CN107553478B - Multi-degree-of-freedom humanoid pole-climbing robot based on pneumatic muscles and control system thereof - Google Patents
Multi-degree-of-freedom humanoid pole-climbing robot based on pneumatic muscles and control system thereof Download PDFInfo
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- CN107553478B CN107553478B CN201710696088.9A CN201710696088A CN107553478B CN 107553478 B CN107553478 B CN 107553478B CN 201710696088 A CN201710696088 A CN 201710696088A CN 107553478 B CN107553478 B CN 107553478B
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Abstract
The invention discloses a multi-degree-of-freedom humanoid pole-climbing robot based on pneumatic muscles and a control system thereof. The multi-degree-of-freedom humanoid pole-climbing robot mainly comprises an upper end Y-direction clamping system, an upper end X-direction clamping system, a climbing system, a pole to be climbed and a lower end clamping system. The upper end Y-direction clamping system, the upper end X-direction clamping system and the lower end clamping system are used for grasping a climbed pole, and the climbing system is composed of two pairs of supporting legs and respectively realizes the vertical creeping motion in the direction of X, Y. The invention is driven by pneumatic muscle, has the characteristics of compact structure, cleanness and good explosion-proof performance, and can be used for painting, cleaning and maintaining high-altitude irregular rod-shaped urban buildings.
Description
Technical Field
The invention belongs to the technical field of bionic robots, and relates to a multi-degree-of-freedom humanoid pole-climbing robot based on pneumatic muscles and a control system thereof.
Background
Along with the development of cities, high-altitude rod-shaped urban buildings such as telegraph poles, natural gas pipelines, light poles, bridge guy cables and the like are more and more, the painting, cleaning and maintenance work of the buildings is mainly completed by manual 'spiders and knights' and large-scale equipment, the workers are low in working efficiency, high in labor intensity and dangerous, the bodies of the workers are damaged to a certain extent by cleaning chemicals, the large-scale equipment is limited by the range of a working site and capital, and meanwhile, the high-altitude rod-shaped urban buildings have irregular surface shapes, so that a multi-degree-of-freedom robot capable of crawling irregular rod bodies is needed.
Chinese patents 201220172033.0, 201410656160.1, 201510556898.5, 201520834209.8, 201510492046.4, 201520939589.1, 201610698791.9 and 201610007351.4 all drive crawling regular rod-shaped robots by motors.
Chinese patents 201420188928.2 and 201410672757.5 both use a cylinder as a driving element to design a crawling regular rod-shaped robot.
The motor is easy to burn due to frequent forward and reverse rotation, the rigidity is high, the motor is not suitable for being used in flammable and explosive areas, and the hydraulic cylinder and the air cylinder have the defect of high rigidity.
Chinese patent 201710485829.9 for the first time proposes a pole-climbing robot based on flexibility of pneumatic muscles, but can be applied only to high-altitude rod-shaped urban buildings with regular surface shapes.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a multi-degree-of-freedom humanoid pole-climbing robot based on pneumatic muscles and a control system thereof, which can climb not only a pole with a regular shape but also a pole with an irregular shape. The specific technical scheme is as follows:
a multi-degree-of-freedom humanoid pole-climbing robot based on pneumatic muscles is characterized by comprising an upper end Y-direction clamping system 1, an upper end X-direction clamping system 3, a climbing system and a lower end clamping system 12;
the upper end Y-direction clamping system comprises a first clamping mounting plate 22, a second clamping mounting plate 23, a first clamping pneumatic muscle 2 and a second clamping pneumatic muscle 13, wherein the first clamping mounting plate 22 and the second clamping mounting plate 23 are detachably spliced together, a clamping groove is formed in the middle of the first clamping mounting plate, a first support frame, a first clamping plate 20, a second clamping plate and a second support frame are sequentially arranged at two ends and in the clamping groove of the two clamping mounting plates along the Y direction, the lower end of the first support frame is fixedly connected with the first clamping mounting plate 22, the lower end of the second support frame is fixedly connected with the second clamping mounting plate 23, the middle of the first clamping plate is rotatably connected with the first clamping mounting plate, the middle of the second clamping plate is rotatably connected with the second clamping mounting plate, one end of the first clamping pneumatic muscle 2 is connected with the upper end of the first support frame, the other end of the first clamping plate is rotatably connected with the upper end of, the other end of the bracket is connected with the upper end of the second support frame; when the first clamping pneumatic muscle 2 and the second clamping pneumatic muscle 13 are inflated and contracted, the lower ends of the first clamping plate 20 and the second clamping plate are driven to rotate through the lever principle, and a climbed pole is clamped;
the structure of the upper end X-direction clamping system 3 is the same as that of the upper end Y-direction clamping system, and the arrangement directions are mutually vertical;
the climbing system comprises a first support leg 8, a third support leg 16, a second support leg 17 and a fourth support leg 6, wherein the first support leg 8 and the third support leg 16 are equal in length and are symmetrically distributed, the upper ends of the first support leg and the third support leg are rotatably connected with the upper end Y-direction clamping system 1, the lower ends of the first support leg and the third support leg are rotatably connected with the lower end clamping system 12, the second support leg 17 and the fourth support leg 6 are equal in length and are symmetrically distributed, the upper ends of the second support leg and the fourth support leg are connected with the upper end X-direction clamping system; the first support leg 8 comprises a first upper support leg section 7 and a second lower support leg section 11, the first upper support leg section 7 further comprises a first peristaltic pneumatic muscle 4, a second peristaltic pneumatic muscle 5, a support leg fixing plate 27, a belt 25 and a belt pulley 26, one end of each of the first peristaltic pneumatic muscle 4 and the second peristaltic pneumatic muscle 5 is fixedly connected with the support leg fixing plate 27, the other end of each of the first peristaltic pneumatic muscle 4 and the second peristaltic pneumatic muscle 5 is connected with the belt 25, the belt pulley 26 is fixed at the lower end of the support leg fixing plate 27, the second lower support leg section 11 comprises a third peristaltic pneumatic muscle 9 and a fourth peristaltic pneumatic muscle 10, the structure of the second lower support leg section 11 is the same as that of the first upper support leg section 7, and the second support leg section 11 and the belt pulley; the structure of the third support leg 16, the second support leg 17 and the fourth support leg 6 is the same as that of the first support leg 8;
the lower end clamping system 12 comprises a third clamping mounting plate 34, a fourth clamping mounting plate 38, a fifth clamping mounting plate 40, a sixth clamping mounting plate 42, a third clamping pneumatic muscle 35, a fourth clamping pneumatic muscle 39, a fifth clamping pneumatic muscle 41 and a sixth clamping pneumatic muscle 43, wherein the third clamping mounting plate 34, the fourth clamping mounting plate 38, the fifth clamping mounting plate 40 and the sixth clamping mounting plate 42 are detachably connected together in sequence, a clamping groove is formed in the middle of the three clamping pneumatic muscle, the third clamping pneumatic muscle 35 is connected to the third clamping mounting plate 34, the fourth clamping pneumatic muscle 39 is connected to the fourth clamping mounting plate 38, the fifth clamping pneumatic muscle 41 is connected to the fifth clamping mounting plate 40, the sixth clamping pneumatic muscle 43 is connected to the sixth clamping mounting plate 42, and the connection mode of each clamping pneumatic muscle and the corresponding clamping mounting plate is the same as that of the upper end Y-direction clamping system.
Furthermore, the connection between the first clamping pneumatic muscle 2 and the first support frame and the connection between the second clamping pneumatic muscle 13 and the second support frame are both fixedly connected.
Further, the third clamping mounting plate 34, the fourth clamping mounting plate 38, the fifth clamping mounting plate 40 and the sixth clamping mounting plate 42 are in the shape of arcs with equal angles and are connected together to form a circular mounting plate, and the clamping grooves of the upper-end Y-direction clamping system 1, the upper-end X-direction clamping system 3 and the lower-end clamping system 12 are all circular.
Further, the lower end clamping system 12 may also be replaced by a lower end Y-direction clamping system and a lower end X-direction clamping system, and the lower end Y-direction clamping system and the lower end X-direction clamping system are fixedly connected and arranged perpendicular to each other; the lower end Y-direction clamping system and the upper end Y-direction clamping system 1 are identical in structure, and the lower end X-direction clamping system and the upper end X-direction clamping system 3 are identical in structure; the lower end Y-direction clamping system is connected with the upper end Y-direction clamping system 1 through a first supporting leg 8 and a third supporting leg 16, and the lower end X-direction clamping system is connected with the upper end X-direction clamping system 3 through a second supporting leg 17 and a fourth supporting leg 6.
A control system based on the pneumatic muscle multi-degree-of-freedom humanoid pole-climbing robot is characterized by further comprising a computer 44, a data acquisition card 45, an isolation and amplification circuit 46, an air pressure voltage conversion circuit 47, a pressure maintaining air tank 62 and a pneumatic triplet 63, wherein the control system of the upper end Y-direction clamping system 1, the first support leg 8, the third support leg 16 and the lower end clamping system 12 further comprises a first switch valve 48, a second switch valve 49, a third switch valve 50, a fourth switch valve 51, a fifth switch valve 64, a seventh switch valve 66, a ninth switch valve 68, an eleventh switch valve 70, a second proportional pressure valve 53, a fourth proportional pressure valve 55, a second pressure sensor 59 and a fourth pressure sensor 61;
one end of each of the second pressure sensor 59 and the fourth pressure sensor 61 is connected to the second peristaltic pneumatic muscle 5 and the fourth peristaltic pneumatic muscle 10, and the other end of each of the second pressure sensor and the fourth pressure sensor is connected with a computer through the air pressure voltage conversion circuit 47 and the data acquisition card;
the computer 44, the data acquisition card 45 and the isolation and amplification circuit 46 are sequentially connected, a first switch valve 48, a third switch valve 50, a fifth switch valve 64, a seventh switch valve 66, a ninth switch valve 68, an eleventh switch valve 70, a second proportional pressure valve 53 and a fourth proportional pressure valve 55 are all connected with the isolation and amplification circuit 46, a pneumatic triplet 63 and a pressure maintaining gas tank 62 are connected, an outlet of the pressure maintaining gas tank 62 is connected with the first switch valve 48, the third switch valve 50, the fifth switch valve 64, the seventh switch valve 66, the ninth switch valve 68, the eleventh switch valve 70, the second proportional pressure valve 53 and the fourth proportional pressure valve 55, the first switch valve 48 is connected with a first clamping pneumatic muscle 2, the third switch valve 50 is connected with a second clamping pneumatic muscle 13, the second proportional pressure valve 53 is connected with a second pneumatic muscle 5, the fourth proportional pressure valve 55 is connected with a fourth clamping pneumatic muscle 10, the fifth switch valve 64 is connected with a third clamping pneumatic muscle 35, a seventh switch valve 66 is connected with the fourth clamping pneumatic muscle 39, a ninth switch valve 68 is connected with the fifth clamping pneumatic muscle 41, and an eleventh switch valve 70 is connected with the sixth clamping pneumatic muscle 43;
when climbing, high-pressure gas enters a first clamping pneumatic muscle 2 and a second clamping pneumatic muscle 13 through a pneumatic triplet 63, a pressure maintaining gas tank 62, a first switching valve 48 and a third switching valve 50, the first clamping pneumatic muscle 2 contracts to drive the first clamping plate to rotate, the lower end of the first clamping plate clamps a climbed rod, and the second clamping pneumatic muscle 13 contracts to drive the second clamping plate to rotate and clamp the climbed rod; high-pressure gas enters a peristaltic pneumatic muscle II 5 through a pneumatic triplet 63, a pressure maintaining gas tank 62 and a proportional pressure valve II 53, the peristaltic pneumatic muscle II 5 contracts to drive the upper half section 7 of the supporting leg I to rotate, and the lower half section 11 of the supporting leg I swings to further drive the lower end clamping system 12 to lift upwards;
after passing through the pneumatic triplet 63 and the pressure maintaining gas tank 62, high-pressure gas enters a third clamping pneumatic muscle 35 through a five switching valve 64, enters a fourth clamping pneumatic muscle 39 through a seven switching valve 66, enters a fifth clamping pneumatic muscle 41 through a nine switching valve 68, enters a sixth clamping pneumatic muscle 43 through an eleventh switching valve 70, contracts to drive the corresponding clamping plates to rotate, enables the lower ends of the clamping plates to clamp the climbed bar, controls a second switching valve 49 and a fourth switching valve 51 through a data acquisition card 45 and an isolation and amplification circuit 46 to enable the first clamping pneumatic muscle 2 and the second clamping pneumatic muscle 13 to deflate, and enables the clamping system in the Y direction at the upper end to loosen the climbed bar; high-pressure gas enters a peristaltic pneumatic muscle four 10 through a pneumatic triplet 63, a pressure maintaining gas tank 62 and a proportional pressure valve four 55, the peristaltic pneumatic muscle four 10 contracts to drive a lower half section 11 of the supporting leg to rotate in the opposite direction, drive an upper half section 7 of the supporting leg to swing and push an upper Y-direction clamping system 1 to ascend, and then continue to clamp the upper Y-direction clamping system 1;
the control and movement processes of the third support leg 16 are the same as those of the first support leg 8;
the control systems of the upper end X-direction clamping system 3, the support leg II 17, the support leg IV 6 and the lower end clamping system 12 which are connected with the upper end X-direction clamping system are the same as those of the upper end Y-direction clamping system 1, the support leg I8, the support leg III 17 and the lower end clamping system 12, the control and movement processes are also the same, and the two control systems move synchronously;
the process is repeated, so that the climbing rod of the multi-degree-of-freedom humanoid climbing rod robot based on the pneumatic muscles is realized;
when descending, the control and motion process is opposite to the control and motion process of climbing.
Further, one end of all the on-off valves and the proportional pressure valve is connected to a sound-deadening tank 57, and a sound-deadening device 56 is connected to the sound-deadening tank 57.
The invention has the beneficial effects that:
1. the pneumatic muscle which can only contract and cannot provide thrust is used as a power element, the peristaltic movement of ascending and descending of the system can be realized, the traditional rigid element which can only provide extension and contraction by a motor, a hydraulic cylinder, an air cylinder and the like is replaced, and the viewpoint of the peristaltic movement of ascending and descending is realized:
2. the pneumatic muscle driving device has the advantages of large power/mass ratio, light weight, small rigidity, compact structure and the like by utilizing pneumatic muscle driving:
3. the climbing device can be used for climbing rods with regular shapes and climbing rods with irregular shapes, and free switching of ascending and descending peristalsis can be realized.
Drawings
FIG. 1 is an overall structure diagram of a multi-degree-of-freedom humanoid pole-climbing robot;
FIG. 2 is a view of the upper end Y-direction clamping structure;
FIG. 3 is a single leg configuration view of the climbing system;
FIG. 4 is a block diagram of the lower end clamping system;
FIG. 5 is a schematic diagram of a pneumatic control system;
in the figure: the device comprises an upper end Y-direction clamping system 1, a first clamping pneumatic muscle 2, an upper end X-direction clamping system 3, a first peristaltic pneumatic muscle 4, a second peristaltic pneumatic muscle 5, a fourth support leg 6, an upper half section 7 of the first support leg, a first support leg 8, a third peristaltic pneumatic muscle 9, a fourth peristaltic pneumatic muscle 10, a lower half section 11 of the support leg, a lower end clamping system 12, a second clamping pneumatic muscle 13, a climbed rod 14, a climbing system 15, a third support leg 16, a second support leg 17, a first pneumatic muscle support plate 18, a second clamping connecting piece 19, a first clamping plate 20, a first clamping connecting piece 21, a first clamping mounting plate 22, a second clamping mounting plate 23, a first belt connecting piece 24, a belt 25, a belt pulley 26, a support leg fixing plate 27, a pneumatic muscle mounting plate 28, a support leg support plate 29, a second belt connecting piece 30, a second pneumatic muscle support plate 31, a third clamping connecting piece 32, a second, Clamping pneumatic muscle III 35, clamping connecting piece IV 36, lower end clamping supporting leg I37, clamping mounting plate IV 38, clamping pneumatic muscle IV 39, clamping mounting plate V40, clamping pneumatic muscle V41, clamping mounting plate VI 42, clamping pneumatic muscle VI 43, computer 44, data acquisition card 45, isolation and amplification circuit 46, air pressure voltage conversion circuit 47, switch valve I48, switch valve II 49, switch valve III 50, switch valve IV 51, proportional pressure valve I52, proportional pressure valve II 53, proportional pressure valve III 54, proportional pressure valve IV 55, muffler 56, noise elimination tank 57, pressure sensor I58, pressure sensor II 59, pressure sensor III 60, pressure sensor IV 61, pressure maintaining tank 62, pneumatic triplet 63, switch valve V64, switch valve VI 65, switch valve VII 66, switch valve eight 67, switch valve nine 68, switch valve ten 69, switch valve eleven 70, pressure maintaining tank 62, pneumatic triplet 63, switch valve V65, switch valve V66, switch valve V67, switch valve V68, switch valve V69, switch valve eleven, And an on-off valve twelve 71.
Detailed Description
As shown in figures 1-5, the multi-degree-of-freedom humanoid pole-climbing robot system based on pneumatic muscles comprises an upper end Y-direction clamping system 1, a clamping pneumatic muscle I2, an upper end X-direction clamping system 3, a peristaltic pneumatic muscle I4, a peristaltic pneumatic muscle II 5, a support leg IV 6, an upper half section 7 of the support leg I, a support leg I8, a peristaltic pneumatic muscle III 9, a peristaltic pneumatic muscle IV 10, a lower half section 11 of the support leg 11, a lower end clamping system 12, a clamping pneumatic muscle II 13, a climbed 14, a climbing system 15, a support leg III 16, a support leg II 17, a pneumatic muscle supporting plate I18, a clamping connecting piece II 19, a clamping plate I20, a clamping connecting piece I21, a clamping mounting plate I22, a clamping mounting plate II 23, a belt connecting piece I24, a belt 25, a belt pulley 26, a support leg fixing plate 27, a pneumatic muscle mounting plate 28, a support plate 29, a belt, A second pneumatic muscle supporting plate 31, a third clamping connecting piece 32, a second clamping plate 33, a third clamping mounting plate 34, a third clamping pneumatic muscle 35, a fourth clamping connecting piece 36, a first lower clamping supporting leg 37, a fourth clamping mounting plate 38, a fourth clamping pneumatic muscle 39, a fifth clamping mounting plate 40, a fifth clamping pneumatic muscle 41, a sixth clamping mounting plate 42, a sixth clamping pneumatic muscle 43, a computer 44, a data acquisition card 45, an isolation and amplification circuit 46, a pneumatic voltage conversion circuit 47, a first switch valve 48, a second switch valve 49, a third switch valve 50, a fourth switch valve 51, a first proportional pressure valve 52, a second proportional pressure valve 53, a third proportional pressure valve 54, a fourth proportional pressure valve 55, a muffler 56, a muffler tank 57, a first pressure sensor 58, a second pressure sensor 59, a third pressure sensor 60, a fourth pressure sensor 61, a pressure maintaining gas tank 62, a pneumatic triplet 63, a fifth switch valve 64, a pressure control valve, Six switching valves 65, seven switching valves 66, eight switching valves 67, nine switching valves 68, ten switching valves 69, eleven switching valves 70 and twelve switching valves 71.
The system can be divided into 4 parts, namely an upper end Y-direction clamping system 1, an upper end X-direction clamping system 3, a lower end clamping system 12 and a climbing system 15.
Taking the upper end Y-direction clamping system 1 as an example to explain the fixing and connecting mode of the clamping system, as shown in fig. 2, the first clamping mounting plate 22 and the second clamping mounting plate 23 are connected through bolts, the distance between the two can be adjusted according to the pole to be climbed 14, the second clamping connecting piece 19 and the first clamping connecting piece 21 are respectively and fixedly connected with the first clamping mounting plate 22 through bolts, the middle part of the first clamping plate 20 is rotatably connected with the second clamping connecting piece 19 through a pin shaft, the first pneumatic muscle supporting plate 18 is fixedly connected with the first clamping connecting piece 21 through a bolt, one end of the first clamping pneumatic muscle 2 is fixedly connected with the first pneumatic muscle supporting plate 18 through a thread, and the other end of the first clamping plate 20 is rotatably connected;
the clamping system on one side of the clamping mounting plate II 23 is the same as the clamping system on the clamping mounting plate I22.
As shown in fig. 1, the climbing system 15 includes four legs, i.e., a leg four 6, a leg one 8, a leg three 16, and a leg two 17, and the four legs have the same mechanical structure, wherein the leg one 8 and the leg three 16 have the same length, the upper end of the leg one is connected to the upper end Y-direction clamping system 1, the leg four 6 and the leg two 17 have the same length, and the upper end of the leg four is connected to the upper end X-direction clamping system 3.
Taking the first support leg 8 as an example to explain the fixing and connecting mode of a single support leg, as shown in fig. 3, the first support leg 8 comprises a first upper support leg section 7 and a second lower support leg section 11, the first upper support leg section 7 and the second lower support leg section 11 are completely the same, wherein a first support leg fixing plate 27 is fixedly connected with a first clamping mounting plate 22 through a bolt, the first support leg fixing plate 27 is fixedly connected with a support leg supporting plate 29, a pneumatic muscle mounting plate 28 is fixedly connected with the support leg supporting plate 29, one ends of a first two opposite-pulling pneumatic muscle peristaltic pneumatic muscle 4 and a second peristaltic pneumatic muscle 5 are fixedly connected with the support leg supporting plate 29 through threads, the other ends of the first peristaltic pneumatic muscle 4 and the second peristaltic pneumatic muscle 5 are fixedly connected with a belt 25 through a first belt connecting piece 24 and a second belt connecting piece 30 respectively, and a belt pulley 26 is fixedly connected with the support leg, the upper half section 7 of the first supporting leg is rotatably connected with the lower half section 11 of the supporting leg, and the lower half section 11 of the supporting leg is mainly driven by a peristaltic pneumatic muscle III 9 and a peristaltic pneumatic muscle IV 10.
As shown in fig. 4, the lower clamping system 12 comprises a third clamping mounting plate 34, a fourth clamping mounting plate 38, a fifth clamping mounting plate 40, a sixth clamping mounting plate 42, a third clamping pneumatic muscle 35, a fourth clamping pneumatic muscle 39, a fifth clamping pneumatic muscle 41 and a sixth clamping pneumatic muscle 43, and the four clamping pneumatic muscles and the clamping mounting plates are connected in the same way; the connection and installation mode of the clamping pneumatic muscle and the clamping installation plate is described by taking the lower clamping leg I37 as an example: the third clamping connecting piece 32 and the fourth clamping connecting piece 36 are fixedly connected with the third clamping mounting plate 34 and the fourth clamping mounting plate 38 at the same time, and the third clamping connecting piece 32 and the fourth clamping connecting piece 36 have the supporting functions of the second clamping connecting piece 19, the first clamping plate 20 and the first clamping connecting piece 21 at the same time and also have the functions of connecting the third clamping mounting plate 34 and the fourth clamping mounting plate 38; the third clamping connecting piece 32 is fixedly connected with the third clamping pneumatic muscle 35 through the second pneumatic muscle supporting plate 31, the fourth clamping connecting piece 36 is rotatably connected with the middle part of the second clamping plate 33, and the working principle of the clamping connecting piece is the same as that of the upper-end Y-direction clamping system 1.
As shown in fig. 4 and 2, the third, fourth, fifth and sixth clamping plates 34, 38, 40 and 42 are arc-shaped with equal angles and are connected together to form a circular mounting plate, and the clamping grooves of the upper Y-direction clamping system 1, the upper X-direction clamping system 2 and the lower clamping system 12 are circular.
The lower end clamping system 12 in fig. 4 may also be replaced by a lower end Y-direction clamping system and a lower end X-direction clamping system, and the lower end Y-direction clamping system and the lower end X-direction clamping system are fixedly connected and arranged perpendicular to each other; the lower end Y-direction clamping system and the upper end Y-direction clamping system 1 are identical in structure, and the lower end X-direction clamping system and the upper end X-direction clamping system 2 are identical in structure; the lower end Y-direction clamping system is connected with the upper end Y-direction clamping system 1 through a first supporting leg 8 and a third supporting leg 16, and the lower end X-direction clamping system is connected with the upper end X-direction clamping system 3 through a second supporting leg 17 and a fourth supporting leg 6.
The control system based on the pneumatic muscle multi-degree-of-freedom humanoid pole-climbing robot is illustrated by taking an upper-end Y-direction clamping system 1, a first support leg 8, a third support leg 16 and a lower-end clamping system 12 as examples, and further comprises a computer 44, a data acquisition card 45, an isolation and amplification circuit 46, an air pressure voltage conversion circuit 47, a pressure maintaining air tank 62 and a pneumatic triplet 63, wherein the control system of the upper-end Y-direction clamping system 1, the first support leg 8, the third support leg 16 and the lower-end clamping system 12 further comprises a first switch valve 48, a third switch valve 50, a fifth switch valve 64, a seventh switch valve 66, a ninth switch valve 68, an eleventh switch valve 68, a second proportional pressure valve 53, a fourth proportional pressure valve 55, a second pressure sensor 59 and a fourth pressure sensor 61;
one end of each of the second pressure sensor 59 and the fourth pressure sensor 61 is connected to the second peristaltic pneumatic muscle 5 and the fourth peristaltic pneumatic muscle 10, and the other end of each of the second pressure sensor and the fourth pressure sensor is connected with a computer through the air pressure voltage conversion circuit 47 and the data acquisition card;
the computer 44, the data acquisition card 45 and the isolation and amplification circuit 46 are sequentially connected, a first switch valve 48, a third switch valve 50, a fifth switch valve 64, a seventh switch valve 66, a ninth switch valve 68, an eleventh switch valve 71, a second proportional pressure valve 53 and a fourth proportional pressure valve 55 are all connected with the isolation and amplification circuit 46, a pneumatic triplet 63 and a pressure maintaining gas tank 62 are connected, an outlet of the pressure maintaining gas tank 62 is connected with the first switch valve 48, the third switch valve 50, the fifth switch valve 64, the seventh switch valve 66, the ninth switch valve 68, the eleventh switch valve 68, the second proportional pressure valve 53 and the fourth proportional pressure valve 55, the first switch valve 48 is connected with a first clamping pneumatic muscle 2, the third switch valve 50 is connected with a second clamping pneumatic muscle 13, the second proportional pressure valve 53 is connected with a second pneumatic muscle 5, the fourth proportional pressure valve 55 is connected with a fourth clamping pneumatic muscle 10, the fifth switch valve 64 is connected with a third clamping pneumatic muscle 35, a seventh switch valve 66 is connected with the fourth clamping pneumatic muscle 39, a ninth switch valve 68 is connected with the fifth clamping pneumatic muscle 41, and an eleventh switch valve 70 is connected with the sixth clamping pneumatic muscle 43;
connecting an air inlet of a pneumatic triplet 63 with an air source, enabling high-pressure air to enter a pressure maintaining air tank 62 through the pneumatic triplet 63, opening a control program written by a computer 44 and VC + +, inputting a quantity to be controlled, driving a first switch valve 48 and a third switch valve 50 by analog quantity output by a data acquisition card 45 through an isolation and amplification circuit 46 to control the high-pressure air to inflate a first clamping pneumatic muscle 2 and a second clamping pneumatic muscle 13 from the pressure maintaining air tank 62, enabling the first clamping pneumatic muscle 2 to contract to drive a first clamping plate to rotate, enabling the lower end of the first clamping plate to clamp a climbing rod, enabling the second clamping pneumatic muscle 13 to contract to drive the second clamping plate to rotate, and enabling the lower end of the second clamping plate to clamp the climbing rod; secondly, a second proportional pressure valve 53 is driven by an isolation and amplification circuit 46, high-pressure gas is controlled to inflate a second peristaltic pneumatic muscle 5 from a pressure maintaining gas tank 62, the second peristaltic pneumatic muscle 5 contracts to drive the upper half section 7 of the first supporting leg to rotate, a second pressure sensor 59 connected with the second peristaltic pneumatic muscle 5 measures the internal gas pressure in real time, the internal gas pressure is converted into a voltage signal by a gas pressure and voltage conversion circuit 47 and fed back to a data acquisition card 45, and the voltage signal is further fed back to a computer 44, and the rotating angle of the upper half section 7 of the first supporting leg relative to the lower half section 11 of the supporting leg can be calculated by the computer, so that the upper half section 7 of the first supporting leg is wriggled, the lower half section 11 of the supporting leg is driven; thirdly, the isolating and amplifying circuit 46 drives the switch valve five 64, the switch valve seven 66, the switch valve nine 68 and the switch valve eleven 71 to control high-pressure gas to inflate the clamping pneumatic muscle three 35, the clamping pneumatic muscle four 39, the clamping pneumatic muscle five 41 and the clamping pneumatic muscle six 43 from the pressure maintaining gas tank 62, the clamping pneumatic muscle three 35, the clamping pneumatic muscle four 39, the clamping pneumatic muscle five 41 and the clamping pneumatic muscle six 43 contract to drive the corresponding clamping plates to rotate, the lower ends of the clamping plates clamp the climbed rod, at the moment, the data acquisition card 45 and the isolating and amplifying circuit 46 control the switch valve two 49 and the switch valve four 51 to complete deflation, and the muffler 56 and the muffler tank 57 play a role in silencing in the deflation process of the switch valves; thirdly, the proportional pressure valve IV 55 is driven through the isolation and amplification circuit 46, the high-pressure gas is controlled to inflate the peristaltic pneumatic muscle IV 10 from the pressure maintaining gas tank 62, the peristaltic pneumatic muscle IV 10 contracts to drive the lower half section 11 of the supporting leg to rotate in the opposite direction, the upper half section 7 of the supporting leg is driven to swing, the upper Y-direction clamping system 1 is pushed to ascend, and the upper Y-direction clamping system 1 is continuously clamped;
the control and movement processes of the third support leg 16 are the same as those of the first support leg 8;
the control systems of the upper end X-direction clamping system 3, the support leg II 17, the support leg IV 6 and the lower end clamping system 12 which are connected with the upper end X-direction clamping system are the same as those of the upper end Y-direction clamping system 1, the support leg I8, the support leg III 16 and the lower end clamping system 12, the control and movement processes are also the same, and the two control systems move synchronously;
the process is repeated, so that the climbing rod of the multi-degree-of-freedom humanoid climbing rod robot based on the pneumatic muscles is realized;
when descending, the control and motion process is opposite to the control and motion process of climbing.
The invention realizes the control of the pose of the multi-degree-of-freedom humanoid pole-climbing robot by controlling the pneumatic muscles of the humanoid supporting legs, can climb regular and irregular rod-shaped objects, and can realize accurate control.
The above-described embodiment is only one of the preferred embodiments of the present invention, and general changes and substitutions by those skilled in the art within the technical scope of the present invention are included in the protection scope of the present invention.
Claims (6)
1. A multi-degree-of-freedom humanoid pole-climbing robot based on pneumatic muscles is characterized by comprising an upper end Y-direction clamping system (1), an upper end X-direction clamping system (3), a climbing system and a lower end clamping system (12);
the upper end Y-direction clamping system comprises a first clamping mounting plate (22), a second clamping mounting plate (23), a first clamping pneumatic muscle (2) and a second clamping pneumatic muscle (13), wherein the first clamping mounting plate (22) and the second clamping mounting plate (23) are detachably spliced together, a clamping groove is formed in the middle of the first clamping mounting plate, a first support frame and a first clamping plate (20) are sequentially arranged between the first clamping mounting plate (22) and the clamping groove along the Y direction, a second clamping plate and a second support frame are sequentially arranged between the clamping groove and the second clamping mounting plate (23), the lower end of the first support frame is fixedly connected with the first clamping mounting plate (22), the lower end of the second support frame is fixedly connected with the second clamping mounting plate (23), the middle of the first clamping plate is rotatably connected with the first clamping mounting plate, the middle of the second clamping plate is rotatably connected with the second clamping mounting plate, and one end of the first clamping pneumatic muscle (2) is, the other end of the pneumatic muscle II is rotatably connected with the upper end of the first clamping plate, one end of a second clamping pneumatic muscle (13) is rotatably connected with the upper end of the second clamping plate, and the other end of the pneumatic muscle II is connected with the upper end of the second supporting frame; when the first clamping pneumatic muscle (2) and the second clamping pneumatic muscle (13) are inflated and contracted, the lower ends of the first clamping plate (20) and the second clamping plate are driven to rotate by a lever principle to clamp the climbed rod;
the structure of the upper end X-direction clamping system (3) is the same as that of the upper end Y-direction clamping system, and the arrangement directions are mutually vertical;
the climbing system comprises a first support leg (8), a third support leg (16), a second support leg (17) and a fourth support leg (6), wherein the first support leg (8) and the third support leg (16) are equal in length and are symmetrically distributed, the upper ends of the first support leg (8) and the third support leg (16) are rotatably connected with the upper end Y-direction clamping system (1), the lower ends of the first support leg (8) and the third support leg (16) are rotatably connected with the lower end clamping system (12), the second support leg (17) and the fourth support leg (6) are equal in length and are symmetrically distributed, the upper ends of the second support leg (17) and the fourth support leg (; the support leg I (8) comprises a support leg I upper half section (7) and a support leg I lower half section (11), the support leg I upper half section (7) further comprises a peristaltic pneumatic muscle I (4), a peristaltic pneumatic muscle II (5), a support leg fixing plate (27), a belt (25) and a belt pulley (26), one ends of the peristaltic pneumatic muscle I (4) and the peristaltic pneumatic muscle II (5) are fixedly connected with the support leg fixing plate (27), the other ends of the peristaltic pneumatic muscle I (4) and the peristaltic pneumatic muscle II (5) are connected through the belt (25), the belt pulley (26) is fixed at the lower end of the support leg fixing plate (27), the support leg I lower half section (11) comprises a peristaltic pneumatic muscle III (9) and a peristaltic pneumatic muscle IV (10), the structure of the support leg I lower half section (11) is the same as that of the support leg I upper half section (7), and the support leg I lower half section (11) and the belt pulley; the structure of the third support leg (16), the second support leg (17) and the fourth support leg (6) is the same as that of the first support leg (8);
the lower end clamping system (12) comprises a clamping mounting plate III (34), a clamping mounting plate IV (38), a clamping mounting plate V (40), a clamping mounting plate VI (42), a clamping pneumatic muscle III (35), a clamping pneumatic muscle IV (39), a clamping pneumatic muscle V (41), a clamping pneumatic muscle VI (43), a clamping mounting plate III (34), a clamping mounting plate IV (38), a clamping mounting plate V (40), and a clamping mounting plate VI (42) which are sequentially detachably connected together, wherein a clamping groove is formed in the middle of the clamping pneumatic muscle IV, the clamping pneumatic muscle III (35) is connected to the clamping mounting plate III (34), the clamping pneumatic muscle IV (39) is connected to the clamping mounting plate IV (38), the clamping pneumatic muscle V (41) is connected to the clamping mounting plate V (40), the clamping pneumatic muscle VI (43) is connected to the clamping mounting plate VI (42), and the connection mode of each clamping pneumatic muscle and the corresponding clamping mounting plate is the same as that of the upper end Y-direction clamping system .
2. The multi-degree-of-freedom humanoid pole-climbing robot based on pneumatic muscles as claimed in claim 1, wherein the connection between the first clamping pneumatic muscle (2) and the first support frame and the connection between the second clamping pneumatic muscle (13) and the second support frame are both fixedly connected.
3. The multi-degree-of-freedom humanoid climbing pole robot based on pneumatic muscles as claimed in claim 1, wherein the third clamping mounting plate (34), the fourth clamping mounting plate (38), the fifth clamping mounting plate (40) and the sixth clamping mounting plate (42) are in the shape of arcs with equal angles and are connected together to form a circular mounting plate, and the clamping grooves of the upper Y-direction clamping system (1), the upper X-direction clamping system (3) and the lower clamping system (12) are circular.
4. The multi-degree-of-freedom humanoid pole-climbing robot based on pneumatic muscles as claimed in claim 1, wherein the lower end clamping system (12) is replaced by a lower end Y-direction clamping system and a lower end X-direction clamping system, and the lower end Y-direction clamping system and the lower end X-direction clamping system are fixedly connected and are arranged vertically to each other; the lower end Y-direction clamping system and the upper end Y-direction clamping system (1) have the same structure, and the lower end X-direction clamping system and the upper end X-direction clamping system (3) have the same structure; the lower end Y-direction clamping system is connected with the upper end Y-direction clamping system (1) through a first supporting leg (8) and a third supporting leg (16), and the lower end X-direction clamping system is connected with the upper end X-direction clamping system (3) through a second supporting leg (17) and a fourth supporting leg (6).
5. A control system based on the pneumatic muscle multi-degree-of-freedom humanoid pole-climbing robot as claimed in any one of the preceding claims, it is characterized in that the system also comprises a computer (44), a data acquisition card (45), an isolation and amplification circuit (46), an air pressure and voltage conversion circuit (47), a pressure maintaining air tank (62) and a pneumatic triplet (63), the control system of the upper end Y-direction clamping system (1), the support leg I (8), the support leg III (16) and the lower end clamping system (12) further comprises a switch valve I (48), a switch valve II (49), a switch valve III (50), a switch valve IV (51), a switch valve V (64), a switch valve VII (66), a switch valve IX (68), a switch valve eleven (70), a proportional pressure valve II (53), a proportional pressure valve IV (55), a pressure sensor II (59) and a pressure sensor IV (61);
one end of a pressure sensor II (59) is connected to a peristaltic pneumatic muscle II (5), one end of a pressure sensor IV (61) is connected to a peristaltic pneumatic muscle IV (10), and the other ends of the pressure sensor II (59) and the pressure sensor IV (61) are connected with a computer through an air pressure voltage conversion circuit (47) and a data acquisition card;
a computer (44), a data acquisition card (45) and an isolation and amplification circuit (46) are sequentially connected, a first switch valve (48), a third switch valve (50), a fifth switch valve (64), a seventh switch valve (66), a ninth switch valve (68), a eleventh switch valve (70), a second proportional pressure valve (53) and a fourth proportional pressure valve (55) are all connected with the isolation and amplification circuit (46), a pneumatic triplet (63) and a pressure maintaining gas tank (62) are connected, an outlet of the pressure maintaining gas tank (62) is connected with the first switch valve (48), the third switch valve (50), the fifth switch valve (64), the seventh switch valve (66), the ninth switch valve (68), the eleventh switch valve (70), the second proportional pressure valve (53) and the fourth proportional pressure valve (55), the first switch valve (48) is connected with a first clamping pneumatic muscle (2), and the third switch valve (50) is connected with a second clamping pneumatic muscle (13), a second proportional pressure valve (53) is connected with a second peristaltic pneumatic muscle (5), a fourth proportional pressure valve (55) is connected with a fourth peristaltic pneumatic muscle (10), a fifth switch valve (64) is connected with a third clamping pneumatic muscle (35), a seventh switch valve (66) is connected with a fourth clamping pneumatic muscle (39), a ninth switch valve (68) is connected with a fifth clamping pneumatic muscle (41), and an eleventh switch valve (70) is connected with a sixth clamping pneumatic muscle (43);
when climbing, high-pressure gas enters a first clamping pneumatic muscle (2) through a first switch valve (48) and enters a second clamping pneumatic muscle (13) through a third switch valve (50) after passing through a pneumatic triplet (63) and a pressure maintaining gas tank (62), the first clamping pneumatic muscle (2) contracts to drive a first clamping plate to rotate, the lower end of the first clamping plate clamps a climbed pole, and the second clamping pneumatic muscle (13) contracts to drive the second clamping plate to rotate and clamp the climbed pole; high-pressure gas enters a peristaltic pneumatic muscle II (5) through a pneumatic triplet (63), a pressure maintaining gas tank (62) and a proportional pressure valve II (53), the peristaltic pneumatic muscle II (5) contracts to drive an upper half section (7) of a supporting leg I to rotate, a lower half section (11) of the supporting leg I swings, and then a lower end clamping system (12) is driven to lift upwards;
after passing through the pneumatic triplet (63) and the pressure maintaining gas tank (62), high-pressure gas enters a third clamping pneumatic muscle (35) through a fifth switching valve (64), enters a fourth clamping pneumatic muscle (39) through a seventh switching valve (66), enters a fifth clamping pneumatic muscle (41) through a ninth switching valve (68), enters a sixth clamping pneumatic muscle (43) through an eleventh switching valve (70), contracts to drive the corresponding clamping plate to rotate, and enables the lower end of the clamping plate to clamp a climbed bar, at the moment, the second switch valve (49) and the fourth switch valve (51) are controlled by a data acquisition card (45) and an isolation and amplification circuit (46) to deflate the first clamping pneumatic muscle (2) and the second clamping pneumatic muscle (13), so that the clamping system at the upper end in the Y direction loosens the climbed rod; high-pressure gas enters a peristaltic pneumatic muscle four (10) through a pneumatic triplet (63), a pressure maintaining gas tank (62) and a proportional pressure valve four (55), the peristaltic pneumatic muscle four (10) contracts to drive a lower half section (11) of the supporting leg to rotate in the opposite direction, drive an upper half section (7) of the supporting leg to swing and push an upper Y-direction clamping system (1) to ascend, and then continue to clamp the upper Y-direction clamping system (1);
the control and movement processes of the third supporting leg (16) are the same as those of the first supporting leg (8);
the control systems of the upper end X-direction clamping system (3), the support leg II (17), the support leg IV (6) and the lower end clamping system (12) which are connected with the upper end X-direction clamping system are the same as those of the upper end Y-direction clamping system (1), the support leg I (8), the support leg III (16) and the lower end clamping system (12), the control and motion processes are also the same, and the two synchronously move;
the process is repeated, so that the climbing rod of the multi-degree-of-freedom humanoid climbing rod robot based on the pneumatic muscles is realized;
when descending, the control and motion process is opposite to the control and motion process of climbing.
6. The control system according to claim 5, wherein all the on-off valves and the proportional pressure valves are connected at one end to a sound-deadening tank (57), and a sound-deadening device (56) is connected to the sound-deadening tank (57).
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