Multi-cylinder pneumatic machine structure suitable for driving finger joints of humanoid robot to swing

Abstract

The utility model discloses a multi-cylinder pneumatic machine structure suitable for driving finger joints of a humanoid robot to swing. The multi-cylinder pneumatic machine structure comprises a cylinder body, a cylinder liner, a piston, a cylinder stroke control ring, a stay wire, a stay wire restraining device and a wire collecting pipe. The air cylinder body comprises a shell and cover plates, the cover plates seal the two ends of the shell, the shell is in a hollow cylinder shape, a hollow shaft is sleeved with a line concentration pipe, the two ends of the shell are provided with a plurality of air cylinder holes symmetrical to the center section of the shell, air cylinder inner containers and piston plates are installed in the holes, piston plate faces are fixed to the air cylinder inner containers, and piston rods are fixed to the other faces of the piston plates. When the air cylinder inner container is inflated or deflated, the piston does reciprocating linear motion, the two stay wires fixed on the piston rod turn to enter the wire collecting pipe through the stay wire restraining device at the center position of the shell, then turn to penetrate out of the wire collecting pipe to be connected with the finger joints, and therefore the finger joints are driven to swing, and the function of the multi-cylinder pneumatic machine is achieved. The cylinder stroke control ring is installed at a cylinder port to control the maximum stroke of the cylinder.

Description

Technical Field

[0001] The utility model relates to the field of humanoid robots, in particular to a multi-cylinder pneumatic motor structure suitable for driving the finger joints of a humanoid robot to swing. Background Art

[0002] With the continuous development of humanoid robot technology, humanoid robots have achieved language and behavioral interaction with humans, and will soon become commodities entering the market to serve all walks of life. At present, the hands of humanoid robots can have basic functions similar to human hands, and can perform actions such as grasping, carrying, and operating objects, but their freedom of movement is significantly less than that of normal people's hands.

[0003] Application No. 2021212200131 discloses a humanoid robot hand structure, which uses pull wires to control the corresponding fingers to spread or close, and uses pull wires to control the rotation of the thumb and the bending or straightening of each knuckle. The number of degrees of freedom of hand movement of a humanoid robot hand structure is greater than that of the hands of existing humanoid robots, and is close to the number of degrees of freedom of movement of human hands, but the patent document does not specifically disclose which structure is used to drive the pull wire movement.

[0004] The utility model, titled "A Humanoid Robot Hand Drive Structure," is filed with patent number 2022212136638. It discloses a humanoid robot hand drive structure. When used in conjunction with patent application number 2021212200131, it requires six multi-cylinder pneumatic motors to drive the joints of the humanoid robot hand. When these six multi-cylinder motors and the wrist joint form a forearm, the forearm becomes too long, making it difficult for the humanoid robot to lift heavy objects.

[0005] The finger joints of application number 2021212200131 are in swinging motion, and the pull wires in the two motion directions during the swinging are linked. When the pull wire in a certain direction is pulled, the joint rotates in this direction. At this time, the pull wire in the other direction is relaxed, and the two cylinder pistons connected to the pull wires in these two motion directions have a linked relationship. Summary of the Invention

[0006] To address the issue in Patent No. 2022212136638, when paired with Application No. 2021212200131, where the forearm consisting of six multi-cylinder pneumatic motors and wrist joints is too long, making it difficult for a humanoid robot to lift heavy objects by hand, a multi-cylinder pneumatic motor, consisting of two connected pistons that drive the swinging joint, can be used to reduce the number of multi-cylinder pneumatic motors by half, shortening the length of the forearm occupied by the multi-cylinder pneumatic motors.

[0007] In order to achieve the above-mentioned object, a multi-cylinder pneumatic motor structure suitable for driving the finger joints of a humanoid robot to swing comprises a cylinder body, a cylinder liner, a piston, a cylinder stroke control ring, a pull wire, a restraining pull wire device, and a wire collection pipe; and

[0008] The cylinder body is composed of a shell and a cover plate. The shell is a hollow cylinder with a hollow axis. Its hollow diameter matches the outer diameter of the collection pipe and is used to fit the collection pipe. The two ends of the shell in the axial direction are cylinder hole sections. A plurality of cylinder holes are evenly distributed between the hollow shaft wall of the cylinder hole section and the outer wall of the shell. The cylinder liner and the piston plate are installed in the hole. The cylinder holes at both ends are symmetrically arranged with the center cross section of the shell as the symmetrical center plane; a cylinder stroke control ring and a restraining wire pulling device are installed in the shell between the two ends of the cylinder holes, which are close to the cylinder hole mouth. A cylinder stroke control ring is installed on the outer side of the hollow shaft wall and the inner side of the outer wall of the shell. At the center of the shell, the hollow shaft wall and the outer wall of the shell are both opened perpendicular to the center line of the shaft. The size and position of the opening match the cross-section and installation position of the restraining wire pulling device, and are used to fit the restraining wire pulling device. The cover plate closes both ends of the shell, and the cover plate has cover plate inlet and outlet holes perpendicular to the plate surface. The cover plate inlet and outlet holes are used to fit the inner liner inlet and outlet holes of the cylinder liner. The number, shape, size and position of the cover plate inlet and outlet holes are all installed to match the inner liner inlet and outlet holes in the cylinder; and

[0009] The cylinder liner is a closed space with an inner liner air inlet and outlet hole, made of elastic material, the inner liner air inlet and outlet end of the cylinder liner is fixed to the cover plate, and the other end of the cylinder liner is fixed to the piston plate; and

[0010] The piston is composed of a piston rod, a piston plate and a piston connecting rod. One side of the piston plate is fixed to the cylinder liner, and the other side is fixed to the piston rod and the piston connecting rod. The piston connecting rod is a rod that connects the piston plates of two cylinders symmetrical to the central cross-section of the shell into a whole, forming a piston composed of two piston rods, two piston plates and a piston connecting rod. The piston rod is used to fix the pull wire; and

[0011] The cylinder stroke control ring is used to control the maximum stroke of the piston. It is annular in shape and is divided into a large ring and a small ring according to the size of the ring diameter. The outer diameter of the large ring is the same as the inner diameter of the outer wall of the shell. The large ring is fixed to the inner side of the outer wall of the shell. The inner diameter of the small ring is the same as the outer diameter of the hollow shaft wall of the shell. The small ring is fixed to the outer side of the hollow shaft wall of the shell. The cylinder stroke control ring is composed of multiple control ring conductors and control ring insulators. The control ring conductors and the control ring insulators are both annular in shape. The multiple control ring conductors are isolated by the control ring insulators. The cylinder stroke control ring is located at the cylinder orifice. When the piston plate contacts the control ring conductor, the multiple control ring conductors are in a conductor connection state; and

[0012] The pull wire is a high-strength wire that transmits the force of the reciprocating linear motion of the piston to the finger joint; and

[0013] The restraining wire pulling device is composed of a restraining wire pulling shaft and a restraining wire pulling plate. The restraining wire pulling plate fixes the restraining wire pulling shaft, and its plate surface is perpendicular to the cross section at the center of the shell. It is fixed to the wire collecting tube wall at the center of the shell and the outer wall of the shell. The restraining wire pulling shaft is used to control the position of the wire pulling; and

[0014] The collection tube is sleeved on the center of the shell, and the wire is passed through it. The position opening of the installation restraint wire pulling device of the collection tube, the shape, size and position of the opening are all matched with the installation of the wire and the restraint wire pulling device.

[0015] As a further improvement to the above scheme, the outer wall of the shell on which the cylinder stroke control ring and the restraint wire pulling device are installed is provided with a plurality of holes for facilitating the installation of the cylinder stroke control ring and the restraint wire pulling device, while satisfying the conditions for fixing the cylinder stroke control ring and the restraint wire pulling device.

[0016] As a further improvement of the above scheme, the constraint wire pulling device consists of two constraint wire pulling plates and four constraint wire pulling shafts. The constraint wire pulling shafts are clamped between the plate surfaces of the two constraint wire pulling plates. Two cylinders that can rotate independently are inserted in series on each constraint wire pulling shaft for the wire pulling to slide on them; the constraint wire pulling shafts are divided into two groups, with two constraint wire pulling shafts in each group. The connecting line between the axis centers of the two constraint wire pulling shafts in the group is perpendicular to the long side direction of the constraint wire pulling plates, and the distance between the two constraint wire pulling shafts is sufficient for the wire pulling to pass through the middle of the two shafts. One group of constraint wire pulling shafts is arranged in the wire collecting tube, so that the wire pulling wire in the wire collecting tube turns and passes through the wire collecting tube. The other group is located above the piston rod, so that the two wire pulling wires passing through the wire collecting tube are turned and then fixed on the two piston rods of the piston respectively.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The utility model discloses a multi-cylinder pneumatic motor structure suitable for driving the swing of the finger joints of a humanoid robot. When used for hand drive, compared with a humanoid robot hand drive structure (patent number 2022212136638), it can save half of the multi-cylinder pneumatic motors, thereby reducing the forearm length occupied by the multi-cylinder pneumatic motor and reducing the torque borne by the elbow joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of a pneumatic motor with 12 cylinders in the present utility model;

[0020] Figure 2 for Figure 1 Schematic diagram of section 1-1;

[0021] Figure 3 for Figure 1 Schematic diagram of section 2-2;

[0022] Figure 4 for Figure 1 Schematic diagram of section 3-3;

[0023] Figure 5 for Figure 1 Schematic diagram of section 4-4;

[0024] Figure 6 for Figure 1 Schematic diagram of section 5-5;

[0025] Figure 7 for Figure 1 Schematic diagram of section 6-6;

[0026] Figure 8 for Figure 1 Schematic diagram of section 7-7;

[0027] Figure 9 for Figure 1 Schematic diagram of section 8-8;

[0028] Figure 10 This is a front cross-sectional schematic diagram of a pneumatic motor with 12 cylinders in the present utility model;

[0029] Figure 11 This is a three-dimensional schematic diagram of the housing in the utility model;

[0030] Figure 12 This is a three-dimensional schematic diagram of the cover plate in the utility model;

[0031] Figure 13 This is a three-dimensional schematic diagram of the piston in the utility model;

[0032] Figure 14 This is a three-dimensional schematic diagram of the cylinder stroke control ring in the utility model;

[0033] Figure 15 This is a three-dimensional schematic diagram of the restraining wire pulling device in the present utility model;

[0034] Figure 16 This is a schematic diagram of a pneumatic motor with 14 cylinders in the present utility model;

[0035] Figure 17 for Figure 16 Schematic diagram of section 9-9;

[0036] Figure 18 for Figure 16 Schematic diagram of section 10-10;

[0037] Figure 19 for Figure 16 Schematic diagram of section 11-11;

[0038] Figure 20This is a schematic diagram of the combination of three multi-cylinder pneumatic motors in the utility model;

[0039] In the figure: 1-cylinder body, 11-shell, 12-cover plate, 13-cover plate air inlet and outlet holes, 2-cylinder liner, 21-liner air inlet and outlet holes, 3-piston, 31-piston rod, 32-piston plate, 33-piston connecting rod, 4-cylinder stroke control ring, 41-control ring conductor, 42-control ring insulator, 5-pull wire, 6-constraint pull wire device, 61-constraint pull wire shaft, 62-constraint pull wire plate, 7-collecting pipe, 8-12 cylinder pneumatic motor, 9-14 cylinder pneumatic motor. DETAILED DESCRIPTION

[0040] Below, the present invention is further described in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0041] Example 1:

[0042] Reference Figures 1 to 15 The utility model is implemented as follows: a multi-cylinder pneumatic motor structure suitable for driving the finger joints of a humanoid robot to swing, which includes a cylinder body 1, a cylinder liner 2, a piston 3, a cylinder stroke control ring 4, a pull wire 5, a restraining pull wire device 6, and a wire collection pipe 7; and

[0043] The cylinder body 1 is composed of a shell 11 and a cover plate 12. The shell 11 is a hollow cylinder with a hollow axis. Its hollow diameter matches the outer diameter of the collection pipe 7 and is used to fit the collection pipe 7. The two ends of the shell 11 in the axial direction are cylinder bore sections. A plurality of cylinder holes are evenly distributed between the hollow shaft wall of the cylinder bore section and the outer wall of the shell 11. The cylinder liner 2 and the piston plate 32 are installed in the hole. The cylinder holes at both ends are symmetrically arranged with the central cross section of the shell 11 as the symmetrical center plane; the cylinder stroke control ring 4 and the restraining wire pulling device 6 are installed in the shell 11 between the cylinder holes at both ends, and the cylinder stroke control ring 4 and the restraining wire pulling device 6 are close to the cylinder hole mouth. The cylinder stroke control ring 4 is installed on the outer side of the hollow shaft wall and the inner side of the outer wall of the shell 11. At the center position of the shell 11, the hollow shaft wall and the outer wall of the shell 11 are both perpendicular to the center line of the shaft. The size and position of the opening are matched with the cross-section and installation position of the restraining wire pulling device 6, and are used to fit the restraining wire pulling device 6; the cover plate 12 closes both ends of the shell 11, and the cover plate 12 has cover plate inlet and outlet holes 13 perpendicular to the plate surface. The cover plate inlet and outlet holes 13 are used to fit the inner liner inlet and outlet holes 21 of the cylinder liner 2. The number, shape, size and position of the cover plate inlet and outlet holes 13 are all matched with the installation of the inner liner inlet and outlet holes 21 in the cylinder; and

[0044] The cylinder liner 2 is a closed space with an inner liner air inlet and outlet hole 21, and is made of elastic material. The inner liner air inlet and outlet hole 21 end of the cylinder liner 2 is fixed to the cover plate 12, and the other end of the cylinder liner 2 is fixed to the piston plate 32; and

[0045] The piston 3 is composed of a piston rod 31, a piston plate 32 and a piston connecting rod 33. One side of the piston plate 32 is fixed to the cylinder liner 2, and the other side is fixed to the piston rod 31 and the piston connecting rod 33. The piston connecting rod 33 is a rod that connects the piston plates 32 of the two cylinders symmetrical to the central cross-section of the housing 11 into a whole, forming a piston 3 composed of two piston rods 31, two piston plates 32 and the piston connecting rod 33. The piston rod 31 is used to fix the pull wire 5; and

[0046] The cylinder stroke control ring 4 is used to control the maximum stroke of the piston 3. It is annular in shape and is divided into a large ring and a small ring according to the size of the ring diameter. The outer diameter of the large ring is the same as the inner diameter of the outer wall of the shell 11. The large ring is fixed to the inner side of the outer wall of the shell 11. The inner diameter of the small ring is the same as the outer diameter of the hollow shaft wall of the shell 11. The small ring is fixed to the outer side of the hollow shaft wall of the shell 11. The cylinder stroke control ring 4 is composed of multiple control ring conductors 41 and control ring insulators 42. The control ring conductors 41 and the control ring insulators 42 are both annular in shape. The multiple control ring conductors 41 are isolated from each other by the control ring insulators 42. The cylinder stroke control ring 4 is located at the cylinder port. When the piston plate 32 contacts the control ring conductor 41, the multiple control ring conductors 41 are in a conductor connection state; and

[0047] The pull wire 5 is a high-strength wire that transmits the force of the reciprocating linear motion of the piston 3 to the finger joints; and

[0048] The restraining wire pulling device 6 is composed of a restraining wire pulling shaft 61 and a restraining wire pulling plate 62. The restraining wire pulling plate 62 fixes the restraining wire pulling shaft 61, and its plate surface is perpendicular to the cross section at the center of the shell 11. It is fixed to the wall of the collection pipe 7 at the center position of the shell 11 and the outer wall of the shell 11. The restraining wire pulling shaft 61 is used to control the position of the pull wire 5; and

[0049] The wire collection tube 7 is sleeved on the center position of the shell 11, and the pull wire 5 is inserted into it. The position opening of the installation restraint wire pulling device 6 of the wire collection tube 7, and the shape, size and position of the opening are all matched with the installation of the pull wire 5 and the restraint wire pulling device 6.

[0050] Reference Figures 1 to 11 The outer wall of the shell 11 on which the cylinder stroke control ring 4 and the restraining wire pulling device 6 are installed is provided with a plurality of holes to facilitate the installation of the cylinder stroke control ring 4 and the restraining wire pulling device 6 while satisfying the conditions for fixing the cylinder stroke control ring 4 and the restraining wire pulling device 6.

[0051] Reference Figures 1 to 15 The restraining wire pulling device 6 is composed of two restraining wire pulling plates 62 and four restraining wire pulling shafts 61. The restraining wire pulling shafts 61 are clamped between the plate surfaces of the two restraining wire pulling plates 62. Two cylinders that can rotate independently are serially inserted into each restraining wire pulling shaft 61 for the wire pulling wire 5 to slide on it; the restraining wire pulling shafts 61 are divided into two groups, each group of two restraining wire pulling shafts 61, and the connecting line between the axis centers of the two restraining wire pulling shafts 61 in the group is perpendicular to the long side direction of the restraining wire pulling plate 62, and the distance between the two restraining wire pulling shafts 61 satisfies the requirement that the wire pulling wire 5 passes through the middle of the two shafts. One group of restraining wire pulling shafts 61 is arranged in the wire collection tube 7, so that the wire pulling wire 5 in the wire collection tube 7 turns and passes through the wire collection tube 7, and the other group is located above the piston rod 31, so that the two wire pulling wires 5 passing through the wire collection tube 7 are turned and respectively fixed on the two piston rods 31 of the piston 3.

[0052] Combine Figures 1 to 20 As shown, the working principle of the utility model is:

[0053] The utility model discloses a multi-cylinder pneumatic motor structure suitable for driving the finger joints of a humanoid robot to swing, comprising a cylinder body 1, a cylinder liner 2, a piston 3, a cylinder stroke control ring 4, a pull wire 5, a restraining pull wire device 6, and a wire collection pipe 7.

[0054] The cylinder block 1 is composed of a shell 11 and a cover plate 12. The shell 11 is hollow cylindrical with a hollow axis. It is equipped with a collection pipe 7, and the pull wires are passed through it. The cover plate 12 closes the two ends of the shell 11 and has a cover plate inlet and outlet hole 13 perpendicular to the plate surface. The two ends of the shell 11 in the axial direction are cylinder bore sections. Multiple cylinder holes are evenly distributed between the hollow shaft wall of the cylinder bore section and the outer wall of the shell 11. The cylinder holes at both ends are symmetrically arranged with the central cross-section of the shell 11 as the symmetrical center plane. The cylinder liner 2 and the piston plate 32 are installed in the holes. The cylinder liner 2 is made of elastic material, such as rubber material. The inner liner air inlet and outlet holes 21 of the cylinder liner 2 are fixed on the cover plate 12, and the inner liner air inlet and outlet holes 21 are glued to the cover plate air inlet and outlet holes 13. The other end of the cylinder liner 2 is fixed on the piston plate 32; one side of the piston plate 32 is fixed to the cylinder liner 2, and the other side is fixed to the piston rod 31 and the piston connecting rod 33. The piston connecting rod 33 is a rod member, which connects the piston plates 32 of the two cylinders symmetrical to the central cross-section of the shell 11 as a whole to form a piston 3 composed of two piston rods 31, two piston plates 32 and piston connecting rod 33; the starting end of the pull wire 5 is fixed to the finger joint, and two pull wires 5 are fixed to each finger joint to make the joint rotate in opposite directions. The two pull wires 5 alternately pull to make the joint swing, and the ends of the two pull wires 5, After passing through the wire collection pipe 7, it is fixed to the two piston rods 31 of the piston 3 through the restraining wire pulling device 6. When the left cylinder liner 2 expands and the right cylinder liner 2 is deflated, the piston 3 moves to the right as a whole. At this time, the wire 5 on the left piston rod 31 is relaxed, and the wire 5 on the right piston rod 31 is pulled. The finger joints rotate due to the tension of the wire 5 on the right piston rod 31. When the left cylinder liner 2 is deflated and the right cylinder liner 2 expands, the piston 3 moves to the left as a whole. At this time, the wire 5 on the left piston rod 31 is pulled, and the wire 5 on the right piston rod 31 is relaxed. The finger joints rotate due to the tension of the wire 5 on the left piston rod 31. The two rotation directions are opposite, causing the finger joints to swing. In order to enable the wire 5 to withstand the tension of the piston 3 repeatedly for a long time, the wire 5 uses a high-strength wire.

[0055] The cylinder stroke control ring 4 and the restraining wire pulling device 6 are installed in the housing 11 between the cylinders at both ends. In order to control the maximum stroke of the piston, a cylinder stroke control ring 4 is installed on the outer side of the hollow shaft wall near the cylinder port and the inner side of the outer wall of the shell 11. The shape of the cylinder stroke control ring 4 is annular and is divided into a large ring and a small ring according to the size of the ring diameter. The large ring is fixed on the inner side of the outer wall of the shell 11, and the small ring is fixed on the outer side of the hollow shaft wall of the shell 11. The cylinder stroke control ring 4 is composed of multiple control ring conductors 41 and control ring insulators 42. The control ring conductors 41 and the control ring insulators 42 are both annular. The multiple control ring conductors 41 are isolated by the control ring insulators 42. When the cylinder liner expands and pushes the piston plate 32 to contact the control ring conductor 41, the multiple control ring conductors 41 are energized. After receiving the information that the conductor is connected, the humanoid robot control center issues an instruction to stop inflating and deflating the cylinder liner and stop the piston movement. At the center position of the shell 11, the wall of the collection pipe 7, the hollow shaft wall of the shell 11 and the outer wall of the shell 11 are all perpendicular to the center line of the axis. , used to set the restraining wire pulling device 6, the restraining wire pulling device 6 controls the position of the wire 5, the restraining wire pulling device 6 consists of two restraining wire pulling plates 62 and four restraining wire pulling shafts 61, the restraining wire pulling plate 62 plate surface is perpendicular to the cross section of the center of the shell, the restraining wire pulling shaft 61 is clamped between the plate surfaces of the two restraining wire pulling plates 62, and each restraining wire pulling shaft 61 is serially sleeved with two cylinders that can rotate independently, for the wire 5 to slide on it, and the restraining wire pulling shafts 61 are divided into two groups, each group of 2 The restraining wire pulling shafts 61, the connecting lines between the axis centers of the two restraining wire pulling shafts 61 in the group are perpendicular to the long side direction of the restraining wire pulling plate 62, and the distance between the two restraining wire pulling shafts 61 satisfies the requirement for the pulling wire 5 to pass through the middle of the two shafts. One group of restraining wire pulling shafts 61 is arranged in the wire collection tube 7, so that the pulling wire 5 in the wire collection tube 7 turns and passes through the wire collection tube 7, and the other group is located above the piston rod 31, so that the two pulling wires 5 passing through the wire collection tube 7 are turned and fixed on the two piston rods 31 of the piston 3 respectively.

[0056] A humanoid robot hand structure (Application No. 2021212200131) has 19 joints, including 14 finger joints, four interdigital joints, and one thumb rotation joint. When two 12-cylinder pneumatic motors 8 and one 14-cylinder pneumatic motor 9 are connected in series, they can provide driving power for all 19 joints, meeting the power requirements of each joint in the humanoid robot hand structure (Application No. 2021212200131).

[0057] To sum up, a multi-cylinder pneumatic motor structure suitable for driving the swing of the finger joints of a humanoid robot utilizes the characteristic that the two-cylinder pistons that drive the swing of the finger joints have a linkage relationship. The two cylinders required for a finger joint are symmetrically arranged in a multi-cylinder pneumatic motor, and the same piston structure is adopted. Three multi-cylinder pneumatic motors can provide driving force to meet the power requirements of each joint of the hand of a humanoid robot hand structure (application number 2021212200131).

[0058] The above is only a preferred specific implementation method of the present invention, but the protection scope of the present invention is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the present invention and making equivalent replacements or changes based on the technical solution and concept of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-cylinder pneumatic motor structure suitable for driving the finger joints of a humanoid robot to swing, characterized in that: include: Cylinder body (1), cylinder liner (2), piston (3), cylinder stroke control ring (4), pull wire (5), restraining pull wire device (6), and wire collection pipe (7); and The cylinder body (1) is composed of a shell (11) and a cover plate (12). The shell (11) is a hollow cylindrical shape with a hollow axis. Its hollow diameter matches the outer diameter of the collection pipe (7) and is used to fit the collection pipe (7). The two ends of the shell (11) in the axial direction are cylinder hole sections. A plurality of cylinder holes are evenly distributed between the hollow shaft wall of the cylinder hole section and the outer wall of the shell (11). The cylinder liner (2) and the piston plate (32) are installed in the hole. The cylinder holes at both ends are symmetrically arranged with the central cross section of the shell (11) as the symmetrical center plane. A cylinder stroke control ring (4) and a restraining wire pulling device (6) are installed in the shell (11) between the two end cylinder holes. The cylinder stroke control ring (4) is installed on the outer side of the hollow shaft wall and the inner side of the outer wall of the shell (11). The hollow shaft wall and the outer wall of the shell (11) are both opened perpendicular to the shaft centerline at the center position of the shell (11). The size and position of the opening are matched with the cross section and installation position of the restraining wire pulling device (6) and are used to fit the restraining wire pulling device (6); the cover plate (12) closes the two ends of the shell (11). The cover plate (12) opens the cover plate inlet and outlet holes (13) perpendicular to the plate surface. The cover plate inlet and outlet holes (13) are used to fit the inner liner inlet and outlet holes (21) of the cylinder liner (2). The number, shape, size and position of the cover plate inlet and outlet holes (13) are all matched with the inner liner inlet and outlet holes (21) in the cylinder; and The cylinder liner (2) is a closed space provided with an inner liner air inlet and outlet hole (21), and is made of elastic material. The inner liner air inlet and outlet hole (21) end of the cylinder liner (2) is fixed on the cover plate (12), and the other end of the cylinder liner (2) is fixed on the piston plate (32); and The piston (3) is composed of a piston rod (31), a piston plate (32) and a piston connecting rod (33). One side of the piston plate (32) is fixed to the cylinder liner (2), and the other side is fixed to the piston rod (31) and the piston connecting rod (33). The piston connecting rod (33) is a rod that connects the piston plates (32) of two cylinders symmetrical to the central cross section of the housing (11) into a whole, forming a piston (3) composed of two piston rods (31), two piston plates (32) and a piston connecting rod (33). The piston rod (31) is used to fix the pull wire (5); and The cylinder stroke control ring (4) is used to control the maximum stroke of the piston (3), has a circular ring shape, and is divided into a large ring and a small ring according to the diameter of the ring. The outer diameter of the large ring is the same as the inner diameter of the outer wall of the shell (11), and the large ring is fixed on the inner side of the outer wall of the shell (11). The inner diameter of the small ring is the same as the outer diameter of the hollow shaft wall of the shell (11), and the small ring is fixed on the outer side of the hollow shaft wall of the shell (11); the cylinder stroke control ring (4) is composed of a plurality of control ring conductors (41) and a control ring insulator (42), both of which are circular rings. The plurality of control ring conductors (41) are isolated by the control ring insulator (42), and when the piston plate (32) contacts the control ring conductor (41), the plurality of control ring conductors (41) are in a conductor connection state; and The pull wire (5) is a high-strength wire, and the pull wire (5) transmits the force of the reciprocating linear motion of the piston (3) to the finger joint; and The restraining wire pulling device (6) is composed of a restraining wire pulling shaft (61) and a restraining wire pulling plate (62). The restraining wire pulling plate (62) fixes the restraining wire pulling shaft (61), and its plate surface is perpendicular to the cross section at the center of the shell (11). It is fixed on the wall of the collection pipe (7) at the center position of the shell (11) and the outer wall of the shell (11). The restraining wire pulling shaft (61) is used to control the position of the wire pulling wire (5); and The collection pipe (7) is sleeved on the center of the shell (11), and the collection pipe (7) has a hole for installing the restraining wire pulling device (6). The shape, size and position of the hole are all matched with the installation of the pulling wire (5) and the restraining wire pulling device (6).

2. A multi-cylinder pneumatic motor structure suitable for driving the finger joints of a humanoid robot to swing according to claim 1, characterized in that: The outer wall of the housing (11) for installing the cylinder stroke control ring (4) and the restraining wire pulling device (6) is provided with a plurality of holes for conveniently installing the cylinder stroke control ring (4) and the restraining wire pulling device (6) under the condition that the cylinder stroke control ring (4) and the restraining wire pulling device (6) are fixed.

3. A multi-cylinder pneumatic motor structure suitable for driving the finger joints of a humanoid robot to swing according to claim 1, characterized in that: The restraining wire pulling device (6) is composed of two restraining wire pulling plates (62) and four restraining wire pulling shafts (61). The restraining wire pulling shafts (61) are clamped between the plate surfaces of the two restraining wire pulling plates (62). Two cylinders that can rotate independently are inserted in series on each restraining wire pulling shaft (61) for the wire pulling (5) to slide on them. The restraining wire pulling shafts (61) are divided into two groups, each group has two restraining wire pulling shafts (61), and the line connecting the axis centers of the two restraining wire pulling shafts (61) in the group is They are all perpendicular to the long side direction of the constraint wire drawing plate (62), and the distance between the two constraint wire drawing shafts (61) is sufficient for the wire drawing wire (5) to pass through the middle of the two shafts. One group of constraint wire drawing shafts (61) is set in the collection tube (7), so that the wire drawing wire (5) in the collection tube (7) turns and passes through the collection tube (7), and the other group is located above the piston rod (31), so that the two wire drawing wires (5) passing through the collection tube (7) are fixed on the two piston rods (31) of the piston (3) after turning.

Images