the right sternocleidomastoid muscle and the right sternohyoid muscle are respectively connected to the skull and the first layer of the right ribs for rotation.

3. The humanoid robot based on pneumatic tendons according to claim 1 or 2, characterized in that: The shoulder system includes the deltoid muscle, infraspinatus muscle, pectoralis major muscle and pectoralis minor muscle. The two ends of the deltoid muscle and infraspinatus muscle are respectively connected to the first layer of the right ribs and the scapula for rotation. The two ends of the pectoralis major muscle are respectively connected to the second layer of the right ribs and the scapula for rotation. The two ends of the pectoralis minor muscle are respectively connected to the third layer of the right ribs and the scapula for rotation.

4. The humanoid robot based on pneumatic tendons according to claim 1, characterized in that: The abdominal system includes a first abdominal layer, a second abdominal layer and a third abdominal layer. The first abdominal layer, the second abdominal layer and the third abdominal layer are all bilaterally symmetrical structures. The right half of the first abdominal layer includes transverse abdominal muscle 1, transverse abdominal muscle 2 and transverse abdominal muscle 3. The two ends of transverse abdominal muscle 1, transverse abdominal muscle 2 and transverse abdominal muscle 3 are respectively connected to the pelvis and the first layer of the right rib cage; the right half of the second abdominal layer includes internal oblique muscle 1, internal oblique muscle 2, internal oblique muscle 3, internal oblique aponeurosis 1 and internal oblique muscle 3. The aponeurosis II, the internal oblique muscle I, the internal oblique muscle II, the internal oblique muscle III, the internal oblique muscle aponeurosis I and the two ends of the internal oblique muscle aponeurosis II are respectively connected to the pelvis and the second layer of the right ribs for rotation; the right half of the third layer of the abdomen includes the external oblique muscle I, the external oblique muscle II, the external oblique muscle III, the erector spinae I, the erector spinae II and the rectus abdominis, and the external oblique muscle I, the external oblique muscle II, the external oblique muscle III, the erector spinae I, the erector spinae II and the two ends of the rectus abdominis are respectively connected to the pelvis and the third layer of the right ribs for rotation.

5. The humanoid robot based on pneumatic tendons according to claim 1, characterized in that: The thoracolumbar fascia and trapezius muscle system comprises a left thoracolumbar fascia and trapezius muscle and a right thoracolumbar fascia and trapezius muscle, and two ends of the left thoracolumbar fascia and trapezius muscle and the right thoracolumbar fascia and trapezius muscle are rotationally connected to the skull and the pelvis respectively.

6. The humanoid robot based on pneumatic tendons according to claim 1 or 5, characterized in that: The lower limb system includes the vastus lateralis, biceps brachii, semitendinosus, gracilis, rectus femoris, peroneus longus, tibialis anterior, gastrocnemius and soleus muscles. The two ends of the vastus lateralis, biceps brachii, semitendinosus, gracilis and rectus femoris are respectively rotatably connected to the pelvis and the kneecap, and the two ends of the peroneus longus, tibialis anterior, gastrocnemius and soleus muscles are respectively rotatably connected to the kneecap and the foot bone.

7. The humanoid robot based on pneumatic tendons according to claim 1, characterized in that: The skeletons are all made of aluminum alloy material.

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