CN113146582B

CN113146582B - Rigid-flexible hybrid bionic robot system

Info

Publication number: CN113146582B
Application number: CN202110459533.6A
Authority: CN
Inventors: 李心雨; 姜飞龙; 曹坚; 敖康; 沈剑英; 崔文华; 朱耀东; 钱书翔; 程树群; 李伟荣; 何琳; 章璇; 董睿; 伊光武; 陈军委; 胡红生; 杨德山; 汪斌; 杨琴; 张海军
Original assignee: Jiaxing University
Current assignee: Chen Xian
Priority date: 2021-04-27
Filing date: 2021-04-27
Publication date: 2022-03-08
Anticipated expiration: 2041-04-27
Also published as: CN113146582A

Abstract

The invention relates to a rigid-flexible hybrid bionic robot system, which uses pneumatic muscles to simulate the muscles of a human to drive the motion of shoulder joints, elbow joints, wrist joints, waist joints, hip joints, knee joints and ankle joints, and has the function of completely simulating the motion of human joints. The rigid-flexible hybrid bionic robot system mainly comprises vertebrae, connecting pieces, a rotating shaft, a linear cylinder, pneumatic muscles, a thin-wall cylinder and a control system. Two groups of parallel cylinders are crossed at the inner side, and one group of parallel pneumatic muscles is arranged at the outer side to form a waist joint. The pneumatic muscles of single joints and the pneumatic muscles of multiple joints are combined to drive knee joints, and the pneumatic muscles in the form of antagonistic muscles drive hip joints and ankle joints. The pneumatic muscle of single joint and the pneumatic muscle of multiple joints are combined to drive shoulder joint and elbow joint, and the pneumatic muscle in antagonistic muscle form drives wrist joint. The pneumatic muscle-driven robot is driven by pneumatic muscles, has the characteristics of compact structure, rigid-flexible combination and multiple movement modes, and can be used for teaching and demonstration.

Description

Rigid-flexible hybrid bionic robot system

Technical Field

The invention relates to the technical field of robot equipment, in particular to a rigid-flexible hybrid bionic robot system which is compact in structure, rigid-flexible in combination and multiple in motion modes.

Background

The flexible robot has better flexibility, so that the flexible robot can avoid rigid damage due to the better flexibility if colliding with the outside in the motion process of a complex environment. Pneumatic muscle has more application in the field of flexible robots due to better flexibility.

The bionic robot is an important research field in the robot field, and is designed by often absorbing the advantages of organisms in the process of designing the robot, and the advantages of the organisms are evolved for thousands of years so as to adapt to the external environment.

The muscles of the waist joints of the human body are complicated and complicated, and different configurations can be designed by analyzing from different angles. Chinese patent CN107550688B, application No.: 201710944285.8, filing date: 2017-10-12, the pneumatic muscle is used for simulating the muscle of a human to drive the movement of a shoulder joint, an elbow joint, a wrist joint, a waist joint, a hip joint, a knee joint and an ankle joint, and the pneumatic muscle simulation device has the function of completely simulating the movement of the human. The humanoid robot has compact structure, good cleanness and explosion-proof performance, and can be used for scientific research, teaching demonstration and medical diagnosis. Pneumatic muscles are proposed to drive joints in antagonistic muscle forms, but the joints of the human body often have some minor relative movement, such as the patella of the human body. A bionic robot system with compact structure, rigid-flexible combination and multiple rigid-flexible motion modes is needed.

Disclosure of Invention

The invention aims to provide a rigid-flexible hybrid bionic robot system which is compact in structure, rigid-flexible in combination and multiple in motion modes.

A rigid-flexible hybrid biomimetic robotic system comprising:

the upper limb joint I and the upper limb joint II are identical in structure and are mirror images, and the lower limb joint I and the lower limb joint II are identical in structure and are mirror images;

the upper end connecting plate, the first vertebra, the second vertebra, the third vertebra, the fourth vertebra, the fifth vertebra, the sixth vertebra, the seventh vertebra and the lower end connecting plate of the waist joint are sequentially and rotatably connected, the upper end connecting plate and the fifth vertebra are respectively and rotatably connected with two ends of the first upper end cylinder, the second upper end cylinder and the third upper end cylinder, the third vertebra and the lower end connecting plate are respectively and rotatably connected with two ends of the first lower end cylinder, the second lower end cylinder and the third lower end cylinder, and the upper end connecting plate and the lower end connecting plate are respectively and rotatably connected with the first waist joint pneumatic muscle, the second waist joint pneumatic muscle, the third waist joint pneumatic muscle, the fourth waist joint pneumatic muscle, the fifth waist joint pneumatic muscle and the sixth waist joint pneumatic muscle;

the lower end connecting plate is respectively a first rotating wheel of a first lower limb joint or a second lower limb joint in a rotatable connection manner, the first rotating wheel is fixedly connected with a thigh connecting plate, the thigh connecting plate is fixedly connected with a knee joint rotating shaft, the knee joint rotating shaft is respectively fixedly connected with a second rotating wheel and a third rotating wheel, the first pneumatic muscle long muscle and the second pneumatic muscle long muscle are fixedly connected with each other, the first pneumatic muscle long muscle and the second pneumatic muscle long muscle are connected with each other through ropes, the third pneumatic muscle long muscle and the fourth pneumatic muscle long muscle are connected with the third rotating wheel through ropes, the first pneumatic muscle short muscle and the second pneumatic muscle short muscle are fixedly connected with each other through ropes, and the third pneumatic muscle short muscle and the third pneumatic muscle are fixedly connected with each other through a rope, The pneumatic muscle short muscle III and the pneumatic muscle short muscle IV are connected with the rotating wheel III through a rope, and the rotating wheel III is provided with two grooves;

the knee joint rotating shaft is fixedly connected with a crus connecting plate, the crus connecting plate is rotatably connected with an ankle joint rotating shaft, the ankle joint rotating shaft is respectively and fixedly connected with a rotating wheel IV, a rotating wheel V and a foot connecting piece, the foot connecting piece is fixedly connected with a foot, the crus connecting plate is fixedly connected with a pneumatic muscle brevis V, a pneumatic muscle brevis VI, a pneumatic muscle brevis VII and a pneumatic muscle brevis VIII, the pneumatic muscle brevis V and the pneumatic muscle brevis VI are connected with the rotating wheel IV through ropes, and the pneumatic muscle brevis VII and the pneumatic muscle brevis VIII are connected with the rotating wheel V through ropes;

the upper end connecting plate is respectively and fixedly connected with a shoulder joint connecting piece of an upper limb joint I and a shoulder joint connecting piece of an upper limb joint II, the shoulder joint connecting piece is rotatably connected with a shoulder joint rotating shaft, the shoulder joint rotating shaft is respectively and fixedly connected with a rotating wheel six, a rotating wheel eight and a big arm connecting plate, the big arm connecting plate is rotatably connected with an elbow joint rotating shaft, the elbow joint rotating shaft is respectively and fixedly connected with a rotating wheel seven and a rotating wheel nine, the big arm connecting plate is respectively and fixedly connected with a pneumatic muscle short muscle nine, a pneumatic muscle short muscle ten, a pneumatic muscle short muscle eleven, a pneumatic muscle short muscle twelve, a pneumatic muscle short muscle thirteen, a pneumatic muscle short muscle fourteen, a pneumatic muscle short muscle fifteen and a pneumatic muscle short muscle sixteen, the pneumatic muscle short muscle nine and the pneumatic muscle short muscle ten are connected with a rotating wheel six through ropes, the pneumatic muscle short muscle thirteen and the pneumatic muscle short muscle fourteen are connected with a rotating wheel eight through ropes, the pneumatic short muscle eleven and the pneumatic short muscle twelve are connected with a rotating wheel seventy through a rope, the pneumatic short muscle fifteen and the pneumatic short muscle sixteen are connected with a rotating wheel nine through a rope, the rotating wheel seventy is connected with one ends of the pneumatic long muscle five and the pneumatic long muscle six through a rope, the other ends of the pneumatic long muscle five and the pneumatic long muscle six are connected with a rotating wheel six through a rope, the rotating wheel nine is connected with one ends of the pneumatic long muscle eleven and the pneumatic long muscle eleven through a rope, and the other ends of the pneumatic long muscle eleven and the pneumatic long muscle eleven are connected with a rotating wheel eight through a rope;

the elbow joint rotating shaft is fixedly connected with a small arm connecting plate, the small arm connecting plate is rotatably connected with a wrist joint rotating shaft, the wrist joint rotating shaft is fixedly connected with a rotating wheel ten, a rotating wheel eleven and a pneumatic claw, the small arm connecting plate is respectively fixedly provided with a pneumatic muscle short muscle seventeen, a pneumatic muscle short muscle eighteen, a pneumatic muscle short muscle nineteen and a pneumatic muscle short muscle twenty, the pneumatic muscle short muscle seventeen and the pneumatic muscle short muscle eighteen are connected with the rotating wheel ten through ropes, and the pneumatic muscle short muscle nineteen and the pneumatic muscle short muscle twenty are connected with the rotating wheel eleven through ropes;

the upper side and the lower side of the small arm connecting plate are respectively and fixedly connected with a cylinder body of a thin-wall cylinder I and a cylinder body of a thin-wall cylinder II, a cylinder rod of the thin-wall cylinder I is fixedly connected with an elbow joint connecting piece I which is rotatably connected with a pneumatic muscle short muscle twenty I, the pneumatic muscle brevis twenty-one is rotatably connected with the upper arm connecting plate, the elbow joint connecting piece one is rotatably connected with the pneumatic muscle brevis twenty-two, the pneumatic muscle brachycephalus twenty-two can be rotationally connected with the forearm connecting plate, the cylinder rod of the thin-wall cylinder II is fixedly connected with the elbow joint connecting piece II, the elbow joint connecting piece II is rotatably connected with pneumatic muscle brevis muscle twenty three, the pneumatic muscle brevis muscle twenty three is rotatably connected with the big arm connecting plate, the elbow joint connecting piece II is rotatably connected with a pneumatic muscle short muscle twenty-four, and the pneumatic muscle short muscle twenty-four is rotatably connected with a small arm connecting plate;

and the computer is respectively connected with the upper limb joint control system, the waist joint control system and the lower limb joint control system.

The upper end connecting plate and the lower end connecting plate are respectively disc-shaped.

Three overhanging fan-shaped supporting platforms are uniformly distributed on the lateral surfaces of the third vertebra and the fifth vertebra, and the fan-shaped supporting platform of the third vertebra and the fan-shaped supporting platform of the fifth vertebra are arranged in a staggered mode.

The upper portions of the upper end cylinder I, the upper end cylinder II and the upper end cylinder III are circularly distributed, the lower portions of the upper end cylinder I, the upper end cylinder II and the upper end cylinder III are circularly distributed, the upper portion of the lower end cylinder I, the lower end cylinder II and the lower end cylinder III are circularly distributed, the upper portion of the upper end cylinder I, the upper end cylinder II, the upper end cylinder III, the lower end cylinder I, the lower end cylinder II and the lower end cylinder III are circularly distributed, the upper portion of the upper end cylinder I, the upper end cylinder II, the lower end cylinder III, the lower end cylinder II and the lower end cylinder III are located on the inner sides of the waist joint pneumatic muscle I, the waist joint pneumatic muscle II, the waist joint pneumatic muscle III, the waist joint pneumatic muscle IV, the waist joint pneumatic muscle V and the waist joint pneumatic muscle VI.

The pneumatic muscle long muscle I, the pneumatic muscle long muscle II, the pneumatic muscle long muscle III and the pneumatic muscle long muscle IV are the same in length, the pneumatic muscle short muscle I, the pneumatic muscle short muscle II, the pneumatic muscle short muscle III and the pneumatic muscle short muscle IV are the same in length, the pneumatic muscle long muscle I is longer than the pneumatic muscle short muscle I in length, the pneumatic muscle short muscle V, the pneumatic muscle short muscle III, the pneumatic muscle short muscle VII and the pneumatic muscle short muscle IV are the same in length, the pneumatic muscle long muscle I and the pneumatic muscle long muscle II are parallel to each other and are arranged in groups, the pneumatic muscle long muscle III and the pneumatic muscle long muscle IV are parallel to each other and are arranged in groups, the pneumatic muscle short muscle I and the pneumatic muscle short muscle II are parallel to each other and are arranged in groups, the pneumatic muscle short muscle III and the pneumatic muscle short muscle IV are parallel to each other and are arranged in groups, the pneumatic muscle short muscle V, the pneumatic muscle short muscle II, the pneumatic muscle short muscle III and the pneumatic muscle III are arranged in groups, Pneumatic muscle short muscle six is parallel to each other, and sets up in groups, pneumatic muscle short muscle seven, pneumatic muscle short muscle eight are parallel to each other, and set up in groups.

The shoulder joint connecting piece is T-shaped.

The six rotating wheels, the seven rotating wheels, the eight rotating wheels and the nine rotating wheels are double grooved wheels with the same structure.

The end part of the small arm connecting plate is provided with a U-shaped opening.

The wrist joint rotating shaft is U-shaped, and the opening is connected through a rotating shaft.

The upper limb joint control system respectively controls nine pneumatic short muscles, ten pneumatic short muscles, eleven pneumatic short muscles, twelve pneumatic short muscles, thirteen pneumatic short muscles, fourteen pneumatic short muscles, fifteen pneumatic short muscles, sixteen pneumatic short muscles, five pneumatic long muscles, six pneumatic long muscles, seven pneumatic long muscles, eight pneumatic long muscles, seventeen pneumatic short muscles, eighteen pneumatic short muscles, nineteen pneumatic short muscles, twenty pneumatic short muscles, pneumatic claws, twenty-one pneumatic short muscles, one thin-wall cylinder, twenty-two pneumatic short muscles, twenty-thirteen pneumatic short muscles, two thin-wall cylinders and twenty-four pneumatic short muscles;

the waist joint control system respectively controls an upper end cylinder I, an upper end cylinder II, an upper end cylinder III, a lower end cylinder I, a lower end cylinder II, a lower end cylinder III, a waist joint pneumatic muscle I, a waist joint pneumatic muscle II, a waist joint pneumatic muscle III, a waist joint pneumatic muscle IV, a waist joint pneumatic muscle V and a waist joint pneumatic muscle VI;

the lower limb joint control system respectively controls a pneumatic muscle long muscle I, a pneumatic muscle long muscle II, a pneumatic muscle short muscle I, a pneumatic muscle short muscle II, a pneumatic muscle long muscle III, a pneumatic muscle long muscle IV, a pneumatic muscle short muscle III, a pneumatic muscle short muscle IV, a pneumatic muscle short muscle V, a pneumatic muscle short muscle VI, a pneumatic muscle short muscle VII and a pneumatic muscle short muscle VIII.

The invention discloses a rigid-flexible hybrid bionic robot system, which uses pneumatic muscles to simulate the muscles of a human to drive the motion of shoulder joints, elbow joints, wrist joints, waist joints, hip joints, knee joints and ankle joints, and has the function of completely simulating the motion of human joints. The rigid-flexible hybrid bionic robot system mainly comprises vertebrae, connecting pieces, a rotating shaft, a linear cylinder, pneumatic muscles, a thin-wall cylinder and a control system. Two groups of parallel cylinders are crossed at the inner side, and one group of parallel pneumatic muscles is arranged at the outer side to form a waist joint. The pneumatic muscles of single joints and the pneumatic muscles of multiple joints are combined to drive knee joints, and the pneumatic muscles in the form of antagonistic muscles drive hip joints and ankle joints. The single-joint pneumatic muscle and the multi-joint pneumatic muscle are combined to drive a shoulder joint and an elbow joint, and the pneumatic muscle in the antagonistic muscle form drives a wrist joint; the thin-wall cylinder simulation patella can be used as a passive component and an active component, and the pneumatic muscle simulates muscle connected with the patella. The pneumatic muscle-driven robot is driven by pneumatic muscles, has the characteristics of compact structure, rigid-flexible combination and multiple movement modes, and can be used for teaching and demonstration.

The invention has the beneficial effects that:

1. the waist joint is formed on the outer side by utilizing the crossed inner sides of two groups of parallel cylinders and one group of parallel pneumatic muscles, so that the movement of the waist joint in multiple directions can be realized simultaneously;

2. the pneumatic muscle drive has the advantages of large power/mass ratio, good flexibility, compact structure and the like;

3. the shoulder joint and the elbow joint are driven by combining single-joint pneumatic muscles and multi-joint pneumatic muscles, and the pneumatic muscles in the form of antagonistic muscles are used for driving the wrist joint; the thin-wall cylinder simulation patella can be used as a passive component and an active component, and the pneumatic muscle simulates muscle connected with the patella. Can vividly simulate various actions which can be realized by human limbs, and is helpful for understanding the human body structure and the action of each muscle of the human limbs in the lower limb movement.

Drawings

FIG. 1 is a structural diagram of the whole mechanical structure of a rigid-flexible hybrid bionic robot;

FIG. 2 is a mechanical structure diagram of a waist joint of a rigid-flexible hybrid bionic robot;

FIG. 3 is a mechanical structure diagram of a rigid-flexible hybrid bionic robot with two lower limbs;

FIG. 4 is a mechanical structure diagram of a rigid-flexible hybrid big leg of a bionic robot;

FIG. 5 is a mechanical structure diagram of a rigid-flexible hybrid bionic robot shank;

FIG. 6 is a mechanical structure diagram of the upper limbs of a rigid-flexible hybrid bionic robot;

FIG. 7 is a mechanical structure diagram of a rigid-flexible hybrid bionic robot for one upper limb;

FIG. 8 is a mechanical structure diagram of a rigid-flexible hybrid big arm of a bionic robot;

FIG. 9 is a mechanical structure diagram of a rigid-flexible hybrid small arm of a bionic robot;

FIG. 10 is a mechanical structure diagram of a rigid-flexible hybrid elbow joint of a bionic robot;

FIG. 11 is a schematic diagram of a rigid-flexible hybrid bionic robot control system;

in the figure: the upper limb joint I (1-1), the upper limb joint II (1-2), the waist joint (2), the lower limb joint I (3-1), the lower limb joint II (3-2), the waist joint pneumatic muscle I (4), the upper end cylinder I (5), the waist joint pneumatic muscle II (6), the waist joint pneumatic muscle III (7), the lower end cylinder I (8), the lower end cylinder II (9), the upper end cylinder II (10), the upper end cylinder III (11), the upper end connecting plate (12), the vertebra I (13), the vertebra II (14), the vertebra III (15), the vertebra IV (16), the vertebra V (17), the vertebra VI (18), the vertebra VII (19), the waist joint pneumatic muscle IV (20), the waist joint pneumatic muscle V (21), the waist joint pneumatic muscle VI (22), the lower end connecting plate (23), the lower end cylinder III (24), the rotating wheel I (25), A pneumatic muscle long muscle I (26), a pneumatic muscle long muscle II (27), a pneumatic muscle short muscle I (28), a pneumatic muscle short muscle II (29), a knee joint rotating shaft (30), a rotating wheel II (31), a thigh connecting plate (32), a pneumatic muscle long muscle III (33), a pneumatic muscle long muscle IV (34), a pneumatic muscle short muscle III (35), a pneumatic muscle short muscle IV (36), a rotating wheel III (37), a pneumatic muscle short muscle V (38), a pneumatic muscle short muscle VI (39), a rotating wheel IV (40), an ankle joint rotating shaft (41), a shank connecting plate (42), a pneumatic muscle short muscle VII (43), a pneumatic muscle short muscle VIII (44), a rotating wheel V (45), a foot connecting piece (46), a foot (47), a shoulder joint connecting piece (48), a rotating wheel VI (49), a pneumatic muscle short muscle VII (50), a pneumatic muscle short muscle VII (51), a pneumatic muscle long muscle V (52), Six pneumatic muscle long muscles (53), eleven pneumatic muscle short muscles (54), twelve pneumatic muscle short muscles (55), seven pneumatic wheels (56), an elbow joint rotating shaft (57), a shoulder joint rotating shaft (58), eight pneumatic wheels (59), thirteen pneumatic muscle short muscles (60), fourteen pneumatic muscle short muscles (61), seven pneumatic muscle long muscles (62), eight pneumatic muscle long muscles (63), an upper arm connecting plate (64), fifteen pneumatic muscle short muscles (65), sixteen pneumatic muscle short muscles (66), nine pneumatic wheels (67), a lower arm connecting plate (68), seventeen pneumatic muscle short muscles (69), eighteen pneumatic muscle short muscles (70), ten pneumatic wheels (71), nineteen pneumatic muscle short muscles (72), twenty pneumatic muscle short muscles (73), eleven pneumatic wheels (74), a pneumatic claw (75), a wrist joint rotating shaft (76), twenty-one pneumatic muscle short muscles (77), The device comprises a thin-wall cylinder I (78), an elbow joint connecting piece I (79), pneumatic muscle short muscle twenty-two (80), pneumatic muscle short muscle twenty-three (81), an elbow joint connecting piece II (82), a thin-wall cylinder II (83), pneumatic muscle short muscle twenty-four (84), a computer (85), an upper limb joint control system (86), a waist joint control system (87) and a lower limb joint control system (88).

Detailed Description

The invention is further described below with reference to the following figures and specific examples.

A rigid-flexible hybrid biomimetic robotic system comprising: the waist joint 2, wherein the upper part two sides of the waist joint 2 are respectively provided with an upper limb joint I1-1 and an upper limb joint II 1-2, the lower part two sides are respectively provided with a lower limb joint I3-1 and a lower limb joint II 3-2, the upper limb joint I1-1 and the upper limb joint II 1-2 have the same structures and are mirror images of each other, and the lower limb joint I3-1 and the lower limb joint II 3-2 have the same structures and are mirror images of each other; an upper end connecting plate 12, a first vertebra 13, a second vertebra 14, a third vertebra 15, a fourth vertebra 16, a fifth vertebra 17, a sixth vertebra 18, a seventh vertebra 19 and a lower end connecting plate 23 of the waist joint 2 are sequentially and rotatably connected, the upper end connecting plate 12 and the fifth vertebra 17 are respectively and rotatably connected with two ends of a first upper end cylinder 5, a second upper end cylinder 10 and a third upper end cylinder 11, the third vertebra 15 and the lower end connecting plate 23 are respectively and rotatably connected with two ends of a first lower end cylinder 8, a second lower end cylinder 9 and a third lower end cylinder 24, the upper end connecting plate 12 and the lower end connecting plate 23 are respectively and rotatably connected with a first waist joint pneumatic muscle 4, a second waist joint pneumatic muscle 6, a third waist joint pneumatic muscle 7, a fourth waist joint pneumatic muscle 20, a fifth waist joint pneumatic muscle 21 and a sixth waist joint pneumatic muscle 22;

the lower end connecting plate 23 is respectively and rotatably connected with a rotating wheel I25 of a lower limb joint I3-1 or a lower limb joint II 3-2, the rotating wheel I25 is fixedly connected with a thigh connecting plate 32, the thigh connecting plate 32 is fixedly connected with a knee joint rotating shaft 30, the knee joint rotating shaft 30 is respectively and fixedly connected with a rotating wheel II 31 and a rotating wheel III 37, the lower end connecting plate 23 is fixedly connected with a pneumatic muscle long muscle I26 and a pneumatic muscle long muscle II 27, the pneumatic muscle long muscle I26 and the pneumatic muscle long muscle II 27 are connected with the rotating wheel II 31 through ropes, the lower end connecting plate 23 is fixedly connected with a pneumatic muscle long muscle III 33 and a pneumatic muscle long muscle IV 34, the pneumatic muscle long muscle III 33 and the pneumatic muscle long muscle IV 34 are connected with the rotating wheel III 37 through ropes, the thigh connecting plate 32 is fixedly connected with a pneumatic muscle short muscle I28 and a pneumatic muscle short muscle II 29, the pneumatic muscle short muscle I28 and the pneumatic muscle short muscle II 29 are connected with the rotating wheel I25 through ropes, the thigh connecting plate 32 is fixedly connected with a pneumatic muscle short muscle III 35 and a pneumatic muscle short muscle IV 36, the pneumatic muscle short muscle III 35 and the pneumatic muscle short muscle IV 36 are connected with a rotating wheel III 37 through ropes, and the rotating wheel III 37 is provided with two grooves;

the knee joint rotating shaft 30 is fixedly connected with a lower leg connecting plate 42, the lower leg connecting plate 42 is rotatably connected with an ankle joint rotating shaft 41, the ankle joint rotating shaft 41 is respectively and fixedly connected with a rotating wheel IV 40, a rotating wheel V45 and a foot connecting piece 46, the foot connecting piece 46 is fixedly connected with a foot 47, the lower leg connecting plate 42 is fixedly connected with a pneumatic muscle short muscle V38, a pneumatic muscle short muscle VI 39, a pneumatic muscle short muscle VII and a pneumatic muscle short muscle VIII 44, the pneumatic muscle short muscle V38 and the pneumatic muscle short muscle VI 39 are connected with the rotating wheel IV 40 through ropes, and the pneumatic muscle short muscle VII 43 and the pneumatic muscle short muscle VIII 44 are connected with the rotating wheel V45 through ropes;

the upper end connecting plate 12 is respectively fixedly connected with a shoulder joint connecting piece 48 of a first upper limb joint 1-1 and a shoulder joint connecting piece 48 of a second upper limb joint 1-2, the shoulder joint connecting piece 48 is rotatably connected with a shoulder joint rotating shaft 58, the shoulder joint rotating shaft 58 is respectively fixedly connected with a rotating wheel six 49, a rotating wheel eight 59 and an upper arm connecting plate 64, the upper arm connecting plate 64 is rotatably connected with an elbow joint rotating shaft 57, the elbow joint rotating shaft 57 is respectively fixedly connected with a rotating wheel seven 56 and a rotating wheel nine 67, the upper arm connecting plate 64 is respectively fixedly connected with a pneumatic muscle short muscle nine 50, a pneumatic muscle short muscle ten 51, a pneumatic muscle short muscle eleven 54, a pneumatic muscle short muscle twelve 55, a pneumatic muscle short muscle thirteen 60, a pneumatic muscle short muscle fourteen 61, a pneumatic muscle short muscle fifteen 65, a pneumatic muscle short muscle sixteen 66, the pneumatic muscle nine 50 and the ten 51 are connected with the rotating wheel six 49 through ropes, the pneumatic short muscle thirteen 60 and the pneumatic short muscle fourteen 61 are connected with a rotating wheel eight 59 through ropes, the pneumatic short muscle eleven 54 and the pneumatic short muscle twelve 55 are connected with a rotating wheel seven 56 through ropes, the pneumatic short muscle fifteen 65 and the pneumatic short muscle sixteen 66 are connected with a rotating wheel nine 67 through ropes, the rotating wheel seven 56 is connected with one ends of the pneumatic long muscle five 52 and the pneumatic long muscle six 53 through ropes, the other ends of the pneumatic long muscle five 52 and the pneumatic long muscle six 53 are connected with a rotating wheel six 49 through ropes, the rotating wheel nine 67 is connected with one ends of the pneumatic long muscle seven 62 and the pneumatic long muscle eight 63 through ropes, and the other ends of the pneumatic long muscle seven 62 and the pneumatic long muscle eight 63 are connected with the rotating wheel eight 59 through ropes;

the elbow joint rotating shaft 57 is fixedly connected with a small arm connecting plate 68, the small arm connecting plate 68 is rotatably connected with a wrist joint rotating shaft 76, the wrist joint rotating shaft 76 is fixedly connected with a rotating wheel ten 71, a rotating wheel eleven 74 and a pneumatic claw 75, the small arm connecting plate 68 is respectively fixedly provided with a pneumatic short muscle seventeen 69, a pneumatic short muscle eighteen 70, a pneumatic short muscle nineteen 72 and a pneumatic short muscle twenty 73, the pneumatic short muscle seventeen 69 and the pneumatic short muscle eighteen 70 are connected with the rotating wheel ten 71 through ropes, and the pneumatic short muscle nineteen 72 and the pneumatic short muscle twenty 73 are connected with the rotating wheel eleven 74 through ropes;

the upper side and the lower side of the small arm connecting plate 68 are respectively fixedly connected with the cylinder body of a thin-wall cylinder I78, the cylinder body of the thin-wall cylinder II 83, the cylinder rod of the thin-wall cylinder I78 is fixedly connected with a first elbow joint connecting piece 79, the first elbow joint connecting piece 79 is rotatably connected with a short pneumatic muscle twenty-one 77, the short pneumatic muscle twenty-one 77 is rotatably connected with a big arm connecting plate 64, the first elbow joint connecting piece 79 is rotatably connected with a short pneumatic muscle twenty-two 80, the short pneumatic muscle twenty-two 80 is rotatably connected with a small arm connecting plate 68, the cylinder rod of the thin-wall cylinder II 83 is fixedly connected with a second elbow joint connecting piece 82, the second elbow joint connecting piece 82 is rotatably connected with a short pneumatic muscle twenty-three 81, the short pneumatic muscle twenty-three 81 is rotatably connected with a big arm connecting plate 64, the second elbow joint connecting piece 82 is rotatably connected with a short pneumatic muscle twenty-four 84, and the twenty-four pneumatic muscle twenty-four 84 is rotatably connected with a small arm connecting plate 68; the computer 85, the computer 85 is connected with an upper limb joint control system 86, a waist joint control system 87, and a lower limb joint control system 88, respectively.

The upper end connecting plate 12 and the lower end connecting plate 23 are respectively disc-shaped. Three extended fan-shaped supporting platforms are uniformly distributed on the lateral surfaces of the third vertebra 15 and the fifth vertebra 17, and the fan-shaped supporting platform of the third vertebra 15 and the fan-shaped supporting platform of the fifth vertebra 17 are arranged in a staggered mode. The upper portions of the upper end cylinder I5, the upper end cylinder II 10 and the upper end cylinder III 11 are circularly distributed, the lower portions of the upper end cylinder I5, the upper end cylinder II 10 and the upper end cylinder III 11 are circularly distributed, the upper portions of the lower end cylinder I8, the lower end cylinder II 9 and the lower end cylinder III 24 are circularly distributed, the upper portion distribution circle radius is larger than the lower portion distribution circle radius, and the upper end cylinder I5, the upper end cylinder II 10, the upper end cylinder III 11, the lower end cylinder I8, the lower end cylinder II 9 and the lower end cylinder III 24 are positioned on the inner sides of the waist joint pneumatic muscle I4, the waist joint pneumatic muscle II 6, the waist joint pneumatic muscle III 7, the waist joint pneumatic muscle IV 20, the waist joint pneumatic muscle V21 and the waist joint pneumatic muscle VI 22.

The pneumatic muscle long muscle I26, the pneumatic muscle long muscle II 27, the pneumatic muscle long muscle III 33 and the pneumatic muscle long muscle IV 34 are the same in length, the pneumatic muscle short muscle I28, the pneumatic muscle short muscle II 29, the pneumatic muscle short muscle III 35 and the pneumatic muscle short muscle IV 36 are the same in length, the pneumatic muscle long muscle I26 is longer than the pneumatic muscle short muscle I28, the pneumatic muscle short muscle V38, the pneumatic muscle short muscle VI 39, the pneumatic muscle short muscle VII and the pneumatic muscle short muscle VIII 44 are the same in length, the pneumatic muscle long muscle I26 and the pneumatic muscle long muscle II 27 are parallel to each other and are arranged in groups, the pneumatic muscle long muscle III 33 and the pneumatic muscle long muscle IV 34 are parallel to each other and are arranged in groups, the pneumatic muscle short muscle I28 and the pneumatic muscle short muscle II 29 are parallel to each other and are arranged in groups, the pneumatic muscle short muscle III 35 and the pneumatic muscle IV 36 are parallel to each other and are arranged in groups, the pneumatic muscle short muscle V38, V29, V43, V44, V, and V, pneumatic muscle short muscles six 39 are parallel to each other and arranged in groups, and pneumatic muscle short muscles seven 43 and pneumatic muscle short muscles eight 44 are parallel to each other and arranged in groups. The shoulder joint connector 48 is T-shaped. The six rotating wheels 49, the seven rotating wheels 56, the eight rotating wheels 59 and the nine rotating wheels 67 are double grooved wheels with the same structure. The end of the small arm connecting plate 68 is a U-shaped opening. The wrist joint rotating shaft 76 is U-shaped, and the opening is connected through a rotating shaft.

The upper limb joint control system 86 respectively controls the pneumatic short muscle nine 50, the pneumatic short muscle ten 51, the pneumatic short muscle eleven 54, the pneumatic short muscle twelve 55, the pneumatic short muscle thirteen 60, the pneumatic short muscle fourteen 61, the pneumatic short muscle fifteen 65, the pneumatic short muscle sixteen 66, the pneumatic long muscle five 52, the pneumatic long muscle six 53, the pneumatic long muscle seven 62, the pneumatic long muscle eight 63, the pneumatic short muscle seventeen 69, the pneumatic short muscle eighteen 70, the pneumatic short muscle nineteen 72, the pneumatic short muscle twenty 73, the pneumatic claw 75, the pneumatic short muscle twenty-one 77, the thin-wall cylinder one 78, the pneumatic short muscle twenty-two 80, the pneumatic short muscle twenty-three 81, the thin-wall cylinder two 83 and the pneumatic short muscle twenty-four 84; the waist joint control system 87 respectively controls an upper end cylinder I5, an upper end cylinder II 10, an upper end cylinder III 11, a lower end cylinder I8, a lower end cylinder II 9, a lower end cylinder III 24, a waist joint pneumatic muscle I4, a waist joint pneumatic muscle II 6, a waist joint pneumatic muscle III 7, a waist joint pneumatic muscle IV 20, a waist joint pneumatic muscle V21 and a waist joint pneumatic muscle VI 22; the lower limb joint control system 88 controls the pneumatic muscle long muscle one 26, the pneumatic muscle long muscle two 27, the pneumatic muscle short muscle one 28, the pneumatic muscle short muscle two 29, the pneumatic muscle long muscle three 33, the pneumatic muscle long muscle four 34, the pneumatic muscle short muscle three 35, the pneumatic muscle short muscle four 36, the pneumatic muscle short muscle five 38, the pneumatic muscle short muscle six 39, the pneumatic muscle short muscle seven 43 and the pneumatic muscle short muscle eight 44 respectively.

The rigid-flexible hybrid bionic robot mainly comprises a first upper limb joint 1-1, a second upper limb joint 1-2, a waist joint 2, a first lower limb joint 3-1 and a second lower limb joint 3-2, wherein the structures of the first upper limb joint 1-1 and the second upper limb joint 1-2 are completely the same, and the structures of the first lower limb joint 3-1 and the second lower limb joint 3-2 are completely the same.

The upper end connecting plate 12 and the lower end connecting plate 23 are connected by a first vertebra 13, a second vertebra 14, a third vertebra 15, a fourth vertebra 16, a fifth vertebra 17, a sixth vertebra 18 and a seventh vertebra 19 in sequence, and the upper end connecting plate 12, the second vertebra 14, the third vertebra 15, the fourth vertebra 16, the fifth vertebra 17, the sixth vertebra 18, the seventh vertebra 19 and the lower end connecting plate 23 are rotatably connected. Two ends of the upper end cylinder I5, the upper end cylinder II 10 and the upper end cylinder III 11 are respectively and rotatably connected with the upper end connecting plate 12 and the vertebra V17, and two ends of the lower end cylinder I8, the lower end cylinder II 9 and the lower end cylinder III 24 are respectively and rotatably connected with the vertebra III 15 and the lower end connecting plate 23. The upper end cylinder I5, the upper end cylinder II 10 and the upper end cylinder III 11 are uniformly distributed on the circumference of the upper end connecting plate 12 and the five vertebrae 17, and the radius of a distribution circle of the upper end connecting plate 12 is smaller than that of the five vertebrae 17. The lower end cylinder I8, the lower end cylinder II 9 and the lower end cylinder III 24 are uniformly distributed on the third vertebra 15 and the lower end connecting plate 23 on the circumference, and the distribution circle radius of the lower end connecting plate 23 is smaller than that of the third vertebra 15. Two ends of a first waist joint pneumatic muscle 4, a second waist joint pneumatic muscle 6, a third waist joint pneumatic muscle 7, a fourth waist joint pneumatic muscle 20, a fifth waist joint pneumatic muscle 21 and a sixth waist joint pneumatic muscle 22 are respectively and rotatably connected with the upper end connecting plate 12 and the lower end connecting plate 23. The upper end cylinder I5, the upper end cylinder II 10, the upper end cylinder III 11, the lower end cylinder I8, the lower end cylinder II 9 and the lower end cylinder III 24 are arranged on the inner side, and the waist joint pneumatic muscle I4, the waist joint pneumatic muscle II 6, the waist joint pneumatic muscle III 7, the waist joint pneumatic muscle IV 20, the waist joint pneumatic muscle V21 and the waist joint pneumatic muscle VI 22 are arranged on the outer side. The upper end cylinder I5, the upper end cylinder II 10, the upper end cylinder III 11, the lower end cylinder I8, the lower end cylinder II 9 and the lower end cylinder III 24 are uniformly distributed at a certain included angle. The upper end cylinder I5, the upper end cylinder II 10 and the upper end cylinder III 11 drive the upper end connecting plate 12, the vertebra I13, the vertebra II 14, the vertebra III 15, the vertebra IV 16 and the vertebra V17 to rotate relatively around the X axis and the Y axis. The lower end cylinder I8, the lower end cylinder II 9 and the lower end cylinder III 24 drive the vertebra III 15, the vertebra IV 16, the vertebra V17, the vertebra VI 18, the vertebra VII 19 and the lower end connecting plate 23 to rotate relatively around the X axis and the Y axis. The upper end connecting plate 12, the first vertebra 13, the second vertebra 14, the third vertebra 15, the fourth vertebra 16, the fifth vertebra 17, the sixth vertebra 18, the seventh vertebra 19 and the lower end connecting plate 23 rotate around the X axis, the Y axis and the Z axis relatively.

The first rotating wheel 25 is rotatably connected with the lower end connecting plate 23 and is fixedly connected with the thigh connecting plate 32. The knee joint rotating shaft 30 is rotatably connected with the thigh connecting plate 32 and fixedly connected with the second rotating wheel 31 and the third rotating wheel 37. The pneumatic muscle long muscle I26 and the pneumatic muscle long muscle II 27 are fixedly connected with the lower end connecting plate 23, and the pneumatic muscle long muscle I26 and the pneumatic muscle long muscle II 27 form a group of antagonistic muscles to drive the knee joint rotating shaft 30 to rotate around the X axis. The pneumatic muscle short muscle I28 and the pneumatic muscle short muscle II 29 are fixedly connected with the thigh connecting plate 32, and the pneumatic muscle short muscle I28 and the pneumatic muscle short muscle II 29 form a group of antagonistic muscle driving rotating wheels I25 to rotate around the X axis. The pneumatic muscle short muscle three 35 and the pneumatic muscle short muscle four 36 are fixedly connected with the thigh connecting plate 32, and the pneumatic muscle short muscle three 35 and the pneumatic muscle short muscle four 36 form a group of antagonistic muscle driving rotating wheels three 37 to rotate around the X axis. The pneumatic muscle long muscle three 33 and the pneumatic muscle long muscle four 34 are fixedly connected with the lower end connecting plate 23, and the pneumatic muscle long muscle three 33 and the pneumatic muscle long muscle four 34 form a group of antagonistic muscle driving rotating wheels three 37 to rotate around the X axis.

The knee joint rotating shaft 30 is fixedly connected with the lower leg connecting plate 42. The ankle joint rotating shaft 41 is rotatably connected with the lower leg connecting plate 42, fixedly connected with the four rotating wheels 40, the foot connecting piece 46 and the five rotating wheels 45, and fixedly connected with the foot connecting piece 46 and the foot 47. The pneumatic muscle short muscle five 38, the pneumatic muscle short muscle six 39, the pneumatic muscle short muscle seven 43 and the pneumatic muscle short muscle eight 44 are fixedly connected with the shank connecting plate 42; the pneumatic muscle short muscle five 38 and the pneumatic muscle short muscle six 39 form a group of antagonistic muscle driving rotating wheel four 40 to rotate around the X axis, and the pneumatic muscle short muscle seven 43 and the pneumatic muscle short muscle eight 44 form a group of antagonistic muscle driving rotating wheel five 45 to rotate around the X axis.

The shoulder joint rotating shaft 58 is rotatably connected with the shoulder joint connecting piece 48 and is fixedly connected with the eight rotating wheel 59, the large arm connecting plate 64 and the six rotating wheel 49; the elbow joint rotating shaft 57 is rotatably connected with the large arm connecting plate 64 and fixedly connected with the rotating wheel nine 67 and the rotating wheel seven 56. The pneumatic muscle short muscles nine 50 and the pneumatic muscle short muscles ten 51 are fixedly connected with the large arm connecting plate 64 to form a group of antagonistic muscles for driving the large arm connecting plate 64 to rotate around the Y axis, and the pneumatic muscle short muscles thirteen 60 and the pneumatic muscle short muscles fourteen 61 are fixedly connected with the large arm connecting plate 64 to form a group of antagonistic muscles for driving the large arm connecting plate 64 to rotate around the Y axis; eleven pneumatic muscle short muscles 54 and twelve pneumatic muscle short muscles 55 are fixedly connected with the large arm connecting plate 64 to form a group of antagonistic muscles for driving the elbow joint rotating shaft 57 to rotate around the Y axis, fifteen pneumatic muscle short muscles 65 and sixteen pneumatic muscle short muscles 66 are fixedly connected with the large arm connecting plate 64 to form a group of antagonistic muscles for driving the elbow joint rotating shaft 57 to rotate around the Y axis; the pneumatic muscle long muscle five 52 and the pneumatic muscle long muscle six 53 form a group of antagonistic muscles to simultaneously drive the large arm connecting plate 64 and the elbow joint rotating shaft 57 to rotate around the Y axis, and the pneumatic muscle long muscle seven 62 and the pneumatic muscle long muscle eight 63 form a group of antagonistic muscles to simultaneously drive the large arm connecting plate 64 and the elbow joint rotating shaft 57 to rotate around the Y axis. The small arm connecting plate 68 is fixedly connected with the elbow joint rotating shaft 57. The wrist joint rotating shaft 76 is rotatably connected with the small arm connecting plate 68 and is fixedly connected with the eleventh rotating wheel 74, the wrist joint rotating shaft 76 and the tenth rotating wheel 71. The pneumatic muscle short muscles seventeen 69 and the pneumatic muscle short muscles eighteen 70 are fixedly connected with the forearm connecting plate 68 to form a group of antagonistic muscles to drive the rotating wheels ten 71 to rotate around the Y axis; the pneumatic muscle short muscles nineteen 72 and the pneumatic muscle short muscles twenty 73 are fixedly connected with the forearm connecting plate 68 to form a group of antagonistic muscles to drive the rotating wheel eleven 74 to rotate around the Y axis. The pneumatic gripper 75 is fixedly connected with the wrist joint rotating shaft 76, and the pneumatic gripper 75 rotates around the X axis and moves linearly along the Y axis or the Z axis.

The cylinder body of the thin-wall cylinder I78 is fixedly connected with the small arm connecting plate 68, and the cylinder rod of the thin-wall cylinder I78 is fixedly connected with the elbow joint connecting piece I79; the cylinder body of the thin-wall cylinder II 83 is fixedly connected with the small arm connecting plate 68, and the cylinder rod of the thin-wall cylinder II 83 is fixedly connected with the elbow joint connecting piece II 82. The two ends of the pneumatic muscle brevis twenty-one 77 are respectively and rotatably connected with the upper arm connecting plate 64 and the elbow joint connecting piece one 79, and the two ends of the pneumatic muscle brevis twenty-two 80 are respectively and rotatably connected with the lower arm connecting plate 68 and the elbow joint connecting piece one 79; two ends of the pneumatic muscle short muscle twenty-three 81 are respectively and rotatably connected with the upper arm connecting plate 64 and the elbow joint connecting piece two 82, and two ends of the pneumatic muscle short muscle twenty-four 84 are respectively and rotatably connected with the lower arm connecting plate 68 and the elbow joint connecting piece two 82. The pneumatic muscle short muscle twenty-one 77, the thin-wall cylinder one 78 and the pneumatic muscle short muscle twenty-two 80 drive the large arm connecting plate 64 and the small arm connecting plate 68 to rotate relatively around the Y axis, and the pneumatic muscle short muscle twenty-one 77, the thin-wall cylinder one 78 and the pneumatic muscle short muscle twenty-two 80 can be used as an active element and a passive element. The pneumatic muscle short muscle twenty-three 81, the thin-wall cylinder two 83 and the pneumatic muscle short muscle twenty-four 84 drive the large arm connecting plate 64 and the small arm connecting plate 68 to rotate relatively around the Y axis.

The computer 85 is communicated with an upper limb joint control system 86, a waist joint control system 87 and a lower limb joint control system 88 to realize the control of the rigid-flexible hybrid bionic robot system. The upper limb joint control system 86, the waist joint control system 87 and the lower limb joint control system 88 respectively control the first upper limb joint 1-1, the second upper limb joint 1-2, the waist joint 2, the first lower limb joint 3-1 and the second lower limb joint 3-2.

The invention realizes the control of the pose of the bionic robot by controlling the pneumatic muscles of each simulated human muscle, can dynamically and vividly simulate the action of human joints, 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

1. A rigid-flexible hybrid biomimetic robotic system, comprising:

the waist joint (2), wherein a first upper limb joint (1-1) and a second upper limb joint (1-2) are respectively arranged on two sides of the upper part of the waist joint (2), a first lower limb joint (3-1) and a second lower limb joint (3-2) are respectively arranged on two sides of the lower part of the waist joint (2), the first upper limb joint (1-1) and the second upper limb joint (1-2) are identical in structure and are mirror images of each other, and the first lower limb joint (3-1) and the second lower limb joint (3-2) are identical in structure and are mirror images of each other;

upper end connecting plate (12), vertebra one (13), vertebra two (14), vertebra three (15), vertebra four (16), vertebra five (17), vertebra six (18), vertebra seven (19), lower extreme connecting plate (23) of waist joint (2) be rotatable coupling in proper order, upper end connecting plate (12) and vertebra five (17) rotatable coupling upper end cylinder one (5), upper end cylinder two (10), the both ends of upper end cylinder three (11) respectively, vertebra three (15) and lower extreme connecting plate (23) rotatable coupling lower extreme cylinder one (8), lower extreme cylinder two (9), the both ends of lower extreme cylinder three (24) respectively, upper end connecting plate (12) and lower extreme connecting plate (23) rotatable coupling waist joint pneumatic muscle one (4), waist joint pneumatic muscle two (6), waist joint pneumatic muscle three (7), waist joint pneumatic muscle four (20) respectively, A fifth waist joint pneumatic muscle (21) and a sixth waist joint pneumatic muscle (22);

the lower extreme connecting plate (23) is respectively the rotation wheel one (25) of the rotatable connection lower limbs joint one (3-1) or the lower limbs joint two (3-2), the rotation wheel one (25) fixed connection thigh connecting plate (32), the thigh connecting plate (32) fixed connection knee joint axis of rotation (30), the knee joint axis of rotation (30) is respectively fixed connection rotation wheel two (31) and rotation wheel three (37), the lower extreme connecting plate (23) fixed connection pneumatic muscle long muscle one (26), pneumatic muscle long muscle two (27), pneumatic muscle long muscle one (26), pneumatic muscle long muscle two (27) pass through the rope and connect rotation wheel two (31), the lower extreme connecting plate (23) fixed connection pneumatic muscle long muscle three (33), pneumatic muscle long muscle four (34), pneumatic muscle long muscle three (33), pneumatic muscle long muscle four (34) pass through the rope connection rotation wheel three (37), the thigh connecting plate (32) is fixedly connected with a first pneumatic muscle short muscle (28) and a second pneumatic muscle short muscle (29), the first pneumatic muscle short muscle (28) and the second pneumatic muscle short muscle (29) are connected with a first rotating wheel (25) through ropes, the thigh connecting plate (32) is fixedly connected with a third pneumatic muscle short muscle (35) and a fourth pneumatic muscle short muscle (36), the third pneumatic muscle short muscle (35) and the fourth pneumatic muscle short muscle (36) are connected with a third rotating wheel (37) through ropes, and the third rotating wheel (37) is provided with two grooves;

the knee joint rotating shaft (30) is fixedly connected with a lower leg connecting plate (42), the lower leg connecting plate (42) is rotatably connected with an ankle joint rotating shaft (41), the ankle joint rotating shaft (41) is respectively and fixedly connected with a rotating wheel four (40), a rotating wheel five (45) and a foot connecting piece (46), the foot connecting piece (46) is fixedly connected with a foot (47), the lower leg connecting plate (42) is fixedly connected with a pneumatic muscle short muscle five (38), a pneumatic muscle short muscle six (39), a pneumatic muscle short muscle seven (43) and a pneumatic muscle short muscle eight (44), the pneumatic muscle short muscle five (38) and the pneumatic muscle short muscle six (39) are connected with the rotating wheel four (40) through ropes, and the pneumatic muscle short muscle seven (43) and the pneumatic muscle short muscle eight (44) are connected with the rotating wheel five (45) through ropes;

the upper end connecting plate (12) is fixedly connected with shoulder joint connecting pieces (48) of upper limb joints I (1-1) and shoulder joint connecting pieces (48) of upper limb joints II (1-2) respectively, the shoulder joint connecting pieces (48) are rotatably connected with shoulder joint rotating shafts (58), the shoulder joint rotating shafts (58) are fixedly connected with rotating wheels six (49), rotating wheels eight (59) and upper arm connecting plates (64) respectively, the upper arm connecting plates (64) are rotatably connected with elbow joint rotating shafts (57), the elbow joint rotating shafts (57) are fixedly connected with rotating wheels seven (56) and rotating wheels nine (67) respectively, the upper arm connecting plates (64) are fixedly connected with pneumatic muscle short muscles nine (50), pneumatic muscle short muscles ten (51), pneumatic muscle short muscles eleven (54), pneumatic muscle short muscles twelve (55), pneumatic muscle short muscles thirteen (60), The pneumatic short muscle fourteen (61), the pneumatic short muscle fifteen (65) and the pneumatic short muscle sixteen (66), the pneumatic short muscle nine (50) and the pneumatic short muscle ten (51) are connected with a rotating wheel six (49) through ropes, the pneumatic short muscle thirteen (60) and the pneumatic short muscle fourteen (61) are connected with a rotating wheel eight (59) through ropes, the pneumatic short muscle eleven (54) and the pneumatic short muscle twelve (55) are connected with a rotating wheel seven (56) through ropes, the pneumatic short muscle fifteen (65) and the pneumatic short muscle sixteen (66) are connected with a rotating wheel nine (67) through ropes, the rotating wheel seven (56) is connected with one end of the pneumatic long muscle five (52) and one end of the pneumatic long muscle six (53) through ropes, and the other end of the pneumatic long muscle five (52) and the pneumatic long muscle six (53) is connected with a rotating wheel six (49) through ropes, the rotating wheel nine (67) is connected with one ends of the pneumatic muscle long muscle seven (62) and the pneumatic muscle long muscle eight (63) through ropes, and the other ends of the pneumatic muscle long muscle seven (62) and the pneumatic muscle long muscle eight (63) are connected with the rotating wheel eight (59) through ropes;

the elbow joint rotating shaft (57) is fixedly connected with a forearm connecting plate (68), the forearm connecting plate (68) is rotatably connected with a wrist joint rotating shaft (76), the wrist joint rotating shaft (76) is fixedly connected with a rotating wheel ten (71), a rotating wheel eleven (74) and a pneumatic claw (75), the forearm connecting plate (68) is respectively fixed with a pneumatic muscle short muscle seventeen (69), a pneumatic muscle short muscle eighteen (70), a pneumatic muscle short muscle nineteen (72) and a pneumatic muscle short muscle twenty (73), the pneumatic muscle short muscle seventeen (69) and the pneumatic muscle short muscle eighteen (70) are connected with the rotating wheel ten (71) through ropes, and the pneumatic muscle short muscle nineteen (72) and the pneumatic muscle short muscle twenty (73) are connected with the rotating wheel eleven (74) through ropes;

the upper side and the lower side of the forearm connecting plate (68) are respectively fixedly connected with a cylinder body of a thin-wall cylinder I (78) and a cylinder body of a thin-wall cylinder II (83), a cylinder rod of the thin-wall cylinder I (78) is fixedly connected with an elbow joint connecting piece I (79), the elbow joint connecting piece I (79) is rotatably connected with a pneumatic muscle short muscle twenty-one (77), the pneumatic muscle short muscle twenty-one (77) is rotatably connected with a forearm connecting plate (64), the elbow joint connecting piece I (79) is rotatably connected with a pneumatic muscle short muscle twenty-two (80), the pneumatic muscle short muscle twenty-two (80) is rotatably connected with the forearm connecting plate (68), a cylinder rod of the thin-wall cylinder II (83) is fixedly connected with the elbow joint connecting piece II (82), the elbow joint connecting piece II (82) is rotatably connected with the pneumatic muscle short muscle twenty-three (81), and the pneumatic muscle twenty-three (81) is rotatably connected with a large arm connecting plate (64), the elbow joint connecting piece II (82) is rotatably connected with a pneumatic muscle short muscle twenty-four (84), and the pneumatic muscle short muscle twenty-four (84) is rotatably connected with a small arm connecting plate (68);

and the computer (85), wherein the computer (85) is respectively connected with an upper limb joint control system (86), a waist joint control system (87) and a lower limb joint control system (88).

2. A rigid-flexible hybrid biomimetic robotic system as claimed in claim 1, wherein the upper end connection plate (12) and the lower end connection plate (23) are each disc-shaped.

3. The rigid-flexible hybrid bionic robot system as claimed in claim 1, wherein three overhanging fan-shaped supporting platforms are uniformly distributed on the lateral surfaces of the vertebra three (15) and the vertebra five (17), and the fan-shaped supporting platform of the vertebra three (15) and the fan-shaped supporting platform of the vertebra five (17) are arranged in a staggered manner.

4. The rigid-flexible hybrid bionic robot system as claimed in claim 1, wherein the upper portions of the upper end cylinder I (5), the upper end cylinder II (10) and the upper end cylinder III (11) are circularly distributed, the lower portions of the upper end cylinder I (5), the upper end cylinder II (10) and the upper end cylinder III (11) are circularly distributed, the upper portion distribution circle radius is smaller than the lower portion distribution circle radius, the upper portions of the lower end cylinder I (8), the lower end cylinder II (9) and the lower end cylinder III (24) are circularly distributed, the upper portion distribution circle radius is larger than the lower portion distribution circle radius, and the upper end cylinder I (5), the upper end cylinder II (10), the upper end cylinder III (11), the lower end cylinder I (8), the lower end cylinder II (9) and the lower end cylinder III (24) are located in the waist joint pneumatic muscle I (4), the waist joint pneumatic muscle II (6), the waist joint pneumatic muscle III (7), the waist joint pneumatic muscle IV (20), The fifth waist joint pneumatic muscle (21) and the sixth waist joint pneumatic muscle (22).

5. The rigid-flexible hybrid bionic robot system as claimed in claim 1, wherein the lengths of the pneumatic long muscles I (26), the pneumatic long muscles II (27), the pneumatic long muscles III (33) and the pneumatic long muscles IV (34) are the same, the lengths of the pneumatic short muscles I (28), the pneumatic short muscles II (29), the pneumatic short muscles III (35) and the pneumatic short muscles IV (36) are the same, the length of the pneumatic long muscles I (26) is greater than that of the pneumatic short muscles I (28), the lengths of the pneumatic short muscles V (38), the pneumatic short muscles VI (39), the pneumatic short muscles VII (43) and the pneumatic short muscles III (44) are the same, the lengths of the pneumatic long muscles I (26) and the pneumatic long muscles II (27) are parallel to each other and are arranged in groups, and the lengths of the pneumatic long muscles III (33) and the pneumatic long muscles III (33) are all set to each other, Pneumatic muscle long muscle four (34) are parallel to each other, and set up in groups, pneumatic muscle short muscle one (28), pneumatic muscle short muscle two (29) are parallel to each other, and set up in groups, pneumatic muscle short muscle three (35), pneumatic muscle short muscle four (36) are parallel to each other, and set up in groups, pneumatic muscle short muscle five (38), pneumatic muscle short muscle six (39) are parallel to each other, and set up in groups, pneumatic muscle short muscle seven (43), pneumatic muscle short muscle eight (44) are parallel to each other, and set up in groups.

6. A rigid-flexible hybrid biomimetic robotic system according to claim 1, wherein the shoulder joint connector (48) is T-shaped.

7. The rigid-flexible hybrid bionic robot system as claimed in claim 1, wherein the six (49), seven (56), eight (59) and nine (67) rotating wheels are double grooved wheels with the same structure.

8. A rigid-flexible hybrid biomimetic robotic system as in claim 1, wherein the small arm connection plate (68) ends in a U-shaped opening.

9. The rigid-flexible hybrid bionic robot system as claimed in claim 1, wherein the wrist joint rotating shaft (76) is U-shaped, and the opening is connected through a rotating shaft.

10. The rigid-flexible hybrid biomimetic robot system according to claim 1, wherein the upper extremity joint control system (86) controls pneumatic short muscle nine (50), pneumatic short muscle ten (51), pneumatic short muscle eleven (54), pneumatic short muscle twelve (55), pneumatic short muscle thirteen (60), pneumatic short muscle fourteen (61), pneumatic short muscle fifteen (65), pneumatic short muscle sixteen (66), pneumatic long muscle five (52), pneumatic long muscle six (53), pneumatic long muscle seven (62), pneumatic long muscle eight (63), pneumatic short muscle seventeen (69), pneumatic short muscle eighteen (70), pneumatic short muscle nineteen (72), pneumatic short muscle twenty (73), pneumatic claw (75), pneumatic short muscle twenty-one (77), thin-walled cylinder one (78), Twenty-two (80) pneumatic muscle short muscles, twenty-three (81) pneumatic muscle short muscles, two (83) thin-wall cylinders and twenty-four (84) pneumatic muscle short muscles;

the waist joint control system (87) respectively controls an upper end cylinder I (5), an upper end cylinder II (10), an upper end cylinder III (11), a lower end cylinder I (8), a lower end cylinder II (9), a lower end cylinder III (24), a waist joint pneumatic muscle I (4), a waist joint pneumatic muscle II (6), a waist joint pneumatic muscle III (7), a waist joint pneumatic muscle IV (20), a waist joint pneumatic muscle V (21) and a waist joint pneumatic muscle VI (22);

the lower limb joint control system (88) respectively controls a pneumatic muscle long muscle I (26), a pneumatic muscle long muscle II (27), a pneumatic muscle short muscle I (28), a pneumatic muscle short muscle II (29), a pneumatic muscle long muscle III (33), a pneumatic muscle long muscle IV (34), a pneumatic muscle short muscle III (35), a pneumatic muscle short muscle IV (36), a pneumatic muscle short muscle V (38), a pneumatic muscle short muscle VI (39), a pneumatic muscle short muscle VII (43) and a pneumatic muscle short muscle VIII (44).