CN110434846B - Humanoid robot system based on pneumatics - Google Patents
Humanoid robot system based on pneumatics Download PDFInfo
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- CN110434846B CN110434846B CN201910664319.7A CN201910664319A CN110434846B CN 110434846 B CN110434846 B CN 110434846B CN 201910664319 A CN201910664319 A CN 201910664319A CN 110434846 B CN110434846 B CN 110434846B
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- 210000003141 lower extremity Anatomy 0.000 claims abstract description 31
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 23
- 210000003205 muscle Anatomy 0.000 claims description 42
- 238000004880 explosion Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 210000003414 extremity Anatomy 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
- 230000008569 process Effects 0.000 description 1
- 238000013022 venting Methods 0.000 description 1
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- 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
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Abstract
The invention relates to a humanoid robot system based on pneumatics, a lower limb device is connected with a waist device, and the waist device is connected with an upper limb device; the first transverse cylinder of the lower limb device is connected with a third transverse cylinder through a second transverse cylinder, and the first transverse cylinder, the second transverse cylinder and the third transverse cylinder are vertical to each other in pairs; the second transverse cylinder is connected with a second longitudinal cylinder and a fifth longitudinal cylinder which are parallel to each other through a first connecting piece, two ends of the second longitudinal cylinder are respectively and vertically connected with the first longitudinal cylinder and the third longitudinal cylinder, and two ends of the fifth longitudinal cylinder are respectively and vertically connected with the fourth longitudinal cylinder and the sixth longitudinal cylinder; the invention has compact structure, large rigidity, large moment and good flexibility, and is suitable for complex terrain movement.
Description
Technical Field
The invention relates to the technical field of robot equipment, in particular to a pneumatic-based humanoid robot system which is compact in structure, high in rigidity, large in moment, good in flexibility and suitable for complex terrain movement.
Background
In the face of complex terrains, such as flat terrains, muddy road conditions and road conditions with obstacles, how to enable the robot to adapt to various terrains is one of the necessary capabilities of the robot. Chinese patents CN104890752A, CN208573916U, CN109533069A and CN101947776A propose wheel type obstacle-surmounting robots, and chinese patents CN106314577A, CN109436112A and CN108594820A propose crawler type obstacle-surmounting robots, but the freedom of movement is greatly limited, and at the same time, the robot does not have the explosion-proof capability.
The parallel mechanism has the advantages of high precision, stable structure, easy solution of inverse solution, etc., and is made up by using Chinese patent Nos. CN107933732A, CN109048867A, CN107962551A, CN107738249A,
CN107139163A and CN104354154A both propose robot systems based on parallel mechanisms, but the maximum bearing capacity is influenced by the rigidity and the bearing capacity of a single branched chain, the rigidity is low, and meanwhile, the bearing capacity is limited and has no flexibility.
A need exists for a pneumatically-based humanoid robot system that has a compact structure, high stiffness, high torque, good flexibility, and is adaptable to complex terrain motion.
Disclosure of Invention
The invention aims to provide a pneumatic-based humanoid robot system which is compact in structure, large in rigidity, large in moment, good in flexibility and suitable for complex terrain movement.
A humanoid robot system based on pneumatics, comprising:
the lower limb device is connected with the waist device, and the waist device is connected with the upper limb device;
the first transverse cylinder of the lower limb device is connected with a third transverse cylinder through a second transverse cylinder, and the first transverse cylinder, the second transverse cylinder and the third transverse cylinder are vertical to each other in pairs; the second transverse cylinder is connected with a second longitudinal cylinder and a fifth longitudinal cylinder which are parallel to each other through a first connecting piece, two ends of the second longitudinal cylinder are respectively and vertically connected with the first longitudinal cylinder and the third longitudinal cylinder, and two ends of the fifth longitudinal cylinder are respectively and vertically connected with the fourth longitudinal cylinder and the sixth longitudinal cylinder;
the first connecting piece is used for fixing a second connecting piece of the waist device, at least three lower end cylinders are rotatably connected to the second connecting piece, the upper ends of the lower end cylinders are rotatably connected to the first connecting plate, the upper ends of the lower end cylinders are rotatably connected to the upper portion of the middle connecting piece through upper connecting rods, the lower ends of the lower end cylinders are rotatably connected to the lower portion of the middle connecting piece through lower connecting rods, at least three rotatable connecting points are arranged on the upper portion of the first connecting plate, each rotatable connecting point is rotatably connected with two connecting cylinders, and the upper ends of the adjacent connecting cylinders are rotatably connected with each other and then connected to the second connecting plate;
the second connecting plate is fixed to a first fixed supporting plate of the upper limb device, the first fixed supporting plate is rotatably connected to a second fixed supporting plate after being rotatably connected with at least three first pneumatic muscles, the second fixed supporting plate is rotatably connected to a third fixed supporting plate after being rotatably connected with at least three second pneumatic muscles, and third pneumatic muscles are rotatably connected between the first fixed supporting plate and the third fixed supporting plate.
Go up the connecting rod and set up the female head of first universal joint respectively with lower connecting rod tip, the cross is connected to the female head of first universal joint, the cross is connected the public head of universal joint and the female head of second universal joint respectively, the tip at lower extreme cylinder is fixed to the female head of second universal joint.
The second longitudinal cylinder and the fifth longitudinal cylinder are in horizontal positions.
And a second longitudinal cylinder and a fifth longitudinal cylinder are respectively fixed at two ends of the first connecting piece, the bottom of the first connecting piece is sleeved on the second transverse cylinder, and the upper part of the first connecting piece is fixed with the second connecting piece.
The second connecting piece is circular, and the first connecting plate and the second connecting plate are circular plates.
The middle connecting piece is cylindrical and is positioned between the second connecting piece and the first connecting plate.
The first fixed supporting plate, the second fixed supporting plate and the third fixed supporting plate are circular plate-shaped, and the second fixed supporting plate is smaller than the first fixed supporting plate and the third fixed supporting plate respectively.
The first pneumatic muscles are three and are uniformly or unevenly distributed on the first fixed supporting plate and the second fixed supporting plate, the second pneumatic muscles are three and are uniformly or unevenly distributed on the second fixed supporting plate and the third fixed supporting plate, and the third pneumatic muscles are three and are uniformly or unevenly distributed on the first fixed supporting plate and the third fixed supporting plate.
The pneumatic valves are respectively connected with the lower end cylinder and the connecting cylinder to form a waist control device, the pneumatic valves are respectively connected with the first pneumatic muscle, the second pneumatic muscle and the third pneumatic muscle to form a lower limb control device, and the upper limb control device, the waist control device and the lower limb control device are respectively connected with the computer.
The computer adopts Modbus or CAN bus to connect upper limbs controlling means, waist controlling means and low limbs controlling means respectively, the pneumatic valve is pneumatic proportional pressure valve or pneumatic high-speed ooff valve.
The lower limb device is connected with the waist device, and the waist device is connected with the upper limb device; the first transverse cylinder of the lower limb device is connected with a third transverse cylinder through a second transverse cylinder, and the first transverse cylinder, the second transverse cylinder and the third transverse cylinder are vertical to each other in pairs; the second transverse cylinder is connected with a second longitudinal cylinder and a fifth longitudinal cylinder which are parallel to each other through a first connecting piece, two ends of the second longitudinal cylinder are respectively and vertically connected with the first longitudinal cylinder and the third longitudinal cylinder, and two ends of the fifth longitudinal cylinder are respectively and vertically connected with the fourth longitudinal cylinder and the sixth longitudinal cylinder; the first connecting piece is used for fixing a second connecting piece of the waist device, the second connecting piece is rotatably connected with at least three lower end cylinders, the upper ends of the lower end cylinders are rotatably connected onto the first connecting plate, the upper ends of the lower end cylinders are rotatably connected onto the upper portion of the middle connecting piece through upper connecting rods, the lower ends of the lower end cylinders are rotatably connected onto the lower portion of the middle connecting piece through lower connecting rods, the upper portion of the first connecting plate is provided with at least three rotatable connecting points, each rotatable connecting point is rotatably connected with two connecting cylinders, and the upper ends of the adjacent connecting cylinders are rotatably connected with each other and then; the second connecting plate is fixed to a first fixed support plate of the upper limb device, the first fixed support plate is rotatably connected to a second fixed support plate after being rotatably connected with at least three first pneumatic muscles, the second fixed support plate is rotatably connected to a third fixed support plate after being rotatably connected with at least three second pneumatic muscles, and third pneumatic muscles are rotatably connected between the first fixed support plate and the third fixed support plate. The invention has compact structure, large rigidity, large moment and good flexibility, and is suitable for complex terrain movement.
The invention has the beneficial effects that:
1. the combination of the rodless cylinder and the thin-wall cylinder ensures that the lower limb system can realize free switching of transverse and longitudinal movement;
2. the waist joint is formed by connecting a plurality of fixed points of the air cylinder components, so that the advantages of small motion error, large output force and high rigidity of the joint are ensured;
3. the upper limb system constructed by adopting the multilayer hybrid pneumatic muscles has the advantages of good flexibility, small occupied space and large output force, and can be used in the fields of obstacle crossing, explosion venting, rescue and the like.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the lower limb apparatus of the present invention;
FIG. 3 is a schematic view of the lumbar device of the present invention;
FIG. 4 is a schematic structural view of the lower cylinder of the present invention;
FIG. 5 is a schematic view of the upper limb apparatus of the present invention;
FIG. 6 is a control relationship diagram of the present invention;
in the figure: 1. a lower limb device, 2, a waist device, 3, an upper limb device, 4, a first transverse cylinder, 5, a second transverse cylinder, 6, a third transverse cylinder, 7, a first longitudinal cylinder, 8, a second longitudinal cylinder, 9, a third longitudinal cylinder, 10, a fourth longitudinal cylinder, 11, a fifth longitudinal cylinder, 12, a sixth longitudinal cylinder, 13, a first connecting member, 14, a second connecting member, 15, a lower end cylinder, 16, an upper connecting rod, 17, a lower connecting rod, 18, an intermediate connecting member, 19, a first connecting plate, 20, a connecting cylinder, 21, a second connecting plate, 22, a first universal joint female head, 23, a cross, 24, a universal joint male head, 25, a second universal joint female head, 26, a first fixed support plate, 27, a first pneumatic muscle, 28, a second fixed support plate, 29, a second pneumatic muscle, 30, a third fixed support plate, 31, a third pneumatic muscle, 32. upper limb control devices 33, waist control devices 34, lower limb control devices 35 and computers.
Detailed Description
The invention is further described below with reference to the following figures and specific examples.
A pneumatically based humanoid robot system comprising: the lower limb device 1 is connected with the lower limb device 1 through the waist device 2, and the waist device 2 is connected with the upper limb device 3; the first transverse cylinder 4 of the lower limb device 1 is connected with the third transverse cylinder 6 through the second transverse cylinder 5, and the first transverse cylinder 4, the second transverse cylinder 5 and the third transverse cylinder 6 are mutually vertical in pairs; the second transverse cylinder 5 is connected with a second longitudinal cylinder 8 and a fifth longitudinal cylinder 11 which are parallel to each other through a first connecting piece 13, two ends of the second longitudinal cylinder 8 are respectively and vertically connected with the first longitudinal cylinder 7 and the third longitudinal cylinder 9, and two ends of the fifth longitudinal cylinder 11 are respectively and vertically connected with a fourth longitudinal cylinder 10 and a sixth longitudinal cylinder 12; the first connecting piece 13 is used for fixing a second connecting piece 14 of the waist device 2, at least three lower end cylinders 15 are rotatably connected onto the second connecting piece 14, the upper ends of the lower end cylinders 15 are rotatably connected onto a first connecting plate 19, the upper ends of the lower end cylinders 15 are rotatably connected onto the upper part of a middle connecting piece 18 through upper connecting rods 16, the lower ends of the lower end cylinders 15 are rotatably connected onto the lower part of the middle connecting piece 18 through lower connecting rods 17, at least three rotatable connecting points are arranged on the upper part of the first connecting plate 19, each rotatable connecting point is rotatably connected with two connecting cylinders 20, and the upper ends of the adjacent connecting cylinders 20 are rotatably connected with each other and then connected onto; the second connecting plate 21 is fixed to a first fixed supporting plate 26 of the upper limb apparatus 3, the first fixed supporting plate 26 is rotatably connected to a second fixed supporting plate 28 after being rotatably connected to at least three first pneumatic muscles 27, the second fixed supporting plate 28 is rotatably connected to a third fixed supporting plate 30 after being rotatably connected to at least three second pneumatic muscles 29, and a third pneumatic muscle 31 is rotatably connected between the first fixed supporting plate 26 and the third fixed supporting plate 30.
The end parts of the upper connecting rod 16 and the lower connecting rod 17 are respectively provided with a first universal joint female head 22, the first universal joint female head 22 is connected with a cross 23, the cross 23 is respectively connected with a universal joint male head 24 and a second universal joint female head 25, and the second universal joint female head 25 is fixed at the end part of the lower end cylinder 15.
The second longitudinal cylinder 8 and the fifth longitudinal cylinder 11 are in a horizontal position. The two ends of the first connecting piece 13 are respectively fixed with the second longitudinal cylinder 8 and the fifth longitudinal cylinder 11, the bottom of the first connecting piece is sleeved on the second transverse cylinder 5, and the upper part of the first connecting piece is fixed with the second connecting piece 14. The second connecting member 14 is circular, and the first connecting plate 19 and the second connecting plate 21 are circular plates. The intermediate connector 18 is cylindrical and is located between the second connector 14 and the first connector plate 19. The first fixed support plate 26, the second fixed support plate 28 and the third fixed support plate 30 are circular plate-shaped, and the second fixed support plate 28 is smaller than the first fixed support plate 26 and the third fixed support plate 30, respectively. Three first pneumatic muscles 27 are uniformly or non-uniformly distributed on the first fixed supporting plate 26 and the second fixed supporting plate 28, three second pneumatic muscles 29 are uniformly or non-uniformly distributed on the second fixed supporting plate 28 and the third fixed supporting plate 30, and three third pneumatic muscles 31 are uniformly or non-uniformly distributed on the first fixed supporting plate 26 and the third fixed supporting plate 30.
The first transverse cylinder 4, the second transverse cylinder 5, the third transverse cylinder 6, the first longitudinal cylinder 7, the second longitudinal cylinder 8, the third longitudinal cylinder 9, the fourth longitudinal cylinder 10, the fifth longitudinal cylinder 11 and the sixth longitudinal cylinder 12 are respectively connected with an air-operated valve to form an upper limb control device 32, the lower end cylinder 15 and the connecting cylinder 20 are respectively connected with an air-operated valve to form a waist control device 33, the first pneumatic muscle 27, the second pneumatic muscle 29 and the third pneumatic muscle 31 are respectively connected with an air-operated valve to form a lower limb control device 34, the upper limb control device 32, the waist control device 33 and the lower limb control device 34 are respectively connected with a computer 35. The computer 35 is connected with the upper limb control device 32, the waist control device 33 and the lower limb control device 34 respectively by adopting a Modbus or CAN bus, and the pneumatic valve is a pneumatic proportional pressure valve or a pneumatic high-speed switch valve.
The second longitudinal cylinder 8 and the fifth longitudinal cylinder 11 and the second transverse cylinder 5 of the lower limb apparatus 1 are perpendicular to each other in a plane. When the lower limb device 1 needs to move longitudinally, the working rods of the first longitudinal cylinder 7, the third longitudinal cylinder 9, the fourth longitudinal cylinder 10 and the sixth longitudinal cylinder 12 contract. The working rods of the first transverse cylinder 4 and the third transverse cylinder 6 extend out to support the lower limb device 1. The second longitudinal cylinder 8 drives the first longitudinal cylinder 7 and the third longitudinal cylinder 9, and the fifth longitudinal cylinder 11 drives the fourth longitudinal cylinder 10 and the sixth longitudinal cylinder 12 to move longitudinally. When the lower limb device 1 needs to move transversely, the working rods of the first longitudinal cylinder 7, the third longitudinal cylinder 9, the fourth longitudinal cylinder 10 and the sixth longitudinal cylinder 12 extend out. The working rods of the first and third horizontal cylinders 4 and 6 contract to support the lower limb device 1. The second transverse cylinder 5 drives the first transverse cylinder 4 and the third transverse cylinder 6 to realize transverse movement.
The first connecting piece 13 fixes the second connecting piece 14 of the waist device 2, and the upper end and the lower end of the lower end cylinder 15 are respectively and rotatably connected with the second connecting piece 14 and the first connecting plate 19. The lower end cylinder 15 drives the first link plate 19 to move, so that the lumbar device 2 has X, Y, Z three-directional rotation. The connecting cylinder 20 is rotatably connected at its upper and lower ends to the first connecting plate 19 and the second connecting plate 21, respectively, so that the lumbar device 2 has X, Y, Z three-directional rotation and three-directional movement.
The upper end and the lower end of the lower end cylinder 15 are respectively and simultaneously connected with the upper connecting rod 16 and the lower connecting rod 17 in the process of rotatable connection with the second connecting piece 14 and the first connecting plate 19, the universal joint male head 24 at the end part of each lower end cylinder 15 is simultaneously connected with the first universal joint female head 22 and the second universal joint female head 25 through the cross 23, and the first universal joint female head 22 and the second universal joint female head 25 are connected coaxially. The end parts of the upper connecting rod 16 and the lower connecting rod 17 are respectively provided with a first universal joint female head 22, the first universal joint female head 22 is connected with a cross 23, the cross 23 is respectively connected with a universal joint male head 24 and a second universal joint female head 25, and the second universal joint female head 25 is fixed at the end part of the lower end cylinder 15. The first universal joint female head 22 is fixedly connected with the upper connecting rod 16 and the lower connecting rod 17 respectively.
The second connecting plate 21 is fixedly connected to the first fixed support plate 26. The first pneumatic muscle 27 drives the second fixed supporting plate 28 at one end, and the second pneumatic muscle 29 drives the second fixed supporting plate 28 at one end, so as to drive the second fixed supporting plate 28 to rotate and move in X, Y, Z three directions. The third pneumatic muscle 31 is disposed between the first fixed supporting plate 26 and the third fixed supporting plate 30, and the third pneumatic muscle 31 is driven to rotate and move the third fixed supporting plate 30 in three directions X, Y, Z.
The computer 35 is used as an upper computer to respectively control the upper limb control device 32, the waist control device 33 and the lower limb control device 34 through communication, and the sent commands are used for respectively controlling pneumatic valves of the upper limb control device 32, the waist control device 33 and the lower limb control device 34 to realize actions, and the pneumatic valves can be pneumatic proportional pressure valves or pneumatic high-speed switching valves.
The robot has the advantages that the robot can control the joints and the overall pose of the robot by controlling the cylinders and the pneumatic muscles of the joints, can realize the work of movement of complex terrains, obstacle crossing by large loads, explosion elimination and the like, and can realize accurate track control.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. A humanoid robot system based on pneumatics, comprising:
a lower limb device (1), wherein the lower limb device (1) is connected with a waist device (2), and the waist device (2) is connected with an upper limb device (3);
the first transverse cylinder (4) of the lower limb device (1) is connected with the third transverse cylinder (6) through the second transverse cylinder (5), and the first transverse cylinder (4), the second transverse cylinder (5) and the third transverse cylinder (6) are vertical to each other in pairs; the second transverse cylinder (5) is connected with a second longitudinal cylinder (8) and a fifth longitudinal cylinder (11) which are parallel to each other through a first connecting piece (13), two ends of the second longitudinal cylinder (8) are respectively and vertically connected with the first longitudinal cylinder (7) and the third longitudinal cylinder (9), and two ends of the fifth longitudinal cylinder (11) are respectively and vertically connected with a fourth longitudinal cylinder (10) and a sixth longitudinal cylinder (12);
the first connecting piece (13) is used for fixing a second connecting piece (14) of the waist device (2), at least three lower end cylinders (15) are rotatably connected onto the second connecting piece (14), the upper ends of the lower end cylinders (15) are rotatably connected onto a first connecting plate (19), the upper ends of the lower end cylinders (15) are rotatably connected onto the upper portion of a middle connecting piece (18) through upper connecting rods (16), the lower ends of the lower end cylinders (15) are rotatably connected onto the lower portion of the middle connecting piece (18) through lower connecting rods (17), at least three rotatable connecting points are arranged on the upper portion of the first connecting plate (19), each rotatable connecting point is rotatably connected with two connecting cylinders (20), and the upper ends of the adjacent connecting cylinders (20) are rotatably connected with each other and then connected to a second connecting plate (21);
the second connecting plate (21) is fixed to a first fixed supporting plate (26) of the upper limb device (3), the first fixed supporting plate (26) is rotatably connected to a second fixed supporting plate (28) after being rotatably connected with at least three first pneumatic muscles (27), the second fixed supporting plate (28) is rotatably connected to a third fixed supporting plate (30) after being rotatably connected with at least three second pneumatic muscles (29), and a third pneumatic muscle (31) is rotatably connected between the first fixed supporting plate (26) and the third fixed supporting plate (30);
the end parts of the upper connecting rod (16) and the lower connecting rod (17) are respectively provided with a first universal joint female head (22), the first universal joint female head (22) is connected with a cross (23), the cross (23) is respectively connected with a universal joint male head (24) and a second universal joint female head (25), and the second universal joint female head (25) is fixed at the end part of the lower end cylinder (15);
a second longitudinal cylinder (8) and a fifth longitudinal cylinder (11) are respectively fixed at two ends of the first connecting piece (13), the bottom of the first connecting piece is sleeved on the second transverse cylinder (5), and a second connecting piece (14) is fixed at the upper part of the first connecting piece;
the number of the first pneumatic muscles (27) is three, and the first pneumatic muscles are uniformly or unevenly distributed on the first fixed supporting plate (26) and the second fixed supporting plate (28), the number of the second pneumatic muscles (29) is three, and the second pneumatic muscles are uniformly or unevenly distributed on the second fixed supporting plate (28) and the third fixed supporting plate (30), and the number of the third pneumatic muscles (31) is three, and the third pneumatic muscles are uniformly or unevenly distributed on the first fixed supporting plate (26) and the third fixed supporting plate (30);
the first transverse cylinder (4), the second transverse cylinder (5), the third transverse cylinder (6), the first longitudinal cylinder (7), the second longitudinal cylinder (8), the third longitudinal cylinder (9), the fourth longitudinal cylinder (10), the fifth longitudinal cylinder (11) and the sixth longitudinal cylinder (12) are respectively connected with an air-operated valve to form an upper limb control device (32), the lower end cylinder (15) and the connecting cylinder (20) are respectively connected with an air-operated valve to form a waist control device (33), the first pneumatic muscle (27), the second pneumatic muscle (29) and the third pneumatic muscle (31) are respectively connected with an air-operated valve to form a lower limb control device (34), the upper limb control device (32), the waist control device (33) and the lower limb control device (34) are respectively connected with a computer (35).
2. A pneumatically based humanoid robot system according to claim 1, characterized in that the second longitudinal cylinder (8) and the fifth longitudinal cylinder (11) are in a horizontal position.
3. A pneumatically based humanoid robot system according to claim 1, characterized in that the second connecting member (14) is circular and the first connecting plate (19) and the second connecting plate (21) are circular plates.
4. A pneumatically based humanoid robot system according to claim 1, characterized in that the intermediate connection member (18) is cylindrical and is located between the second connection member (14) and the first connection plate (19).
5. A pneumatic-based humanoid robot system as claimed in claim 1, characterized in that said first (26), second (28) and third (30) fixed support plates are circular plate-shaped, said second (28) fixed support plate being smaller than the size of the first (26) and third (30) fixed support plates, respectively.
6. The pneumatic humanoid robot system of claim 1, wherein the computer (35) is connected with an upper limb control device (32), a waist control device (33) and a lower limb control device (34) respectively by a Modbus or CAN bus, and the pneumatic valve is a pneumatic proportional pressure valve or a pneumatic high-speed switch valve.
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| CN201910664319.7A CN110434846B (en) | 2019-07-23 | 2019-07-23 | Humanoid robot system based on pneumatics |
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| CN201910664319.7A CN110434846B (en) | 2019-07-23 | 2019-07-23 | Humanoid robot system based on pneumatics |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3365802B2 (en) * | 1992-12-01 | 2003-01-14 | 健 柳沢 | Walking robot |
| CN102452074A (en) * | 2010-10-27 | 2012-05-16 | 鸿富锦精密工业（深圳）有限公司 | Parallel robot |
| CN203849926U (en) * | 2014-04-28 | 2014-09-24 | 安徽理工大学 | Parallel topology structure based innovation test platform |
| CN204432823U (en) * | 2015-01-11 | 2015-07-01 | 河北联合大学 | A kind of all fours type wall climbing mechanism |
| CN205709588U (en) * | 2016-06-30 | 2016-11-23 | 山东聚一天工工业自动化有限公司 | Load mobile platform |
| CN106945071B (en) * | 2017-03-22 | 2019-04-26 | 陕西科技大学 | A kind of Three Degree Of Freedom lumbar device of anthropomorphic robot |
| CN107263523B (en) * | 2017-06-23 | 2019-11-12 | 嘉兴学院 | A kind of bionic joint based on pneumatic muscles mixed connection |
| CN107717961B (en) * | 2017-11-09 | 2019-09-24 | 嘉兴学院 | A kind of human emulated robot based on cylinder |
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