Multi-degree-of-freedom humanoid pole-climbing robot based on pneumatic muscles and its control system

Abstract

The invention discloses a pneumatic-muscle-based multi-degree-of-freedom humanoid pole-climbing robot and a control system thereof. The pneumatic-muscle-based multi-degree-of-freedom humanoid pole-climbing robot drives joints to move through pneumatic muscles and has the multi-degree-of-freedom humanoid pole-climbing function. The multi-degree-of-freedom humanoid pole-climbing robot is mainly composed of an upper end Y-direction clamping system, an upper end X-direction clamping system, a climbing system, a climbing pole 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 firmly grasping the climbing pole. The climbing system is composed of two pairs of support legs used for realizing vertical crawling in the X-direction and the Y-direction. The pneumatic-muscle-based multi-degree-of-freedom humanoid pole-climbing robot conducts driving through the pneumatic muscles, has thecharacteristics of being compact in structure, clean and good in explosion-proof performance and can be used for paint spraying, cleaning and maintaining of high-rise irregular rod-like urban buildings.

Description

technical field [0001] 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 technique [0002] With the development of the city, there are more and more high-altitude pole-shaped urban buildings such as utility poles, natural gas pipelines, street light poles, bridge cables, etc. The painting, cleaning and maintenance of these buildings mainly rely on manual "Spiderman" and large-scale equipment. , for the workers, not only the work efficiency is low, the labor intensity is high, and the danger is high, but also the chemicals used for cleaning are harmful to the workers to a certain extent. Large-scale equipment is limited by the scope of the work site and funds. The shape of the surface is irregular, so a multi-degree-of-freedom robot capable of crawling irregular poles is needed. [0003] Chinese patents 201220172033.0, 201410...

AI Technical Summary

Problems solved by technology

[0005] Frequent positive and negative rotation of the motor is easy to burn, high rigidity, not suitable for use in flammable and explosive areas, hydraulic cylinders and air cylinders also have the disadvantage of too rigid

[0006] Chinese patent 201710485829.9 is the first to propose a flexible pole-climbing robot based on aerodynamic muscles, but it can only be applied to high-altitude pole-shaped urban buildings with regular surface shapes

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