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

Abstract

The utility model discloses a multi-cylinder pneumatic machine structure suitable for driving finger joints of a humanoid robot to move. The multi-cylinder pneumatic machine structure comprises a cylinder body, a cylinder liner, a piston, a cylinder stroke control ring, a stay wire and a stay wire restraining device. The air cylinder body comprises a shell and a cover plate, the cover plate seals two ends of the shell, the shell is in a hollow cylinder shape, a plurality of air cylinder holes symmetrical to the central section of the shell are formed in the two ends of the shell, air cylinder inner containers and pistons are installed in the holes, and piston plate faces are fixed on the air cylinder inner containers. And two stay wires required by swinging of finger joints are respectively connected to the two symmetrically arranged cylinder pistons through the stay wire restraining devices. When the air cylinder inner container on one side is inflated, the piston linearly moves to enable the pull wire connected with the piston to pull the finger joints to bend, at the moment, the other pull wire corresponding to the pull wire pulls the air cylinder piston on the other side to linearly move into the air cylinder, and therefore 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] This utility model relates to the field of humanoid robots, and in particular to a multi-cylinder pneumatic motor structure suitable for driving the finger joint movement of humanoid robots. Background Technology

[0002] Patent application number 2024116784968 discloses a multi-cylinder pneumatic motor structure suitable for driving the finger joints of a humanoid robot. This structure allows for installation within the forearm of a humanoid robot and requires only three multi-cylinder pneumatic motors to meet the 19 degrees of freedom required for the hand joint. The piston in this structure consists of a piston rod, a piston plate, and a piston connecting rod. The piston connecting rod connects the piston plates of two cylinders symmetrical to the central cross-section of the housing as a single unit, forming a piston composed of two piston rods, two piston plates, and a piston connecting rod. Since the two cylinder pistons symmetrical to the central cross-section of the housing are integrated, the piston displacement of the two cylinders symmetrical to the central cross-section is equal during linear motion. This requires that the shortening and elongation of the inner and outer tension cables of the bending joint be equal during finger joint movement. When the shortening and elongation of the inner and outer tension cables are unequal, a device is needed on the tension cables to adjust their length.

[0003] Invention patent application number 2024116784968 can be matched with utility model patent number 2023215088185, a rotary flow control valve suitable for swing motion, to realize two cylinders symmetrical to the central cross section of the housing. When one cylinder is in the charging state, the other cylinder is in the depressurization state, or both cylinders are in the closed state. Summary of the Invention

[0004] When the shortening and elongation of the cable on the inner and outer sides of the bending joint are not equal, in order to address the problem described in patent application number 2024116784968, a multi-cylinder pneumatic motor structure suitable for driving the finger joints of a humanoid robot, where the piston movement of the two cylinders symmetrical to the central cross-section of the housing is equal, requiring a device to adjust the cable length by allowing the cable to have a certain amount of extension and retraction, a new approach is proposed. This approach utilizes the characteristic that when one cylinder is in a charging state, the other is in a deflating state, by eliminating the piston connecting rod, the pistons of the two cylinders symmetrical to the central cross-section of the housing are not connected, allowing each to perform linear motion independently.

[0005] To achieve the above objectives, a multi-cylinder pneumatic motor structure suitable for driving the finger joint movement of a humanoid robot is provided, comprising a cylinder body, a cylinder liner, a piston, a cylinder stroke control ring, a pull cable, and a constraint pull cable device; and

[0006] The cylinder body consists of a shell and a cover plate. The shell is a hollow cylinder with a hollow axis. Both ends of the shell along the axial direction are cylinder bore sections. Multiple cylinder bores are evenly distributed between the hollow shaft wall of the cylinder bore section and the outer wall of the shell. Cylinder liners and pistons are installed inside these bores. The cylinder bores at both ends are symmetrically arranged with the central cross-section of the shell as the center plane of symmetry. A cylinder stroke control ring and a constraint cable device are installed inside the shell between the cylinder bores. The 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 near the cylinder bore. Holes perpendicular to the axis centerline are opened on the hollow shaft wall and outer wall of the shell next to the cylinder stroke control ring. The size and position of these holes match the cross-section and installation position of the constraint cable device, used for mounting the constraint cable device. The cover plate closes both ends of the shell. Air inlets and outlets are opened perpendicular to the cover plate surface. These air inlets and outlets are used for mounting the cylinder liners. Their number, shape, size, and position are all matched with the cylinder liners' air inlets and outlets.

[0007] The cylinder liner is a closed space with one air inlet and outlet port, made of elastic material. The 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

[0008] The piston consists of a piston rod and a piston plate. One side of the piston plate is fixed to the cylinder liner, and the other side is fixed to the piston rod. The piston rod is used to fix the pull cable.

[0009] The cylinder stroke control ring is used to control the maximum stroke of the piston. It is circular in shape and comes in two types based on its diameter: a large ring and a small ring. The outer diameter of the large ring is the same as the inner diameter of the outer wall of the housing, and the large ring is fixed to the inner surface of the outer wall of the housing. The inner diameter of the small ring is the same as the outer diameter of the hollow shaft wall of the housing, and the small ring is fixed to the outer surface of the hollow shaft wall of the housing.

[0010] The pull cable transmits the force of the piston's reciprocating linear motion to the finger joints; and

[0011] The constraint pull wire device consists of a constraint pull wire shaft and a constraint pull wire plate. The constraint pull wire plate fixes the constraint pull wire shaft, and its plate surface is perpendicular to the cross section of the housing. It is fixed on the hollow shaft wall and outer wall of the housing next to the cylinder stroke control ring. The constraint pull wire shaft is used to control the position of the pull wire.

[0012] As a further improvement to the above solution, the outer wall of the housing for installing the cylinder stroke control ring and the constraint cable device is provided with multiple holes to facilitate the installation of the cylinder stroke control ring and the constraint cable device, while ensuring that the cylinder stroke control ring and the constraint cable device are fixed.

[0013] As a further improvement to the above solution, a fixed cable is provided at the top of the piston rod. When the piston performs reciprocating linear motion, the fixed cable at the top of the piston rod is always located on the side opposite to the cylinder position relative to the constraint cable axis.

[0014] As a further improvement to the above scheme, the cylinder stroke control ring is composed of multiple control ring conductors and control ring insulators. Both the control ring conductors and the control ring insulators are circular. The multiple control ring conductors are isolated from each other by the control ring insulators. The cylinder stroke control ring is located at the cylinder orifice. When the piston plate contacts the control ring conductors, the multiple control ring conductors are in a conductor-connected state.

[0015] As a further improvement to the above solution, the constraint wire device consists of two constraint wire plates and three constraint wire shafts. The constraint wire shafts are clamped between the surfaces of the two constraint wire plates, and each constraint wire shaft has a rotatable cylinder fitted onto it for the wire to slide on.

[0016] The constraint pull wire plate is L-shaped. The horizontal side of the L-shape is set inside the hollow shaft of the housing, and the vertical side of the L-shape passes through the hollow shaft wall of the housing and is fixed to the hollow shaft wall and the outer wall of the housing. Two constraint pull wire shafts are located inside the hollow shaft of the housing, and the distance between the two constraint pull wire shafts is sufficient for the pull wire to pass through the middle of the two shafts, so that the pull wire inside the hollow shaft of the housing turns and exits through the hollow shaft of the housing. Another constraint pull wire shaft is located between the hollow shaft wall and the outer wall of the housing, so that the pull wire exiting through the hollow shaft of the housing turns and is fixed to the piston rod; and

[0017] At the point where the constraint tie plate intersects with the piston rod, the two constraint tie plates are bent around the intersecting piston rod using a plate bending method, so that the piston rod is clamped between the two constraint tie plates.

[0018] The beneficial effects of this utility model compared to the prior art are:

[0019] 1. This utility model provides a multi-cylinder pneumatic motor structure suitable for driving the finger joint movement of a humanoid robot. When used for hand-driven operation, compared with invention patent application number 2024116784968 (a multi-cylinder pneumatic motor structure suitable for driving the finger joint swing of a humanoid robot), when the shortening and elongation of the inner and outer pull wires of the bending joint are not equal, the device for giving the pull wires a certain amount of extension and retraction can be eliminated. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of a pneumatic motor with 12 cylinders in this utility model;

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

[0022] Figure 3for Figure 1 Schematic diagram of section 2-2;

[0023] Figure 4 for Figure 1 Schematic diagram of section 3-3;

[0024] Figure 5 for Figure 1 Schematic diagram of section 4-4;

[0025] Figure 6 for Figure 1 Schematic diagram of section 5-5;

[0026] Figure 7 for Figure 1 Schematic diagram of section 6-6;

[0027] Figure 8 for Figure 1 Schematic diagram of section 7-7;

[0028] Figure 9 This is a front cross-sectional view of the pneumatic motor with 12 cylinders in this utility model;

[0029] Figure 10 This is a three-dimensional schematic diagram of the shell in this utility model;

[0030] Figure 11 This is a three-dimensional schematic diagram of the cover plate in this utility model;

[0031] Figure 12 This is a three-dimensional schematic diagram of the piston in this utility model;

[0032] Figure 13 This is a three-dimensional schematic diagram of the cylinder stroke control ring in this utility model;

[0033] Figure 14 This is a three-dimensional schematic diagram of the constraint pull wire device in this utility model;

[0034] Figure 15 This is a schematic diagram of a pneumatic motor with 14 cylinders in this utility model;

[0035] Figure 16 for Figure 15 Schematic diagram of section 8-8;

[0036] Figure 17 for Figure 15 Schematic diagram of section 9-9;

[0037] Figure 18 This is a schematic diagram of the combination of three multi-cylinder pneumatic motors in this utility model;

[0038] In the diagram: 1-Cylinder body, 11-Housing shell, 12-Cover plate, 13-Cover plate air inlet / outlet, 2-Cylinder liner, 21-Liner air inlet / outlet, 3-Piston, 31-Piston rod, 32-Piston plate, 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-Handling pipe, 8-Pneumatic motor with 12 cylinders, 9-Pneumatic motor with 14 cylinders. Detailed Implementation

[0039] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0040] Example 1:

[0041] Reference Figures 1 to 14 This utility model is implemented as follows: a multi-cylinder pneumatic motor structure suitable for driving the finger joint movement of a humanoid robot, comprising a cylinder body 1, a cylinder liner 2, a piston 3, a cylinder stroke control ring 4, a pull cable 5, and a constraint pull cable device 6; and

[0042] 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. Both ends of the shell 11 along the axial direction are cylinder bore sections. Multiple cylinder bores are evenly distributed between the hollow shaft wall of the cylinder bore section and the outer wall of the shell 11. Cylinder liners 2 and pistons 3 are installed in the bores. The cylinder bores at both ends are symmetrically arranged with the central cross-section of the shell 11 as the center plane of symmetry. A cylinder stroke control ring 4 and a constraint cable device 6 are installed in the shell 11 between the two cylinder bores. The outer side of the hollow shaft wall and the inner side of the outer wall of the shell 11 near the cylinder bore are connected to the cylinder bore. The cylinder stroke control ring 4 is installed. Holes are made perpendicular to the shaft centerline on both the hollow shaft wall and outer wall of the housing 11 next to the cylinder stroke control ring 4. The size and position of these holes match the cross-section and installation position of the constraint wire device 6, for mounting the constraint wire device 6. The cover plate 12 closes both ends of the housing 11. The cover plate 12 has cover plate air inlet / outlet holes 13 perpendicular to its surface. These holes 13 are used to mount the inner liner air inlet / outlet holes 21 of the cylinder inner liner 2. Their number, shape, size, and position are all matched to the inner liner air inlet / outlet holes 21 of the cylinder inner liner 2.

[0043] The cylinder liner 2 is a closed space with an inlet / outlet port 21, made of elastic material. The inlet / outlet port 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

[0044] The piston 3 consists of a piston rod 31 and a 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. The piston rod 31 is used to fix the pull wire 5.

[0045] The cylinder stroke control ring 4 is used to control the maximum stroke of the piston 3. It is annular in shape and comes in two types based on its diameter: a large ring and a small ring. The outer diameter of the large ring is the same as the inner diameter of the outer wall of the housing 11, and the large ring is fixed to the inner surface of the outer wall of the housing 11. The inner diameter of the small ring is the same as the outer diameter of the hollow shaft wall of the housing 11, and the small ring is fixed to the outer surface of the hollow shaft wall of the housing 11.

[0046] The pull cable 5 transmits the force of the reciprocating linear motion of the piston 3 to the finger joints; and

[0047] The constraint pull wire device 6 consists of a constraint pull wire shaft 61 and a constraint pull wire plate 62. The constraint pull wire plate 62 fixes the constraint pull wire shaft 61, and its plate surface is perpendicular to the cross section of the housing 11. It is fixed on the hollow shaft wall and outer wall of the housing 11 next to the cylinder stroke control ring. The constraint pull wire shaft 61 is used to control the position of the pull wire 5.

[0048] Reference Figures 1-10 The outer wall of the housing 11, which houses the cylinder stroke control ring 4 and the constraint cable device 6, has multiple holes for easy installation of the cylinder stroke control ring 4 and the constraint cable device 6, provided that the cylinder stroke control ring 4 and the constraint cable device 6 are fixed.

[0049] Reference Figures 1-12 The piston rod 31 is fixed with a pull wire 5 at the top. When the piston 3 performs reciprocating linear motion, the position of the pull wire 5 fixed at the top of the piston rod 31 is always located on the side opposite to the position of the cylinder relative to the constraint pull wire shaft 61.

[0050] Reference Figures 1 to 13 The cylinder stroke control ring 4 is composed of multiple control ring conductors 41 and control ring insulators 42. Both the control ring conductors 41 and the control ring insulators 42 are circular. 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 conductors 41, the multiple control ring conductors 41 are in a conductor communication state.

[0051] Reference Figures 1 to 14 The constraint wire device 6 consists of two constraint wire plates 62 and three constraint wire shafts 61. The constraint wire shafts 61 are clamped between the surfaces of the two constraint wire plates 62. Each constraint wire shaft 61 has a rotatable cylinder fitted onto it for the wire 5 to slide on.

[0052] The constraint pull wire plate 62 is L-shaped, with the horizontal side of the L-shape set inside the hollow shaft of the housing 11, and the vertical side of the L-shape passing through the hollow shaft wall of the housing 11 and fixed to the hollow shaft wall and outer wall of the housing 11. Two constraint pull wire shafts 61 are located inside the hollow shaft of the housing 11, and the distance between the two constraint pull wire shafts 61 is sufficient for the pull wire 5 to pass through the middle of the two shafts, so that the pull wire 5 inside the hollow shaft of the housing 11 turns and exits the hollow shaft of the housing 11. Another constraint pull wire shaft 61 is located between the hollow shaft wall and the outer wall of the housing 11, so that the pull wire 5 exiting the hollow shaft of the housing 11 turns and is fixed to the piston rod 31; and

[0053] At the intersection of the constraint pull plate 62 and the piston rod 31, the two constraint pull plates 62 are bent around the piston rod 31, so that the piston rod 31 is sandwiched between the two constraint pull plates 62.

[0054] Combination Figures 1 to 18 As shown, the working principle of this utility model is as follows:

[0055] This utility model discloses a multi-cylinder pneumatic motor structure suitable for driving the finger joint movement of a humanoid robot, including a cylinder body 1, a cylinder liner 2, a piston 3, a cylinder stroke control ring 4, a pull cable 5, and a constraint pull cable device 6.

[0056] 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. The cover plate 12 closes both ends of the shell 11 and has an air inlet / outlet hole 13 perpendicular to its surface. Both ends of the shell 11 along the axial direction are cylinder bore sections. Multiple cylinder bores are evenly distributed between the hollow axial wall of the cylinder bore section and the outer wall of the shell 11. The cylinder bores at both ends are symmetrically arranged with the central cross-section of the shell 11 as the center plane of symmetry. A cylinder liner 2 and a piston 3 are installed inside the bores. The cylinder liner 2 is made of an elastic material, such as rubber. The air inlet / outlet hole 21 of the cylinder liner 2 is fixed to the cover plate 12 and adhered within the air inlet / outlet hole 13 of the cover plate. The other end of the cylinder liner 2 is fixed to 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. The starting end of the pull cable 5 is fixed to the finger joint. Two pull cables 5 are fixed to each finger joint, causing the joint to rotate in opposite directions. The two pull cables 5 exert alternating tension, causing the joint to swing. The ends of these two pull cables 5 are fixed to the piston rods 31 of two cylinders symmetrically arranged with respect to the central cross-section of the housing 11 via a constraint pull cable device 6. The pull cable 5 is fixed to the top of the piston rod 31. When the piston 3 performs reciprocating linear motion, the position of the pull cable 5 fixed to the top of the piston rod 31 is always on the side opposite to the cylinder position relative to the constraint pull cable axis 61. When the left cylinder liner 2 expands with air, the piston 3 of the left cylinder moves to the right, pulling the cable 5 on the left piston rod 31 to the right. This causes the finger joint connected to the cable 5 to bend towards the side of the cable 5. Meanwhile, the other cable 5, which is located outside the bending motion of the finger joint, causes the right piston rod 31 connected to it to move to the right. At this time, the right cylinder liner 2 releases air. When the right cylinder liner 2 expands with air, the piston 3 of the right cylinder moves to the left, pulling the cable 5 on the right piston rod 31 to the left. This causes the finger joint connected to the cable 5 to bend towards the side of the cable 5. Again, the other cable 5, which is located outside the bending motion of the finger joint, causes the left piston rod 31 connected to it to move to the left. At this time, the left cylinder liner 2 releases air. These two rotations are in opposite directions, causing the finger joints to swing.

[0057] A cylinder stroke control ring 4 and a constraint cable device 6 are installed in the housing 11 between the two cylinders.

[0058] To control the maximum piston stroke, cylinder stroke control rings 4 are installed on the outer side and inner side of the hollow shaft wall of the housing 11 near the cylinder port. These rings are circular in shape and come in two types based on their diameter: large rings and small rings. The large rings are fixed to the inner side of the outer wall of the housing 11, while the small rings are fixed to the outer side of the hollow shaft wall of the housing 11. The cylinder stroke control ring 4 consists of multiple control ring conductors 41 and control ring insulators 42. Both the control ring conductors 41 and the control ring insulators 42 are circular. The multiple control ring conductors 41 are isolated from each other by the control ring insulators 42. When the cylinder liner expands, pushing the piston plate 32 to contact the control ring conductors 41, the multiple control ring conductors 41 are energized. After receiving the information that the conductors are connected, the humanoid robot control center issues a command to stop the piston movement.

[0059] The hollow shaft wall and outer wall of the housing 11 next to the cylinder stroke control ring 4 are both perpendicular to the shaft centerline and have holes for mounting the constraint pull wire device 6, which controls the position of the pull wire 5. The constraint pull wire device 6 consists of two constraint pull wire plates 62 and three constraint pull wire shafts 61. The surface of the constraint pull wire plates 62 is perpendicular to the cross section of the housing. The constraint pull wire shafts 61 are clamped between the surfaces of the two constraint pull wire plates 62. Each constraint pull wire shaft 61 has a rotatable cylinder connected in series for the pull wire 5 to slide on. The constraint pull wire plates 62 are L-shaped, with the horizontal side of the L-shape set inside the hollow shaft of the housing 11 and the vertical side of the L-shape passing through the hollow shaft of the housing 11 and fixed to the hollow shaft wall and outer wall of the housing 11. Two constraint pull wire shafts 61 are located inside the hollow shaft of the housing 11, and the distance between the two constraint pull wire shafts is such that the pull wire 5 passes through the middle of the two shafts, causing the pull wire 5 inside the hollow shaft of the housing 11 to turn and exit the hollow shaft of the housing 11. Another constraint pull wire shaft 61 is located between the hollow shaft wall and the outer wall of the housing 11, so that the pull wire 5 exiting the hollow shaft of the housing 11 turns and is fixed at the top position of the piston rod 31. At the position where the constraint pull wire plate 62 intersects with the piston rod 31, the two constraint pull wire plates 62 are bent around the intersecting piston rod 31 by a plate bending method, so that the piston rod 31 is clamped between the two constraint pull wire plates 62.

[0060] To facilitate the fixing of this structure inside the arm and the series installation of multiple multi-cylinder pneumatic motors, a hub tube 7 can be installed on the shaft of the housing 11, through which the pull wire 5 passes. A hole is made at the position where the constraint pull wire device 6 is installed on the hub tube 7. The shape, size and position of the hole are all compatible with the installation of the pull wire 5 and the constraint pull wire device 6.

[0061] A humanoid robot hand structure (application number 2021212200131) has 14 finger joints, 4 interdigital joints, and 1 thumb rotation joint, for a total of 19 joints. When two 12-cylinder pneumatic motors 8 and one 14-cylinder pneumatic motor 9 are connected in series, the driving power for all 19 joints can be provided, which can meet the power requirements of each joint of the humanoid robot hand structure (application number 2021212200131).

[0062] In summary, a multi-cylinder pneumatic motor structure suitable for driving the finger joints of a humanoid robot is proposed. This structure uses a method in which two cylinders required for one finger joint are symmetrically arranged in a multi-cylinder pneumatic motor. It can use three multi-cylinder pneumatic motors to provide driving force and meet the power requirements of each joint of a humanoid robot hand structure (application number 2021212200131).

[0063] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A multi-cylinder pneumatic motor structure suitable for driving the finger joint movement of a humanoid robot, characterized in that, include: Cylinder block (1), cylinder liner (2), piston (3), cylinder stroke control ring (4), cable (5), cable restraint device (6); and 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 shaft. The two ends of the shell (11) along the axial direction are cylinder bore sections. Multiple cylinder bores are evenly distributed between the hollow shaft wall of the cylinder bore section and the outer wall of the shell (11). Cylinder liners (2) and pistons (3) are installed in the bores. The cylinder bores at both ends are symmetrically arranged with the central cross-section of the shell (11) as the center plane of symmetry. A cylinder stroke control ring (4) and a constraint cable device (6) are installed in the shell (11) between the cylinder bores at both ends. The outer side of the hollow shaft wall and the inner side of the outer wall of the shell (11) near the cylinder bore are fitted with cylinder stroke control rings (4) and constraint cable devices (6). The cylinder stroke control ring (4) is installed. Hollow shaft walls and outer walls of the housing (11) next to the cylinder stroke control ring (4) are opened perpendicular to the shaft centerline. The size and position of the openings match the cross-section and installation position of the constraint wire device (6) for mounting the constraint wire device (6). The cover plate (12) closes both ends of the housing (11). The cover plate (12) has a cover plate air inlet and outlet hole (13) perpendicular to the plate surface. The cover plate air inlet and outlet hole (13) is used to mount the inner liner air inlet and outlet hole (21) of the cylinder inner liner (2). The number, shape, size and position of the air inlet and outlet hole (21) are all matched with the inner liner air inlet and outlet hole (21) of the cylinder inner liner (2). The cylinder liner (2) is a closed space with an inlet / outlet air hole (21), made of elastic material. The inlet / outlet air hole (21) 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 The piston (3) consists of a piston rod (31) and a 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). 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). It is circular in shape and comes in two types based on its diameter: a large ring and a small ring. The outer diameter of the large ring is the same as the inner diameter of the outer wall of the housing (11), and the large ring is fixed to the inner side of the outer wall of the housing (11). The inner diameter of the small ring is the same as the outer diameter of the hollow shaft wall of the housing (11), and the small ring is fixed to the outer surface of the hollow shaft wall of the housing (11). The pull wire (5) transmits the force of the reciprocating linear motion of the piston (3) to the finger joints; and The constraint pull wire device (6) consists of a constraint pull wire shaft (61) and a constraint pull wire plate (62). The constraint pull wire plate (62) fixes the constraint pull wire shaft (61), and its plate surface is perpendicular to the cross section of the housing (11). It is fixed on the hollow shaft wall and outer wall of the housing (11) next to the cylinder stroke control ring. The constraint pull wire shaft (61) is used to control the position of the pull wire (5).

2. The multi-cylinder pneumatic motor structure for driving the finger joint movement of a humanoid robot according to claim 1, characterized in that, The outer wall of the housing (11) on which the cylinder stroke control ring (4) and the constraint cable device (6) are installed has multiple holes for easy installation of the cylinder stroke control ring (4) and the constraint cable device (6) under the condition of fixing the cylinder stroke control ring (4) and the constraint cable device (6).

3. The multi-cylinder pneumatic motor structure for driving the finger joint movement of a humanoid robot according to claim 1, characterized in that, The piston rod (31) has a fixed pull wire (5) at the top. When the piston (3) performs reciprocating linear motion, the position of the fixed pull wire (5) at the top of the piston rod (31) is always located on the side opposite to the cylinder position relative to the constraint pull wire axis (61).

4. The multi-cylinder pneumatic motor structure for driving the finger joint movement of a humanoid robot according to claim 1, characterized in that, The cylinder stroke control ring (4) is composed of multiple control ring conductors (41) and control ring insulators (42). Both the control ring conductors (41) and the control ring insulators (42) are circular rings. 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 conductors (41), the multiple control ring conductors (41) are in a conductor communication state.

5. The multi-cylinder pneumatic motor structure for driving the finger joint movement of a humanoid robot according to claim 1, characterized in that, The constraint wire device (6) consists of two constraint wire plates (62) and three constraint wire shafts (61). The constraint wire shafts (61) are sandwiched between the surfaces of the two constraint wire plates (62). Each constraint wire shaft (61) has a rotatable cylinder fitted onto it for the wire (5) to slide on. The constraint pull wire plate (62) is L-shaped. The horizontal side of the L-shape is set inside the hollow shaft of the housing (11), and the vertical side of the L-shape passes through the hollow shaft wall of the housing (11) and is fixed to the hollow shaft wall and the outer wall of the housing (11). Two constraint pull wire shafts (61) are located inside the hollow shaft of the housing (11), and the distance between the two constraint pull wire shafts (61) is sufficient for the pull wire (5) to pass through the middle of the two shafts, so that the pull wire (5) inside the hollow shaft of the housing (11) turns and passes out of the hollow shaft of the housing (11). Another constraint pull wire shaft (61) is located between the hollow shaft wall and the outer wall of the housing (11), so that the pull wire (5) passing out of the hollow shaft of the housing (11) turns and is fixed to the piston rod (31); and At the intersection of the constraint pull plate (62) and the piston rod (31), the two constraint pull plates (62) are bent around the piston rod (31) by means of plate bending, so that the piston rod (31) is sandwiched between the two constraint pull plates (62).

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