CN108656100B - Cylinder-based humanoid robot - Google Patents
Cylinder-based humanoid robot Download PDFInfo
- Publication number
- CN108656100B CN108656100B CN201810495683.0A CN201810495683A CN108656100B CN 108656100 B CN108656100 B CN 108656100B CN 201810495683 A CN201810495683 A CN 201810495683A CN 108656100 B CN108656100 B CN 108656100B
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- China
- Prior art keywords
- cylinder
- waist joint
- shank
- joint
- fixing piece
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 210000001624 hip Anatomy 0.000 claims abstract description 238
- 210000000689 upper leg Anatomy 0.000 claims abstract description 77
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 66
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 41
- 210000000623 ulna Anatomy 0.000 claims abstract description 21
- 210000002683 foot Anatomy 0.000 claims abstract description 19
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 19
- 210000002758 humerus Anatomy 0.000 claims abstract description 16
- 210000000245 forearm Anatomy 0.000 claims description 27
- 210000003857 wrist joint Anatomy 0.000 claims description 16
- 210000002414 leg Anatomy 0.000 claims description 9
- 210000003205 muscle Anatomy 0.000 claims description 4
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 244000309466 calf Species 0.000 claims description 3
- 210000003414 extremity Anatomy 0.000 claims description 2
- 210000000784 arm bone Anatomy 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 10
- 210000000544 articulatio talocruralis Anatomy 0.000 abstract description 3
- 210000002310 elbow joint Anatomy 0.000 abstract description 3
- 210000004394 hip joint Anatomy 0.000 abstract description 3
- 210000000629 knee joint Anatomy 0.000 abstract description 3
- 239000002360 explosive Substances 0.000 abstract description 2
- 238000004140 cleaning Methods 0.000 abstract 1
- 210000001503 joint Anatomy 0.000 abstract 1
- 238000006073 displacement reaction Methods 0.000 description 5
- 210000000988 bone and bone Anatomy 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of human emulated robot based on cylinder, to drive hip joint, knee joint, ankle-joint, waist joint, shoulder joint, the elbow joint, carpal movement of robot, has the function of simulating people's movement completely.Human emulated robot is mainly made of humerus, ulna, thigh fixing piece, cylinder, shank fixing piece, waist joint connector, foot, bevel gear, bearing, connecting plate, support plate, connecting shaft.Lower limb knee joint, ankle-joint and upper limb elbow joint, carpal cylinder there are many mode combine driving joint all have bend and stretch, take down the exhibits and ring turn, there is hip joint flexion and extension, shoulder joint to engage realization circumduction by rotary cylinder driving bevel gear, there is front and rear, left and right to swing, bend and stretch in the cylinder driving joint of waist joint, taking down the exhibits turns with ring, while driving lower limb and upper limb joint swing, swinging.The present invention is driven with cylinder, is had the characteristics that compact-sized, cleaning, explosion-proof performance are good, be can be used for imparting knowledge to students, is explosive, exhibition.
Description
Technical field
The invention belongs to bio-robot technical fields, and in particular to a kind of human emulated robot based on cylinder.
Background technique
Since the last century 60's, lot of domestic and international researcher begins one's study motor-driven apery type machine
People replaces the mankind to complete dangerous, hard work, and up to the present motor-driven anthropomorphic robot, which has developed, compares into
It is ripe.Cylinder has preferable explosion-proof type using clean air as medium, and air has endless, the inexhaustible advantage taken,
Cylinder has biggish space simultaneously, and cylinder is in industrial circle extensive utilization.Cylinder according to motion mode again
Rectilinear motion cylinder and rotary-type movement cylinder can be divided into, can be used to that joint of robot is driven to move, be driven with cylinder
Dynamic robot will have more wide application prospect.It is substantially at present with the human emulated robot research of cylinder driving
Space state, except Chinese patent 201711099824.9 is put forward for the first time a kind of apery type based on cylinder of simple joint cylinder driving
Robot, Chinese patent 201810258382.6 propose that a kind of parallel connection is uniformly distributed the human emulated robot of cylinder driving.It is above-mentioned
There is no consider waist joint driving upper limb, the swing between lower limb and swing and multi cylinder for human emulated robot
Multiple combinations drive joint motions.
Summary of the invention
The purpose of the present invention is proposing a kind of human emulated robot based on cylinder for above-mentioned existing technological deficiency,
Structure of the invention is compact, clean, explosion-proof.Specific technical solution is as follows:
A kind of human emulated robot based on cylinder, which is characterized in that the robot includes two upper limbs, waist joint and two
A lower limb, two upper limbs are symmetrical and are rotatably connected to the both upper ends thereof of the waist joint, under described two
Limb is symmetrical and is rotatably connected to the lower part of the waist joint；The structure of two upper limbs is identical, the structure phase of two lower limb
Together；
The lower limb include lower limb fixing piece, the thigh fixing piece of right lower extremity, thigh cylinder one, thigh cylinder two, big
It is leg cylinder three, thigh cylinder four, thigh cylinder five, shank fixing piece, shank cylinder one, shank cylinder two, shank cylinder three, small
Leg cylinder four, shank cylinder five, shank cylinder six, shank cylinder seven, shank cylinder eight, foot；The lower limb fixing piece, thigh
Fixing piece, shank fixing piece, foot are successively rotatably connected, and described two one end of thigh cylinder rotatably connects with lower limb fixing piece
It connects, is rotatably connected in the middle part of the other end and the thigh fixing piece；Described five one end of thigh cylinder and the thigh
It is rotatably connected in the middle part of fixing piece, the other end is rotatably connected with the shank fixing piece；It is the thigh cylinder one, big
Leg cylinder three, thigh cylinder four both ends be rotatably connected respectively on the thigh fixing piece, shank fixing piece；It is described
Shank cylinder three, shank cylinder eight be distributed before and after calf joint respectively, described three one end of shank cylinder with it is described small
It is rotatably connected in the middle part of leg fixing piece, the other end is rotatably connected with the heel, the shank cylinder Aug. 1st end
It is rotatably connected in the middle part of the shank fixing piece, the other end is rotatably connected with heel, and the shank gas
Cylinder three and shank cylinder eight are located at the front and back of the shank fixing piece；The shank cylinder one and shank gas
One end of cylinder four, shank cylinder two and shank cylinder five, shank cylinder six and shank cylinder seven is rotatably connected, shank cylinder
One, top of the other end of shank cylinder two and shank cylinder six with shank fixing piece is rotatably connected, shank cylinder four, small
Leg cylinder five, shank cylinder seven the other end be rotatably connected with foot；
The waist joint includes waist joint connector one, waist joint connector two, waist joint connector three, waist joint company
Fitting four, waist joint connector five, waist joint connector six, waist joint connector seven, waist joint connector eight, waist joint cylinder
One, waist joint cylinder two, waist joint cylinder three, waist joint cylinder four, waist joint cylinder five, waist joint cylinder six, waist joint gas
Cylinder seven, waist joint cylinder eight, waist joint cylinder nine, waist joint cylinder ten, the waist joint connector one, waist joint connector
Two, waist joint connector three, waist joint connector four are successively rotatably connected from bottom to top, the waist joint connector five,
Waist joint connector six, waist joint connector seven, waist joint connector eight are also successively rotatably connected from bottom to top, and described
Waist joint connector one, five front and back of waist joint connector are rotatably connected by waist joint cylinder one, waist joint cylinder two respectively,
Waist joint connector two, six front and back of waist joint connector are rotatably connected by waist joint cylinder three, waist joint cylinder four respectively,
Waist joint connector three, seven front and back of waist joint connector are rotatably connected by waist joint cylinder five, waist joint cylinder six respectively,
Waist joint connector four, eight front and back of waist joint connector are rotatably connected by waist joint cylinder seven, waist joint cylinder eight respectively,
The both ends of the waist joint cylinder nine are rotatably connected with waist joint connector eight, lower limb fixing piece respectively, and the waist closes
Lower limb fixing piece of the both ends of displacements of cylinders ten respectively with waist joint connector four, left lower extremity is rotatably connected, the waist joint
Cylinder nine, waist joint cylinder ten are arranged symmetrically；
The upper limb includes rotary cylinder, bevel gear two, bevel gear one, shoulder joint connecting shaft two, shoulder joint connecting shaft
One, shoulder joint support plate, humerus, ulna, large arm cylinder one, large arm cylinder two, large arm cylinder three, forearm cylinder one, forearm gas
Cylinder two, wrist joint connecting plate；The rotary cylinder is fixedly connected on the waist joint connector eight, the bevel gear
Two are fixedly connected on the upper of the waist joint connector eight by the shoulder joint connecting shaft two and the rotary cylinder
Lower two sides, the shoulder joint support plate are fixedly connected on the end of the waist joint connector eight, and the shoulder joint connects
Spindle one passes through the shoulder joint support plate, and both ends are fixedly connected with the bevel gear one, humerus respectively, the upper arm
The other end of bone is rotatably connected with ulna, and the other end of the ulna is rotatably connected with the wrist joint connecting plate；
The large arm cylinder one, large arm cylinder two, large arm cylinder three both ends rotatably connect with the humerus, ulna respectively
Connect, the forearm cylinder one, forearm cylinder two both ends rotatably connect with the ulna, wrist joint connecting plate respectively
It connects.
Further, the thigh fixing piece of left lower extremity and right lower extremity, shank fixing piece, lower limb fixing piece are hollow component.
Further, the available gas of the thigh cylinder, shank cylinder, waist joint cylinder, large arm cylinder, forearm cylinder
Dynamic muscle, hydraulic cylinder, electric cylinders replacement.
Further, the rotary cylinder useable electric moter, motor replacement.
Further, two spur gears or worm and gear also can be used in the transmission between the bevel gear one, bevel gear two
Replacement.
Further, the bevel gear one, bevel gear two are made of aluminium alloy.
The beneficial effects of the present invention are:
(1) present invention drives joint using multiple cylinders, the multiple combinations mode that cylinder may be implemented drives joint to bend and stretch,
It takes down the exhibits and circumduction；
(2) present invention using cylinder drive waist joint, with swing, swing, bend and stretch, take down the exhibits and ring transhipment
It is dynamic；
(3) hip joint of the present invention, knee joint, ankle-joint, shoulder joint, elbow joint, wrist joint, waist joint be respectively provided with 1,3,
3,1,3,3,4 freedom degree, can the various movements that may be implemented of vivid simulation people, help to understand organization of human body and cylinder
Effect in human body joint motion.
Detailed description of the invention
Fig. 1 is human emulated robot overall mechanical design figure；
Fig. 2 is human emulated robot right lower extremity mechanical structure oblique view；
Fig. 3 is human emulated robot right lower extremity mechanical structure explosive view；
Fig. 4 is human emulated robot waist joint mechanical construction drawing；
Fig. 5 is human emulated robot waist joint mechanical structure partial enlarged view；
Fig. 6 is human emulated robot right upper extremity mechanical construction drawing；
Fig. 7 is human emulated robot right upper extremity mechanical structure partial enlarged view；
In figure: the thigh fixing piece 1-1 of right lower extremity, thigh fixing piece 1-2, thigh cylinder 1, the shank of left lower extremity are fixed
Part 3, shank cylinder 1, shank cylinder 25, shank cylinder 36, shank cylinder 47, shank cylinder 58, right lower extremity lower limb
Lower limb fixing piece 9-2, thigh cylinder 2 10, thigh cylinder 3 11, shank cylinder 6 12, the shank gas of fixing piece 9-1, left lower extremity
Cylinder 7 13, foot 14, thigh cylinder 4 15, shank cylinder 8 16, thigh cylinder 5 17, waist joint connector 3 18, waist joint connect
Fitting 2 19, waist joint connector 1, waist joint cylinder 4 21, waist joint cylinder 3 22, waist joint cylinder 2 23, waist joint
Cylinder 1, waist joint connector 4 25, waist joint cylinder 5 26, waist joint cylinder 6 27, waist joint cylinder 7 28, waist joint
Cylinder 8 29, waist joint connector 8 30, waist joint connector 7 31, nine 32-1 of waist joint cylinder, ten 32-2 of waist joint cylinder,
Waist joint connector 6 33, waist joint connector 5 34, shoulder joint connecting shaft 1, bevel gear 1, bevel gear 2 37, shoulder joint
Save connecting shaft 2 38, large arm cylinder 1, humerus 40, ulna 41, wrist joint connecting plate 42, rotary cylinder 43, shoulder joint support
Plate 44, large arm cylinder 2 45, large arm cylinder 3 46, forearm cylinder 1, forearm cylinder 2 48, bearing 1, bearing 2 50, shoulder
Joint connecting shaft 3 51.
Specific embodiment
Below according to attached drawing and preferred embodiment the present invention is described in detail, the objects and effects of the present invention will become brighter
White, below in conjunction with drawings and examples, the present invention will be described in further detail.It should be appreciated that described herein specific
Embodiment is only used to explain the present invention, is not intended to limit the present invention.
A kind of human emulated robot based on cylinder, as shown in Figure 1, the robot includes two upper limbs, waist joint and two
A lower limb, two upper limbs are symmetrical and are rotatably connected to the both upper ends thereof of waist joint, and two lower limb are symmetrical and rotationally connect
It connects in the lower part of waist joint；The structure of two upper limbs is identical, and the structure of two lower limb is identical；
By taking right lower extremity as an example, as Figure 2-3, lower limb include that the lower limb fixing piece 9-1 of right lower extremity, the thigh of right lower extremity are solid
Determine part 1-1, thigh cylinder 1, thigh cylinder 2 10, thigh cylinder 3 11, thigh cylinder 4 15, thigh cylinder 5 17, shank
Fixing piece 3, shank cylinder 1, shank cylinder 25, shank cylinder 36, shank cylinder 47, shank cylinder 58, shank cylinder
6 12, shank cylinder 7 13, shank cylinder 8 16, foot 14；
The lower limb fixing piece 9-1 of right lower extremity, thigh fixing piece 1-1, shank fixing piece 3, the foot 14 of right lower extremity can successively turn
The lower limb fixing piece 9-1 of dynamic connection, 2 10 one end of thigh cylinder and right lower extremity is rotatably connected, the other end and the right lower extremity
Thigh fixing piece 1-1 in the middle part of be rotatably connected；The thigh of described 5 17 one end of thigh cylinder and the right lower extremity is solid
Determine to be rotatably connected in the middle part of part 1-1, the other end is rotatably connected with the shank fixing piece 3；The thigh cylinder one
2, thigh cylinder 3 11, thigh cylinder 4 15 both ends be rotatably connected respectively in the thigh fixing piece 1- of the right lower extremity
1, on shank fixing piece 3；The shank cylinder 36, shank cylinder 8 16 are distributed before and after calf joint respectively, and described is small
It is rotatably connected in the middle part of 36 one end of leg cylinder and the shank fixing piece 3, the rear portion of the other end and the foot 14 can be rotated
The middle part of connection, described 8 16 one end of shank cylinder and the shank fixing piece 3 is rotatably connected, the other end and foot 14
Before rear portion is rotatably connected, and the shank cylinder 36 and shank cylinder 8 16 is located at the shank fixing piece 3
Face and back；The shank cylinder 1 and shank cylinder 47, shank cylinder 25 and shank cylinder 58, shank cylinder 6 12
Be rotatably connected with one end of shank cylinder 7 13, shank cylinder 1, shank cylinder 25 and shank cylinder 6 12 it is another
Hold top with shank fixing piece 3 to be rotatably connected, shank cylinder 47, shank cylinder 58, shank cylinder 7 13 it is another
End is rotatably connected with foot 14；
Thigh cylinder 1, thigh cylinder 3 11, thigh cylinder 4 15, thigh cylinder 5 17 can combine drive in many ways
It is dynamic shank fixing piece 3, shank cylinder 1, shank cylinder 25, shank cylinder 36, shank cylinder 47, shank cylinder 58, small
Leg cylinder 6 12, shank cylinder 7 13, foot 14, shank cylinder 8 16 bend and stretch relative to the thigh fixing piece 1-1 of right lower extremity, receive
Exhibition, circumduction；Shank cylinder 1, shank cylinder 25, shank cylinder 36, shank cylinder 47, shank cylinder 58, shank
It is cylinder 6 12, shank cylinder 7 13, shank cylinder 8 16 or shank cylinder 1, shank cylinder 25, shank cylinder 47, small
Leg cylinder 58, shank cylinder 6 12, shank cylinder 7 13 can combine driving foot 14 relative to shank fixing piece 3 in many ways
It bends and stretches, take down the exhibits, circumduction.
As illustrated in figures 4-5, waist joint includes waist joint connector 1, waist joint connector 2 19, waist joint connector
3 18, waist joint connector 4 25, waist joint connector 5 34, waist joint connector 6 33, waist joint connector 7 31, Yao Guan
Save connector 8 30, waist joint cylinder 1, waist joint cylinder 2 23, waist joint cylinder 3 22, waist joint cylinder 4 21, Yao Guan
Displacements of cylinders 5 26, waist joint cylinder 6 27, waist joint cylinder 7 28, waist joint cylinder 8 29, waist joint cylinder nine 32-1, Yao Guan
Ten 32-2 of displacements of cylinders, the waist joint connector 1, waist joint connector 2 19, waist joint connector 3 18, waist joint
Connector 4 25 is successively rotatably connected from bottom to top, the waist joint connector 5 34, waist joint connector 6 33, Yao Guan
Section connector 7 31, waist joint connector 8 30 are also successively rotatably connected from bottom to top, and the waist joint connector one
20,5 34 front and back of waist joint connector is rotatably connected by waist joint cylinder 1, waist joint cylinder 2 23 respectively, waist joint
Connector 2 19,6 33 front and back of waist joint connector are rotatably connected by waist joint cylinder 3 22, waist joint cylinder 4 21 respectively
It connects, waist joint connector 3 18,7 31 front and back of waist joint connector pass through waist joint cylinder 5 26, waist joint cylinder 6 27 respectively
It is rotatably connected, waist joint connector 4 25,8 30 front and back of waist joint connector pass through waist joint cylinder 7 28, waist joint respectively
Cylinder 8 29 is rotatably connected, the both ends of nine 32-1 of waist joint cylinder respectively with waist joint connector 8 30, right lower extremity
Lower limb fixing piece 9-1 be rotatably connected, the both ends of ten 32-2 of waist joint cylinder respectively with waist joint connector 4 25,
The lower limb fixing piece 9-2 of left lower extremity is rotatably connected, nine 32-1 of waist joint cylinder, the symmetrical cloth of ten 32-2 of waist joint cylinder
It sets；
Waist joint cylinder 4 21, waist joint cylinder 3 22, waist joint cylinder 2 23, waist joint cylinder 1, waist joint gas
Cylinder 5 26, waist joint cylinder 6 27, waist joint cylinder 7 28, waist joint cylinder 8 29 drive thigh fixing piece 1, thigh cylinder one
2, shank fixing piece 3, shank cylinder 1, shank cylinder 25, shank cylinder 36, shank cylinder 47, shank cylinder 58, the right side
The lower limb fixing piece 9-1 of lower limb, thigh cylinder 2 10, thigh cylinder 3 11, shank cylinder 6 12, shank cylinder 7 13, foot 14,
Thigh cylinder 4 15, shank cylinder 8 16, thigh cylinder 5 17, waist joint connector 8 30, waist joint connector 7 31, Yao Guan
Nine 32-1 of displacements of cylinders, waist joint connector 6 33, waist joint connector 5 34, shoulder joint connecting shaft 1, bevel gear 1, cone
Gear 2 37, shoulder joint connecting shaft 2 38, large arm cylinder 1, humerus 40, ulna 41, wrist joint connecting plate 42, rotary cylinder
43, shoulder joint support plate 44, large arm cylinder 2 45, large arm cylinder 3 46, forearm cylinder 1, forearm cylinder 2 48, bearing one
49, bearing 2 50, shoulder joint connecting shaft 3 51 are relative to left lower extremity, waist joint connector 3 18, waist joint connector 2 19, waist
Joint connector 1, left upper extremity swing, swings, bends and stretches, circumduction at waist joint connector 4 25, wherein waist
Joint cylinder 4 21, waist joint cylinder 2 23, waist joint cylinder 6 27, the combination of waist joint cylinder 8 29 is stretched or waist joint gas
Cylinder 3 22, waist joint cylinder 1, waist joint cylinder 5 26, the flexible driving of the combination of waist joint cylinder 7 28 be swing,
It takes down the exhibits movement.Waist joint cylinder 4 21 combines flexible or waist joint cylinder 2 23 and waist joint cylinder one with waist joint cylinder 3 22
24 combinations are flexible or waist joint cylinder 5 26 combines flexible or waist joint cylinder 7 28 and waist joint gas with waist joint cylinder 6 27
The flexible driving of the combination of cylinder 8 29 be swing, swing.It is driven with the cylinder that waist joint cylinder 1 intersects with other
Forward direction swings, takes down the exhibits and illustrates for circumduction integrated mode, waist joint cylinder 1 and waist joint cylinder 4 21, waist joint
Cylinder 6 27, the flexible driving of the combination of waist joint cylinder 8 29 while there is swing, swing, take down the exhibits and circumduction.
As shown in fig. 6-7, upper limb includes rotary cylinder 43, bevel gear 2 37, bevel gear 1, shoulder joint connecting shaft two
38, shoulder joint connecting shaft 1, shoulder joint support plate 44, humerus 40, ulna 41, large arm cylinder 1, large arm cylinder 2 45, big
Arm cylinder 3 46, forearm cylinder 1, forearm cylinder 2 48, wrist joint connecting plate 42；The rotary cylinder 43 is fixedly connected
On the waist joint connector 8 30, the bevel gear 2 37 passes through the shoulder joint connecting shaft 2 38 and described
Rotary cylinder 43 is fixedly connected on the two sides up and down of the waist joint connector 8 30, and the shoulder joint support plate 44 is fixed
It is connected to the end of the waist joint connector 8 30, the shoulder joint connecting shaft 1 is worn by the support of bearing 2 50
The shoulder joint support plate 44 is crossed, both ends are fixedly connected with the bevel gear 1, humerus 40 respectively, shoulder joint connection
Connection is threadably secured between axis 1 and shoulder joint connecting shaft 3 51, bevel gear 1 is meshed with bevel gear 2 37, institute
The other end for the humerus 40 stated is rotatably connected with ulna 41, the other end of the ulna 41 and the wrist joint connecting plate
42 are rotatably connected；The large arm cylinder 1, large arm cylinder 2 45, large arm cylinder 3 46 both ends respectively with it is described
Humerus 40, ulna 41 are rotatably connected, the forearm cylinder 1, forearm cylinder 2 48 both ends respectively with the ruler
Bone 41, wrist joint connecting plate 42 are rotatably connected.
Rotary cylinder 43 passes through shoulder joint connecting shaft 2 38, bevel gear 2 37, bevel gear 1, shoulder joint connecting shaft one
35, shoulder joint connecting shaft 3 51 drives large arm cylinder 1, humerus 40, ulna 41, wrist joint connecting plate 42, large arm cylinder two
45, large arm cylinder 3 46, forearm cylinder 1, forearm cylinder 2 48 are relative to 8 30 circumduction of waist joint connector.
Large arm cylinder 1, large arm cylinder 2 45, large arm cylinder 3 46 drive ulna 41, wrist joint connecting plate 42, forearm
Cylinder 1, forearm cylinder 2 48 bend and stretch relative to humerus 40, take down the exhibits, circumduction.Forearm cylinder 1, forearm cylinder 2 48
Wrist joint connecting plate 42 is driven to bend and stretch, take down the exhibits relative to ulna 41, circumduction.
All is fixedly connected using bolt.
Connected with right upper extremity, waist joint connector 8 30, waist joint connector 7 31, waist joint connector 6 33, waist joint
Illustrate that nine 32-1 of waist joint cylinder, thigh cylinder 2 10 drive the flexion and extension of robot for fitting 5 34, right lower extremity.Waist closes
Displacements of cylinders 9 32, thigh cylinder 2 10 drive together the thigh fixing piece 1-1 of right lower extremity, thigh cylinder 1, shank fixing piece 3,
Shank cylinder 1, shank cylinder 25, shank cylinder 36, shank cylinder 47, shank cylinder 58, right lower extremity lower limb fix
Part 9-1, thigh cylinder 2 10, thigh cylinder 3 11, shank cylinder 6 12, shank cylinder 7 13, foot 14, thigh cylinder 4 15,
Shank cylinder 8 16, thigh cylinder 5 17, waist joint connector 8 30, waist joint connector 7 31, waist joint connector 6 33,
Waist joint connector 5 34, shoulder joint connecting shaft 1, bevel gear 1, bevel gear 2 37, shoulder joint connecting shaft 2 38, large arm
Cylinder 1, humerus 40, ulna 41, wrist joint connecting plate 42, rotary cylinder 43, shoulder joint support plate 44, large arm cylinder 2 45,
Large arm cylinder 3 46, forearm cylinder 1, forearm cylinder 2 48, bearing 1, bearing 2 50, between shoulder joint connecting shaft 3 51
Mutual flexion and extension.
Preferably, the thigh fixing piece 1-1 of the right lower extremity, the thigh fixing piece 1-1 of left lower extremity, shank fixing piece 3,
The lower limb fixing piece 9-1 of right lower extremity, the lower limb fixing piece 9-2 of left lower extremity are hollow component.
The thigh cylinder, shank cylinder, waist joint cylinder, large arm cylinder, forearm cylinder available pneumatic muscles, liquid
Cylinder pressure, electric cylinders replacement.
43 useable electric moter of rotary cylinder, motor replacement.
Two spur gears or worm and gear replacement also can be used in transmission between the bevel gear 1, bevel gear 2 37.
Preferably, the bevel gear 1, bevel gear 2 37 are made of aluminium alloy.
The present invention, by controlling the cylinder in each joint, the control of realization human emulated robot pose can be with dynamic image
The movement of people is simulated, and accurate TRAJECTORY CONTROL may be implemented, the present invention possesses other pneumatic muscles apery lower limb and can not compare
Quasi- advantage.
It will appreciated by the skilled person that being not used to limit the foregoing is merely the preferred embodiment of invention
System invention, although invention is described in detail referring to previous examples, for those skilled in the art, still
It can modify to the technical solution of aforementioned each case history or equivalent replacement of some of the technical features.It is all
Within the spirit and principle of invention, modification, equivalent replacement for being made etc. be should be included within the protection scope of invention.
Claims (6)
1. a kind of human emulated robot based on cylinder, which is characterized in that the robot includes two upper limbs, waist joint and two
Lower limb, two upper limbs are symmetrical and are rotatably connected to the both upper ends thereof of the waist joint, two lower limb
Lower part that is symmetrical and being rotatably connected to the waist joint；The structure of two upper limbs is identical, and the structure of two lower limb is identical；
The lower limb include thigh fixing piece (1-1), the thigh cylinder one (2), thigh of lower limb fixing piece (9-1), right lower extremity
Cylinder two (10), thigh cylinder three (11), thigh cylinder four (15), thigh cylinder five (17), shank fixing piece (3), shank gas
Cylinder one (4), shank cylinder two (5), shank cylinder three (6), shank cylinder four (7), shank cylinder five (8), shank cylinder six
(12), shank cylinder seven (13), shank cylinder eight (16), foot (14)；The lower limb fixing piece (9-1), thigh fixing piece (1-
1), shank fixing piece (3), foot (14) are successively rotatably connected, described thigh cylinder two (10) one end and lower limb fixing piece (9-
1) it is rotatably connected, is rotatably connected in the middle part of the other end and the thigh fixing piece (1-1)；The thigh cylinder five
(17) it is rotatably connected in the middle part of one end and the thigh fixing piece (1-1), the other end and the shank fixing piece (3) can
Rotation connection；The thigh cylinder one (2), thigh cylinder three (11), thigh cylinder four (15) both ends can be rotated respectively
On thigh fixing piece (1-1), shank fixing piece (3) described in being connected to；The shank cylinder three (6), shank cylinder eight
(16) it is distributed before and after calf joint respectively, it can in the middle part of described shank cylinder three (6) one end and the shank fixing piece (3)
Rotation connection, the rear portion of the other end and the foot (14) is rotatably connected, described shank cylinder eight (16) one end with it is described
Shank fixing piece (3) in the middle part of be rotatably connected, the other end and the rear portion of foot (14) are rotatably connected, and the shank gas
Cylinder three (6) and shank cylinder eight (16) are located at the front and back of the shank fixing piece (3)；The shank cylinder
One (4) and shank cylinder four (7), shank cylinder two (5) and shank cylinder five (8), shank cylinder six (12) and shank cylinder seven
(13) one end is rotatably connected, and the other end of shank cylinder one (4), shank cylinder two (5) and shank cylinder six (12) is equal
It is rotatably connected with the top of shank fixing piece (3), shank cylinder four (7), shank cylinder five (8), shank cylinder seven (13)
The other end is rotatably connected with foot (14)；
The waist joint include waist joint connector one (20), waist joint connector two (19), waist joint connector three (18),
Waist joint connector four (25), waist joint connector five (34), waist joint connector six (33), waist joint connector seven (31),
Waist joint connector eight (30), waist joint cylinder one (24), waist joint cylinder two (23), waist joint cylinder three (22), waist joint
Cylinder four (21), waist joint cylinder five (26), waist joint cylinder six (27), waist joint cylinder seven (28), waist joint cylinder eight
(29), waist joint cylinder nine (32-1), waist joint cylinder ten (32-2), the waist joint connector one (20), waist joint connect
Fitting two (19), waist joint connector three (18), waist joint connector four (25) are successively rotatably connected from bottom to top, described
Waist joint connector five (34), waist joint connector six (33), waist joint connector seven (31), waist joint connector eight (30)
It is successively rotatably connected from bottom to top, and before and after the waist joint connector one (20), waist joint connector five (34) respectively
It is rotatably connected by waist joint cylinder one (24), waist joint cylinder two (23), waist joint connector two (19), waist joint connection
It is rotatably connected respectively by waist joint cylinder three (22), waist joint cylinder four (21) before and after part six (33), waist joint connector
It can be rotated respectively by waist joint cylinder five (26), waist joint cylinder six (27) before and after three (18), waist joint connector seven (31)
Connection, waist joint connector four (25), waist joint connector eight (30) front and back pass through waist joint cylinder seven (28), waist joint respectively
Cylinder eight (29) is rotatably connected, the both ends of the waist joint cylinder nine (32-1) respectively with waist joint connector eight (30),
Lower limb fixing piece (9-1) is rotatably connected, the both ends of the waist joint cylinder ten (32-2) respectively with waist joint connector four
(25), the lower limb fixing piece (9-2) of left lower extremity is rotatably connected, the waist joint cylinder nine (32-1), waist joint cylinder ten
(32-2) is arranged symmetrically；
The upper limb include rotary cylinder (43), bevel gear two (37), bevel gear one (36), shoulder joint connecting shaft two (38),
Shoulder joint connecting shaft one (35), shoulder joint support plate (44), humerus (40), ulna (41), large arm cylinder one (39), large arm cylinder
Two (45), large arm cylinder three (46), forearm cylinder one (47), forearm cylinder two (48), wrist joint connecting plate (42)；The rotation
Rotaring cylinder (43) is fixedly connected on the waist joint connector eight (30), and the bevel gear two (37) passes through the shoulder
Joint connecting shaft two (38) and the rotary cylinder (43) are fixedly connected on the upper and lower of the waist joint connector eight (30)
Two sides, the shoulder joint support plate (44) are fixedly connected on the end of the waist joint connector eight (30), the shoulder
Joint connecting shaft one (35) pass through the shoulder joint support plate (44), both ends respectively with the bevel gear one (36), the upper arm
Bone (40) is fixedly connected, and the other end and the ulna (41) of the humerus (40) are rotatably connected, the ulna (41) it is another
One end is rotatably connected with the wrist joint connecting plate (42)；It is the large arm cylinder one (39), large arm cylinder two (45), big
The both ends of arm cylinder three (46) are rotatably connected with the humerus (40), ulna (41) respectively, the forearm cylinder one
(47), the both ends of forearm cylinder two (48) are rotatably connected with the ulna (41), wrist joint connecting plate (42) respectively.
2. the human emulated robot according to claim 1 based on cylinder, which is characterized in that the left lower extremity and bottom right
Thigh fixing piece (1-1,1-2), shank fixing piece (3), the lower limb fixing piece (9-1,9-2) of limb are hollow component.
3. the human emulated robot according to claim 1 based on cylinder, which is characterized in that the thigh cylinder, small
The available pneumatic muscles of leg cylinder, waist joint cylinder, large arm cylinder, forearm cylinder, hydraulic cylinder, electric cylinders replacement.
4. the human emulated robot according to claim 1 based on cylinder, which is characterized in that the rotary cylinder (43)
Useable electric moter, motor replacement.
5. the human emulated robot according to claim 1 based on cylinder, which is characterized in that the bevel gear one
(36), two spur gears or worm and gear replacement also can be used in the transmission between bevel gear two (37).
6. the human emulated robot according to claim 1 based on cylinder, which is characterized in that the bevel gear one
(36), bevel gear two (37) is made of aluminium alloy.
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| CN201810495683.0A CN108656100B (en) | 2018-05-22 | 2018-05-22 | Cylinder-based humanoid robot |
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| CN201810495683.0A CN108656100B (en) | 2018-05-22 | 2018-05-22 | Cylinder-based humanoid robot |
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| CN108656100B true CN108656100B (en) | 2019-05-03 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110682305B (en) * | 2019-10-18 | 2020-06-09 | 嘉兴学院 | A humanoid robot system |
| CN111618881B (en) * | 2020-06-12 | 2021-03-16 | 嘉兴学院 | A Pneumatic Humanoid Robot System |
| CN113601517B (en) * | 2021-06-25 | 2023-03-24 | 光华临港工程应用技术研发(上海)有限公司 | Nurse robot |
| CN115415997B (en) * | 2022-08-16 | 2025-07-29 | 山东科技大学 | Antagonistic pneumatic muscle lower limb power exoskeleton |
| CN116729520B (en) * | 2023-08-11 | 2023-10-20 | 太原理工大学 | Bionic four-foot robot based on double-layer corrugated pipe pneumatic soft driver |
| CN119610200A (en) * | 2024-11-21 | 2025-03-14 | 武汉真友科技有限公司 | Bionic hip joint and humanoid robot |
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