Humanoid robot based on atmosphere driving

Abstract

The utility model relates to the technical field of robots, and provides a humanoid robot based on atmosphere driving, which comprises a main driving system for providing negative pressure potential energy required by driving; the tail end execution system is driven by the main driving system to complete specific actions; the switch valve system is arranged on the main driving system and can control fluid to enter the end execution system or come out of the end execution system so as to be matched with execution of actions, and the actions comprise the stretching action and the contracting action; the sensing system is used for acquiring sensing information of each part of the humanoid robot; the power supply management system is used for supplying power to electric components; the control system is connected with the main driving system, the switch valve system, the sensing system and the power management system; and the supporting framework provides a supporting carrier for each system. The series piston cylinders and the parallel piston cylinders are integrated to serve as a main driving system, negative pressure potential energy is released by means of atmospheric pressure, actions of a natural person are simulated, and the practicability of the robot is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of humanoid robots, in particular to a humanoid robot based on atmosphere drive. Background Art

[0002] Although existing humanoid robots have a variety of functions, most of them rely on external power supplies or frequent charging for energy supply, which limits their operating range and continuous working time. In addition, traditional humanoid robots mainly rely on mechanical or electric transmission systems for movement. These systems are usually heavy and have limitations in efficiency and adaptability. Therefore, it is particularly important to develop a humanoid robot that can generate and store energy by itself to achieve completely offline operation. Utility Model Content

[0003] In view of the defects in the prior art, the purpose of the utility model is to provide a humanoid robot based on atmosphere drive.

[0004] According to the utility model, a humanoid robot based on atmosphere drive is provided, comprising:

[0005] The main driving system provides the negative pressure potential energy required for driving;

[0006] The end execution system completes specific actions under the drive of the main drive system;

[0007] A switch valve system, arranged on the main drive system and capable of controlling the fluid to enter or exit the end effector system to match the execution of the action, the action including the extension action and the contraction action;

[0008] A sensor system, used to collect sensor information from various parts of the humanoid robot;

[0009] A power management system, electrically connected to the main drive system and the sensor system respectively;

[0010] A control system, connecting the main drive system, the switch valve system, the sensor system, and the power management system;

[0011] A supporting frame, wherein the main drive system, the end execution system, the sensor system, the power management system and the control system are all arranged on the supporting frame.

[0012] Preferably, the main driving system includes a driving mechanism, which includes a first driving unit and a second driving unit. The end execution system has a driving fluid chamber. The first driving unit can drive the fluid in the driving fluid chamber into itself to enable the end execution system to perform a contraction action. The second driving unit can drive the fluid inside itself into the driving fluid chamber to enable the end execution system to perform an extension action.

[0013] Preferably, the first driving unit comprises a first sleeve and a first piston, and the first piston divides the interior of the first sleeve into a first negative pressure chamber and a first fluid chamber;

[0014] The second driving unit includes a second sleeve and a second piston, and the second piston divides the interior of the second sleeve into a second negative pressure chamber and a second fluid chamber;

[0015] The first fluid chamber and the second fluid chamber are both connected to the driving fluid chamber; when the first negative pressure chamber releases negative pressure potential energy, the fluid in the driving fluid chamber can be driven to enter the first fluid chamber so that the action of the end execution system is manifested as bending; when the second negative pressure chamber releases negative pressure potential energy, the fluid in the second fluid chamber can be driven to enter the driving fluid chamber so that the action of the end execution system is manifested as extension, wherein the fluid in the first fluid chamber is allowed to flow into the second fluid chamber.

[0016] Preferably, the first drive unit adopts a series cavity structure, the second drive unit adopts a parallel cavity structure, and the first fluid cavity is connected to the second fluid cavity via a one-way valve.

[0017] Preferably, the main drive system further comprises an intermediate energy conversion mechanism, the intermediate energy conversion mechanism comprises a motor, a ball screw connected to the motor drive, and a nut block threadedly matched with the ball screw, the nut block is fixedly connected to the second piston, wherein the motor has a motor function and a generator function, and when the motor is used as a generator, the generated electric energy can be stored in the power management system;

[0018] Preferably, the intermediate energy conversion mechanism also includes any of the following forms:

[0019] Using chemical explosion energy to achieve storage of negative pressure potential energy;

[0020] Phase change energy is used to achieve storage of negative pressure potential energy;

[0021] Wind energy and / or solar energy are used to store negative pressure potential energy.

[0022] Preferably, the support skeleton includes a plurality of joints, the joints adopt revolute pairs, and the end effector system cooperates with the joints to complete the target action.

[0023] Preferably, the end execution system includes a plurality of execution units, each of which includes an internal hose, a constraint sleeve sleeved on the internal hose, and fasteners arranged at both ends of the constraint sleeve. The internal hose is respectively connected to the first fluid cavity and the second fluid cavity. The internal space of the internal hose forms a driving fluid chamber. The extension action is achieved by driving the fluid into the internal hose, and the contraction action is achieved by driving the fluid out of the internal hose.

[0024] Preferably, the execution unit can be made into different shapes to match the movements of different parts of the human body.

[0025] Preferably, the switch valve system includes multiple fluid valves, each of which is connected to one or more execution units through connecting pipelines. The multiple execution units are configured to one or more parts of the humanoid robot. The sensing system senses the status of various parts of the robot and feeds back to the control system, and then the control system issues control commands in real time to coordinate and control the opening of each fluid valve to complete one or more target actions.

[0026] Compared with the prior art, the utility model has the following beneficial effects:

[0027] The utility model integrates a series piston cylinder and a parallel piston cylinder as the main drive system. The energy is first stored offline and then released through the control system through the soft actuator from the trunk to the extremities of the robot. The release of negative pressure potential energy is achieved with the help of atmospheric pressure. The lightweight transmission system simulates the movements of a natural person and can be completely self-sufficient through internal battery power supply, thereby improving the autonomy and applicability of the robot, with high control efficiency. It is particularly suitable for application scenarios that require long-term or remote operation, greatly improving the practicality of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0029] Figure 1 This is a schematic diagram of the front structure of the robot in the utility model;

[0030] Figure 2 This is a schematic diagram of the side structure of the robot in the utility model;

[0031] Figure 3 is a schematic diagram of the structure of the driving mechanism;

[0032] Figure 4 for Figure 3 A schematic diagram of the structure from top view;

[0033] Figure 5 for Figure 4 A schematic diagram of the cross-sectional structure along the AA direction, wherein a schematic diagram of the structure of the intermediate energy conversion mechanism is also added in the figure;

[0034] Figure 6 is a schematic diagram of the structure of the execution unit, including a comparison diagram of the execution unit before and after expansion;

[0035] Figure 7 This is a schematic diagram of the hand driving principle;

[0036] Figure 8 It is a schematic diagram of the structure of the inner side of the hand, in which the fingers are not bent;

[0037] Fig. 9 This is a perspective diagram of the inner side of the hand;

[0038] Fig.10 for Fig. 9 Schematic diagram of the AA section structure;

[0039] Fig.11 It is a schematic diagram of the structure of the inner side of the hand, in which some fingers are bent;

[0040] Fig.12 This is a schematic diagram of the control principle of the utility model;

[0041] Fig.13 A schematic diagram of a structure for realizing negative pressure energy storage by phase change energy storage in a negative pressure space;

[0042] Fig.14 It is a structural schematic diagram of the connection between the execution unit, the switch valve and the driving mechanism;

[0043] Fig.15 Schematic diagram of the structure of the robot adopting distributed actuation strategy.

[0044] The figure shows:

[0045] Support frame 100

[0046] Joints 101

[0047] Driving mechanism 200

[0048] The first driving unit 201

[0049] First sleeve 2011

[0050] The first negative pressure chamber 20111

[0051] First fluid chamber 20112

[0052] Conductor Materials 20113

[0053] First Piston 2012

[0054] Phase Change Materials 2013

[0055] Induction Coil 2014

[0056] The second driving unit 202

[0057] Second sleeve 2021

[0058] Second Piston 2022

[0059] The second negative pressure chamber 20211

[0060] Second fluid chamber 20212

[0061] Intermediate energy conversion mechanism 203

[0062] Motor 2031

[0063] Ball Screw 2032

[0064] Nut block 2033

[0065] Check valve 204

[0066] Execution unit 300

[0067] Driving fluid chamber 301

[0068] Internal hose 302

[0069] The first flexible deformation body 3021

[0070] The second flexible deformation body 3022

[0071] The third flexible deformation body 3023

[0072] Fourth flexible deformation body 3024

[0073] Fifth flexible deformation body 3025

[0074] Constraint sleeve 303

[0075] Fastener 304

[0076] Flexible Skin 305

[0077] Connecting pipe 306

[0078] Switching valve system 400

[0079] The first control valve chamber 401

[0080] The second control valve chamber 402

[0081] Fluid 500 DETAILED DESCRIPTION

[0082] The utility model is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the utility model, but do not limit the utility model in any form. It should be pointed out that for those of ordinary skill in the art, several changes and improvements can be made without departing from the concept of the utility model. These all belong to the protection scope of the utility model.

[0083] Embodiment 1:

[0084] The utility model provides a humanoid robot based on atmosphere drive, such as Figure 1 , Figure 2 , Fig.12 As shown, it includes a main drive system, an end-effector system, a switch valve system 400, a sensor system, a power management system, a control system and a support frame 100. The main drive system provides the negative pressure potential energy required for driving; the end-effector system completes specific actions driven by the negative pressure potential energy provided by the main drive system; the switch valve system 400 is arranged on the main drive system and is connected to the control system signal. Under the control of the control system, the fluid 500 is controlled to enter or exit the end-effector system to match the execution of the action. The action includes stretching action and contraction action. The stretching action and contraction action are used to cooperate with the humanoid robot to complete the action of various parts of the body; the sensor system Collect system information, for example, the sensor system includes pressure sensors, temperature sensors, flow sensors, force sensors, etc. The data collected by each sensor is fed back to the control system, and the control system issues control commands based on the data information to control the operation of each system; the power management system is electrically connected to the main drive system and the sensor system respectively to supply power to each electrical component of the robot, and can also supplement electrical energy through the main drive system; the control system is equivalent to the "brain" of the entire robot, connecting the main drive system, the switch valve system 400, the sensor system, and the power management system; the main drive system, the end execution system, the sensor system, the power management system, and the control system are all arranged on the support frame 100.

[0085] The main drive system includes a drive mechanism 200, such as Figure 3 , Figure 4 , Figure 5As shown, the driving mechanism 200 includes a first driving unit 201, a second driving unit 202 and an intermediate energy conversion mechanism 203. The end execution system has a driving fluid chamber 301. The first driving unit 201 can drive the fluid 500 in the driving fluid chamber 301 into the interior of the first driving unit 201 so that the end execution system can perform a contraction action. The second driving unit 202 can drive the fluid 500 inside itself into the driving fluid chamber 301 so that the end execution system can perform an extension action. The utility model realizes the complex movement of the humanoid robot by scientifically and reasonably performing a combination of contraction actions and / or extension actions.

[0086] Furthermore, the first drive unit 201 adopts a series cavity structure, the first drive unit 201 includes a first sleeve 2011 and a first piston 2012, the first sleeve 2011 is a single sleeve structure, and the first piston 2012 divides the interior of the first sleeve 2011 into a first negative pressure chamber 20111 and a first fluid chamber 20112; the second drive unit 202 has a parallel cavity structure, the second drive unit 202 includes a second sleeve 2021 and a second piston 2022, the second sleeve 2021 is a multi-sleeve structure, the second piston 2022 is a multi-piston interconnecting structure, one end of the second piston 2022 extends to the outside of the second sleeve 2021, and the other end of the second piston 2022 divides the interior of the second sleeve 2021 into a second negative pressure chamber 20211 and a second fluid chamber 20212; the first fluid chamber 20112 and the second fluid chamber 20212 are both connected to the driving fluid chamber 301; the first negative pressure chamber 301 is a plurality of negative pressure chambers, and the second negative pressure chamber 302 ... The interiors of the pressure chamber 20111 and the second negative pressure chamber 20211 are in a vacuum state. Due to the action of the external atmospheric pressure, the first piston 2012 and the second piston 2022 tend to be pushed by the atmospheric pressure, thereby forming negative pressure potential energy in the two vacuum spaces. When the first negative pressure chamber 20111 releases the negative pressure potential energy, the fluid 500 in the driving fluid chamber 301 can be driven to enter the first fluid chamber 20112, thereby making the action of the end execution system appear as bending. When the second negative pressure chamber 20211 releases the negative pressure potential energy, the fluid 500 in the second fluid chamber 20212 can be driven to enter the driving fluid chamber 301, thereby making the action of the end execution system appear as extension. The first fluid chamber 20112 is connected to the second fluid chamber 20212 through a one-way valve 204, and the one-way valve 204 allows the fluid 500 in the first fluid chamber 20112 to flow into the second fluid chamber 20212.

[0087] like Figure 5 As shown, the intermediate energy conversion mechanism 203 includes a motor 2031 , a ball screw 2032 drivingly connected to the motor 2031 , and a nut block 2033 threadably matched with the ball screw 2032 , and the nut block 2033 is fixedly connected to the second piston 2022 .

[0088] The intermediate energy conversion mechanism 203 is preferably assembled to the trunk of the robot. Before use, the humanoid robot of the utility model can first drive the second piston 2022 to move synchronously by the motor 2031 to drive the nut block 2033 to move, so as to store the negative pressure energy in the second negative pressure chamber 20211. Under the action of the one-way valve 204, the negative pressure potential energy in the first negative pressure chamber 20111 can also be stored. It should be noted that the energy source of the main drive system is provided in various forms. The motor 2031 has the function of a motor and a generator. When the motor 2031 is used as a generator, the generated electric energy can be stored in the battery in the power management system. When the motor 2031 works as a motor, the main drive system can directly pull the piston to store the negative pressure potential energy with the help of the motor 2031. It can also use other forms to achieve the storage of the negative pressure potential energy of the two negative pressure chambers, such as using chemical explosion energy, phase change energy, wind energy, solar energy, etc. to achieve the storage of negative pressure potential energy. For example, by adding thermal phase change material into the first negative pressure chamber 20111 and the second negative pressure chamber 20211, the material expands in volume after phase change to complete the energy charging process; or by adding chemical reaction fuel into the negative pressure chamber and driving the piston movement through explosion to perform energy charging; in addition, the energy charging process can also be completed through any other form of energy source.

[0089] Furthermore, the following specifically introduces the principles of negative pressure storage of various energy sources:

[0090] Add the description of the phase change energy storage process: using a combination of inductive heating and wireless charging, specifically, Fig.13 As shown, phase change materials are arranged inside the first negative pressure chamber 20111 and the second negative pressure chamber 20211, which can be specifically paraffin phase change composite materials, which can improve their electrical and thermal conductivity. Nickel powder is added to the low-melting point paraffin to increase the magnetic permeability (paraffin has a low melting point (about 60°C)), and the volume expansion rate can be as high as 20%. A small piece of conductor material 20113 (for example, the conductor material is copper) is added inside, and the external coil inputs high-frequency excitation. Based on the principle of induction heating, the surface temperature of the conductor material increases due to the skin effect, thereby heating the paraffin, causing it to undergo a phase change and increase in volume, while pushing the first piston 2012 and the second piston 2022. The fluid in the first fluid chamber 20112 enters the second fluid chamber 20212 through the one-way valve 204. After cooling, the temperature of the paraffin composite material with high thermal conductivity drops rapidly and returns to a solid state, and negative pressure cavities are generated inside the first negative pressure chamber 20111 and the second negative pressure chamber 20211, completing the charging process.

[0091] Description of the explosion-driven energy storage process: A more efficient explosion-driven method can be used to generate negative pressure energy. This method has a very high energy storage density. Clean chemical fuels, such as methane, are placed inside the first negative pressure chamber 20111 and the second negative pressure chamber 20211, and a pair of controllable electrodes are arranged on the side to generate electric sparks to control the ignition of the mixture of methane and oxygen. The explosion energy generated thereby pushes the first piston 2012 and the second piston 2022 to expand the combustion chamber, thereby completing energy storage. The water remaining from the chemical reaction adheres to the inner wall of the negative pressure chamber and accumulates at the bottom of the chamber with the reciprocating motion of the piston. After actuation, the cleanliness of the side wall is guaranteed to a certain extent, ensuring the generation of the reaction between the electrode and the explosion fuel. The residue can be cleaned up after the fuel is consumed.

[0092] The end execution system includes a plurality of execution units 300, each of which includes an internal hose 302, a constraint sleeve 303 sleeved on the internal hose 302, and fasteners 304 arranged at both ends of the constraint sleeve 303. Figure 6 As shown, the internal hose 302 is connected to the first fluid cavity 20112 and the second fluid cavity 20212 respectively. The internal space of the internal hose 302 forms a driving fluid chamber 301. The restraining sleeve 303 protects the internal hose 302 and can adopt a braided structure to prevent the internal hose 302 from being damaged. It should be noted that when the execution unit 300 is used in various parts of the robot, it can be made into different external shapes to meet the requirements of appearance and function. For example, the finger part can be made into Figure 8 The shape can be flexibly designed according to the actual location to meet the needs.

[0093] like Figure 1 , Figure 2 As shown, the support skeleton 100 includes a plurality of joints 101. The joints 101 adopt a revolute pair. The revolute pair may adopt a flexible hinge structure, such as a ball joint, a Hooke's joint, etc. The end execution system cooperates with the joint 101 to complete the extension or contraction movement. For example, execution units 300 are respectively set on both sides of the joint 101. By controlling one of the two execution units 300 to be in a bent state and the other to be in an extended state, the rotation at the joint 101 can be achieved, thereby completing the corresponding action. It should be noted that the execution units can be arranged in series or in parallel according to the rotation amplitude of each joint. The number of series and parallel connections can also be adjusted according to the size of the rotation amplitude to meet actual needs. The support skeleton 100 includes rigid connection components and humanoid joint parts of the human skeleton. Specifically, in the implementation process, the main support frame is manufactured in one piece by 3D printing. All the revolute joints and ball joint joints shown in the joint 101 can be Fig.15 The flexible hinge joint structure shown further reduces the difficulty of assembly and manufacturing. Figure 1The medium negative pressure drive system is located inside the chest cavity as a centralized functional component. In order to increase the drive efficiency and output power density, a distributed drive strategy can also be adopted, that is, the inside of the human arm or thigh backbone can also be transformed into a cavity structure, such as Fig.15 As shown, it is used to store negative pressure energy and can also be used to drive adjacent joints to further improve the agility of human movement.

[0094] The switch valve system 400 includes a plurality of fluid valves, such as Figure 1 , Figure 3 , Figure 4 As shown, each fluid valve is connected to a certain part of the humanoid robot through its own connecting pipe 306 to realize the action of the corresponding part. At the same time, the present invention implements the sensing system to sense the status of various parts of the robot, so that the control system can issue control commands in real time, coordinate the progress of various actions, and complete the corresponding actions. The power management system includes a rechargeable battery and a battery management unit. When the battery power reaches the set lower limit, it is fed back to the control system through the battery management unit. The control system issues a command to charge the battery through the main drive system to ensure that the battery power is sufficient to meet the requirements of flexible and coherent actions under heavy load or instantaneous heavy load conditions. The present invention manages energy release by integrating artificial intelligence into the control system and makes adjustments as needed, which greatly improves the intelligence of the robot.

[0095] Specifically, the precise motion control of the switch valve system 400 can use a fluid control valve composed of intelligent materials to achieve the integration of regulation and perception. It not only has a switch function, but also can detect the pressure changes in the fluid transmission process in real time, and has both switch and pressure sensing functions. The change of the external load can be further inferred through the fluid pressure, so as to perform precise adjustment and feedback control of the flow rate, realize adaptive adjustment corresponding to dynamic time-varying external excitation, and meet the accuracy requirements of the end effector motion regulation. Combined with the motion posture sensors (such as gyroscopes, velocity, acceleration sensors, etc.) at each human joint and rigid skeleton, the optimal configuration can be carried out to accurately monitor the terminal final sensor signal of the motion posture of the humanoid robot, so as to realize precise human motion posture control, such as Fig.14 For the specific driving process and the self-sensing switch valve function, please refer to the relevant introduction in patent document CN115021612A.

[0096] The main drive system in the utility model can store and release the stored negative pressure potential energy to provide energy for various actions of the end execution system. The support frame 100 provides support for the actions of the end execution system. The support frame 100 can be made by 3D printing. In addition to the main support structure, it also includes joints 101 of various parts required for the robot's actions. The main drive system is composed of a pair of energy generation and storage structures, similar to the human heart function, which is embedded in the main body structure. The two drive units, the first drive unit 201 and the second drive unit 202, intermittently perform offline energy storage to ensure that the system continues to work. The execution unit 300 is a flexible actuator, which is configured on both sides of the joints of the trunk in analogy to the position of the human muscle group. Through the combined control of the actuator, conventional human walking, arm bending and other combined movements can be achieved. All actuators are driven by fluids. The switch valve system 400 is connected in series with the fluid cavity of the main drive system and is arranged at the front end of the actuator inlet respectively to control the transmission fluid 500 to flow into and out of each actuator. The switch valve system 400 includes multiple fluid valves, and the flow of fluid is achieved by controlling the opening and closing of the fluid valves, thereby realizing the execution of the action.

[0097] The main drive system in the utility model can adopt an energy storage system based on phase change, explosive chemical reaction, etc., and a motor driven by negative pressure energy, which not only provides energy for the robot's power system, but also generates electricity and stores it in the rechargeable battery inside the robot. The built-in battery can be used in components such as power supply control system and signal processing to ensure that the robot's communication and operation control can continue to operate even without external power supply. The end execution system adopts a soft actuator, which is responsible for performing precise movements. At the same time, the integrated artificial intelligence system is powered by an internal battery and is responsible for adjusting and optimizing the robot's behavior and response. It can realize various complex movements such as fast, maneuverable and instantaneous force, which improves the practicality of the humanoid robot.

[0098] It should be understood that the strategy of synchronously coordinating the drive control of the main drive system and the energy storage battery can be understood as the coordinated deployment of the battery action and the negative pressure energy output, such as Fig.12 As shown, the battery assembly can be firstly filled by releasing negative pressure energy, and then synchronous energy supply is carried out, wherein the negative pressure drive unit is mainly used for human movement, and the battery mainly supplies energy for the controller. When the required power of the movement output exceeds or is far less than the rated power, the energy of the two can complement and transform each other. Specifically, when the system is working, the negative pressure energy can also synchronously power the battery assembly, the battery can be intermittently powered or can work continuously for a long time, and the negative pressure energy can be replenished in reverse while consuming electric energy.

[0099] Embodiment 2:

[0100] This embodiment takes the hand of a humanoid robot as an example to introduce the motion control process of the humanoid robot in the utility model. The hand of the humanoid robot uses an external pressure source to control 5 pairs of fluid valves, which control the bending movement of each finger respectively, actively adjust the inflow and outflow of fluid, and realize the coordinated control of fingers. Soft robots have many properties that are difficult to achieve for traditional robots composed of rigid materials. Most soft robots still need an external pressure source as an energy input source. This solution will realize the integration of the drive system and the soft actuator, with a higher degree of integration.

[0101] Specifically, the phase-change negative pressure driven actuator is actuated by the negative pressure generated by the first negative pressure chamber 20111, the second negative pressure chamber 20211, and the vacuum chamber. The negative pressure is generated by the volume expansion of the phase change material after being heated, and the negative pressure potential energy is stored at the same time. The flexible arm's finger bending function is realized in combination with fluid transmission. Fig. 9 , Fig.10As shown, the hand includes a first negative pressure chamber 20111, a first fluid chamber 20112, a second negative pressure chamber 20211, a second fluid chamber 20212, a driving fluid chamber 301, a flexible skin 305, a one-way valve 204, an induction coil 2014, a first control valve chamber 401, a second control valve chamber 402, a first flexible deformation body 3021, a second flexible deformation body 3022, a third flexible deformation body 3023, a fourth flexible deformation body 3024, and a fifth flexible deformation body 3025. The first flexible deformation body 3021 and the second flexible deformation body 3022 surround the second negative pressure chamber 20211, and the flexible skin 305 is covered in the first negative pressure chamber 20111, the second negative pressure chamber 20212, and the flexible skin 305 is covered in the first negative pressure chamber 20111, the second negative pressure chamber 20212, the first negative pressure chamber 20111, the second negative pressure chamber 20212, the third flexible deformation body 3023, the fourth flexible deformation body 3024, and the fifth flexible deformation body 3025. A fluid chamber 20112, a second negative pressure chamber 20211, a second fluid chamber 20212, and the outside of the driving fluid chamber 301, a phase change material 2013 is arranged in the first negative pressure chamber 20111, and the induction coil 2014 receives heat from the external electromagnetic wave, thereby heating the phase change material 2013 to make the first negative pressure chamber 20111 expand and increase its volume, and the volume of the first fluid chamber 20112 decreases, and the fluid 500 flows into the second fluid chamber 20212 through the one-way valve 204, and the volume of the second fluid chamber 20212 also increases, and at the same time, the volume of the second negative pressure chamber 20211 also increases, so that the second negative pressure chamber 20211 also stores negative pressure potential energy. When the first negative pressure chamber 20111 reaches the set volume, the release source of electromagnetic waves stops. At this time, the induction coil 2014 no longer generates heat, and the volume of the phase change material 2013 decreases, so that the negative pressure potential energy in the first negative pressure chamber 20111 is stored. When the second control valve chamber 402 controls the removal of the force squeezing the fifth flexible deformation body 3025, the channel in the fifth flexible deformation body 3025 is opened, and the fifth flexible deformation body 3025 connects the first fluid chamber 20112 and the driving fluid chamber 301. At this time, driven by the negative pressure potential energy in the first negative pressure chamber 20111, the fluid 500 in the driving fluid chamber 301 flows into the first fluid chamber 20112 through the fifth flexible deformation body 3025, so that the finger at the driving fluid chamber 301 shows a bending movement. When the channel in the fifth flexible deformation body 3025 is closed and the channel in the fourth flexible deformation body 3024 is opened by controlling the first control valve chamber 401, the fourth flexible deformation body 3024 is connected to the second fluid chamber 20212 of the driving fluid chamber 301. Driven by the negative pressure potential energy in the second negative pressure chamber 20211, the fluid 500 in the first fluid chamber 20112 enters the second fluid chamber 20212 through the one-way valve 204 and enters the driving fluid chamber 301 through the channel in the fourth flexible deformation body 3024, so that the finger at the driving fluid chamber 301 is transformed from a bent state to an extended state, thereby completing the entire action.

[0102] In this embodiment, the negative pressure pushes the fluid 500 out of the driving fluid chamber 301, causing the finger to bend, and the fluid 500 is pushed into the driving fluid chamber 301, causing the finger to resume its extended state. The fluid channel between the main driving system and the actuating finger is controlled by a flexible membrane valve. When the pressure in the control valve cavity increases, the fluid flow between the input channel and the output channel formed inside the flexible deformable body is blocked by the flexible membrane. The utility model adopts a deformable elastic membrane structure, which has a high degree of simulation and makes the overall structure more compact.

[0103] It should be noted that the manufacturing process of the humanoid robot in the utility model can be soft lithography, which is achieved by casting an elastomer in a mold obtained by soft lithography or 3D printing. Specifically, the soft robot hand is mainly composed of two parts: a functional flexible thin layer, including a first flexible deformable body 3021, a second flexible deformable body 3022, a third flexible deformable body 3023, a fourth flexible deformable body 3024, and a fifth flexible deformable body 3025, and a constraint layer, i.e., a flexible skin 305, which exhibits the inextensible characteristics required for soft body driving, can be bent but cannot be stretched or shortened, and also contains the required fluid channel structure. The specific manufacturing process can be divided into multiple layered structures, each layer is formed by casting silicone rubber in a mold, and cured to form a cured layer. The multiple cured layers are taken out of the mold, connected using a thin layer of uncured elastomer as glue, and cured together. After the curing is completed, the final actuator is taken out of the mold.

[0104] The utility model is a new type of humanoid robot that is flexible, lightweight and can imitate natural human movements. It integrates soft actuators and energy storage systems and uses technology based on atmospheric drive and negative pressure. This robot uses soft actuators at the front end for motion control and is equipped with an energy storage device at the back end. This design allows the robot to generate energy inside and simulate the movements of natural people through a lightweight transmission system. The energy is first stored offline and then released through the soft actuator from the trunk to the end of the robot through the control system. The control system will integrate artificial intelligence to manage energy release and adjust it as needed. The system may also use other energy sources, such as wireless power transmission, ignition-induced explosion energy, etc., to convert them into negative pressure potential energy to generate energy output. The method in the utility model is flexible in design and can meet the needs of different scenarios.

[0105] Calculation verification:

[0106] The energy consumption of an adult with a weight of 75kg and a height of 180cm when running 1000m is as follows:

[0107] Assumed parameters:

[0108] Speed ​​v: Assume that the running speed is jogging, about 2.78m / s (ie 10kg / h).

[0109] Stride length s: approximately 45% to 55% of height, we take 50% as the stride length, i.e. 0.9m.

[0110] Vertical displacement h per step: Assume that each step rises and falls approximately 5 cm (0.05 m).

[0111] Resistance coefficient C: For the human body, take the commonly used average value of 1.2.

[0112] Positive area A: Assumed to be 0.3㎡.

[0113] Air density ρ: The conventional sea level standard is 1.225kg / m 3 .

[0114] Running distance d: For calculation, we consider 1km (1000m).

[0115] You can calculate the energy consumed per kilometer run:

[0116] 1. Work done to overcome gravity: W 1 =m*g*h*n (n is the number of steps n=d / s=1000 / 0.9=1111 steps);

[0117] 2. Work done to overcome air resistance: W 2 =1 / 2*C*A*ρ*v2*d;

[0118] It turns out that the total energy consumption when running 1000m is about 42579.11 joules.

[0119] Assuming that the negative pressure cavity for storing energy in the driving unit has a diameter of 80 mm and a height of 160 mm, and its cross-sectional area is (although the parallel negative pressure cavity is annular, the areas of the series and parallel negative pressure cavities can be made the same during design), the total negative pressure energy stored in the cavity is: W = Patm*V = 648.48 joules.

[0120] Conclusion: One charge can provide enough energy for an adult to run 15.2 meters (2.78 m / s jogging).

[0121] Verification of the output torque required by negative pressure drive for human body when performing arm and leg bending movements:

[0122] Factors to consider include muscle strength, limb length (force arm length), and weight (extra load). For the arm curl:

[0123] Assuming the arm weighs about 5.5% of body weight, that is 0.055×75kg*9.8m / s 2 =40.425 N. The muscle length is about 0.3 m, and the standard output torque of the muscle is about 12.1275 N·m;

[0124] For the leg curling exercise: Assuming that the weight of the leg accounts for about 18% to 20% of the body weight, and the leg muscle strength is about 70% of the weight, the output force is 0.70×75kg*20%*9.8m / s 2 , the muscle length is about 0.4 m, and the required output torque is about 41.16 N·m;

[0125] Considering that the number of actuators for a single arm drive is 2 and the number of actuators required for bending the leg is 4, the length of the lever arm can be appropriately increased during the design process. Assuming that the output lever arm length of the arm actuator is 0.45m and the output lever arm length of the thigh actuator is 0.6m, it can also be calculated when the driving pressure is atmospheric pressure.

[0126] Conclusion: The minimum diameter required for the arm actuator is 13mm; the minimum diameter required for the leg actuator is 14.8mm; this size is within the normal human arm and thigh width. That is, within the human body envelope size range, even if an additional load is added during negative pressure driving, the output force requirements can be met.

[0127] The humanoid robot of the utility model can not only realize physical actions through its atmospheric drive system, but also realize complete self-sufficiency through internal battery power supply. This design improves the autonomy and applicability of the robot, and is particularly suitable for occasions that require long-term or remote operation.

[0128] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0129] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other at will.

Claims

1. A humanoid robot based on atmosphere drive, characterized in that: include: The main driving system provides the negative pressure potential energy required for driving; The end execution system completes specific actions under the drive of the main drive system; a switch valve system (400), arranged on the main drive system and capable of controlling the fluid (500) to enter or exit the end effector system to match the execution of the action, the action including an extension action and a contraction action; A sensor system, used to collect sensor information from various parts of the humanoid robot; A power management system, electrically connected to the main drive system and the sensor system respectively; A control system connected to the main drive system, the switch valve system (400), the sensor system, and the power management system; A supporting frame (100), wherein the main drive system, the end execution system, the sensor system, the power management system, and the control system are all arranged on the supporting frame (100); The main drive system comprises a drive mechanism (200), wherein the drive mechanism (200) comprises a first drive unit (201) and a second drive unit (202); the end effector system comprises a drive fluid chamber (301); the first drive unit (201) can drive the fluid (500) in the drive fluid chamber (301) to enter the first drive unit (201) so that the end effector system performs a contraction action; and the second drive unit (202) can drive the fluid (500) in the first drive unit (201) to enter the drive fluid chamber (301) so that the end effector system performs an extension action.

2. The humanoid robot based on atmosphere drive according to claim 1, characterized in that: The first drive unit (201) comprises a first sleeve (2011) and a first piston (2012), wherein the first piston (2012) divides the interior of the first sleeve (2011) into a first negative pressure chamber (20111) and a first fluid chamber (20112); The second drive unit (202) comprises a second sleeve (2021) and a second piston (2022), wherein the second piston (2022) divides the interior of the second sleeve (2021) into a second negative pressure chamber (20211) and a second fluid chamber (20212); The first fluid chamber (20112) and the second fluid chamber (20212) are both connected to the driving fluid chamber (301); when the first negative pressure chamber (20111) releases negative pressure potential energy, the fluid (500) in the driving fluid chamber (301) can be driven to enter the first fluid chamber (20112), thereby causing the end-effector system to perform a bending action; when the second negative pressure chamber (20211) releases negative pressure potential energy, the fluid (500) in the second fluid chamber (20212) can be driven to enter the driving fluid chamber (301), thereby causing the end-effector system to perform a stretching action, wherein the fluid (500) in the first fluid chamber (20112) is allowed to flow into the second fluid chamber (20212).

3. The humanoid robot based on atmosphere drive according to claim 2, characterized in that: The first drive unit (201) adopts a series cavity structure, the second drive unit (202) adopts a parallel cavity structure, and the first fluid cavity (20112) is connected to the second fluid cavity (20212) via a one-way valve (204).

4. The humanoid robot based on atmosphere drive according to claim 2, characterized in that: The main drive system further comprises an intermediate energy conversion mechanism (203), wherein the intermediate energy conversion mechanism (203) comprises a motor (2031), a ball screw (2032) drivingly connected to the motor (2031), and a nut block (2033) threadedly matched with the ball screw (2032), wherein the nut block (2033) is fixedly connected to the second piston (2022), wherein the motor (2031) has a motor function and a generator function, and when the motor (2031) is used as a generator, the generated electric energy can be stored in the power management system.

5. The atmosphere-driven humanoid robot according to claim 4, characterized in that: The intermediate energy conversion mechanism (203) also includes any of the following forms: Using chemical explosion energy to achieve storage of negative pressure potential energy; Phase change energy is used to achieve storage of negative pressure potential energy; Wind energy and / or solar energy are used to store negative pressure potential energy.

6. The humanoid robot based on atmosphere drive according to claim 1, characterized in that: The support skeleton (100) comprises a plurality of joints (101), the joints (101) adopt revolute pairs, and the end execution system cooperates with the joints (101) to complete the target action.

7. The humanoid robot based on atmosphere drive according to claim 2, characterized in that: The end execution system comprises a plurality of execution units (300), wherein the execution units (300) comprise an internal hose (302), a constraint sleeve (303) sleeved on the internal hose (302), and fasteners (304) arranged at both ends of the constraint sleeve (303); the internal hose (302) is connected to the first fluid cavity (20112) and the second fluid cavity (20212), respectively; the internal space of the internal hose (302) forms a driving fluid chamber (301); the extension action is achieved by driving the fluid (500) into the internal hose (302); and the contraction action is achieved by driving the fluid (500) to flow out of the internal hose (302).

8. The humanoid robot based on atmosphere drive according to claim 7, characterized in that: The execution unit (300) can be manufactured into different shapes to match the movements of different parts of the human body.

9. The humanoid robot based on atmosphere drive according to claim 7, characterized in that: The switch valve system (400) includes a plurality of fluid valves, each of which is connected to one or more execution units (300) via a connecting pipeline (306). The plurality of execution units (300) are configured at one or more parts of the humanoid robot. The state of each part of the robot is sensed by a sensor system and fed back to the control system, and the control system then issues a control command in real time to coordinate and control the opening of each fluid valve to complete one or more target actions.

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