An automated air-supplying composite robot and its control method

Abstract

This invention discloses an automatically air-supplying composite robot and its control method, comprising an air source system including an air device for providing positive pressure air or negative pressure suction; a control system electrically connected to the air source system; a housing for housing the air source system and the control system; an industrial robot disposed above the housing and electrically connected to the control system, the industrial robot including a robotic arm and a pneumatic actuator electrically connected to the control system, one end of the robotic arm being fixed to the housing, and the other end of the robotic arm being connected to the pneumatic actuator, the pneumatic actuator being connected to the air source system through a first pipe; and a mobile robot disposed below the housing for moving the housing and the industrial robot. This invention achieves automatic air supply to the pneumatic actuator without an external air source, while still not restricting the free movement of the composite robot.

Description

Technical Field

[0001] This invention relates to the field of automation, and more particularly to a composite robot with automatic air supply and its control method. Background Technology

[0002] Pneumatic actuators are actuators that convert gas into mechanical energy to achieve reciprocating or rotary motion. They have advantages such as simple structure, affordable price, ease of use, and easy maintenance. When paired with a robotic arm, they can perform various grasping actions. Normally, robotic arms are fixed in position and supplied with air from an external source. However, in the case of composite robots, an external air source restricts their free movement, thus requiring a mobile, automated air supply solution.

[0003] Currently, traditional small air compressors will start automatically when the air pressure is low, and cannot be actively controlled to start and stop; moreover, the air compressor vibrates a lot when it is running, which will have a significant impact on the positioning accuracy of the composite robot. Summary of the Invention

[0004] The purpose of this invention is to provide an automatically air-supplying composite robot and its control method, which enables the composite robot to use pneumatic actuators without an external air source, while not restricting the free movement of the mobile robot.

[0005] To achieve the above objectives, the present invention provides an automated air-supplying composite robot, comprising:

[0006] Air supply system, including air equipment, for providing positive pressure air or providing negative pressure suction;

[0007] A control system, which is electrically connected to the gas source system;

[0008] The enclosure is used to house the gas supply system and control system;

[0009] An industrial robot is disposed above the housing and electrically connected to the control system. The industrial robot includes a robotic arm and a pneumatic actuator electrically connected to the control system. One end of the robotic arm is fixed to the housing, and the other end of the robotic arm is connected to the pneumatic actuator. The pneumatic actuator is connected to the air source system through a first pipe.

[0010] A mobile robot is positioned below the housing and is used to move the housing and the industrial robot.

[0011] Preferably, a first solenoid valve is provided on the first pipeline, and the control system is electrically connected to the first solenoid valve to control the opening and closing of the first solenoid valve in order to control the start and stop of the pneumatic actuator.

[0012] Preferably, the air equipment is an air compressor, which has a first air inlet and a first air outlet. The control system is electrically connected to the air compressor and is used to control the start and stop of the air compressor.

[0013] Preferably, the air source system further includes an air storage tank for storing compressed air. The air storage tank is provided with a second air inlet and a second air outlet. The second air inlet is connected to the first air outlet through a second pipe, and the second air outlet is connected to the pneumatic actuator through a first pipe.

[0014] Preferably, a second solenoid valve is provided at one end of the second pipeline near the gas storage tank, and the control system is electrically connected to the second solenoid valve to control the opening and closing of the second solenoid valve to control the gas intake of the gas storage tank.

[0015] Preferably, the air tank is equipped with a pressure gauge for measuring and displaying the compressed air pressure inside the air tank.

[0016] Preferably, the air tank is equipped with a pressure sensor, which is electrically connected to the control system and is used to measure the compressed air pressure in the air tank and transmit the signal to the control system.

[0017] Preferably, a pressure relief valve is provided at one end of the first pipe near the air storage tank, which is used to discharge the compressed air in the air storage tank when the pressure of the compressed air in the air storage tank exceeds a set value.

[0018] Preferably, a third pipe is provided at the bottom of the gas storage tank for discharging the liquid water that has separated from the gas storage tank.

[0019] Preferably, the third pipe is equipped with an electronic drain valve, which is electrically connected to the control system for automatic drainage.

[0020] Preferably, the air source system further includes a vacuum generator for generating negative pressure using compressed air. The vacuum generator includes a third air inlet and a third air outlet. The third air inlet is connected to the second air outlet, and the third air outlet is connected to the pneumatic actuator through a first pipe.

[0021] Preferably, the air device is a vacuum pump, which has a gas inlet and a gas outlet. The gas outlet is connected to the pneumatic actuator through the first pipe. The control system is electrically connected to the vacuum pump and is used to control the start and stop of the vacuum pump.

[0022] Preferably, the housing is equipped with a counterweight to ensure the balance of the housing when the automatically air-supplying composite robot moves.

[0023] Preferably, the housing is equipped with a power distribution panel for accommodating cables and electrical components, and the power distribution panel is equipped with a voltage stabilizing module for supplying power to the automatic air-supplying composite robot.

[0024] Preferably, one end of the robotic arm is fixed to the housing by a column.

[0025] Compared with existing technologies, this invention designs an automatically air-supplying composite robot. A housing is placed between an industrial robot and a mobile robot, housing an air supply system and a control system. This integrated structure of the industrial robot, mobile robot, and housing reduces the impact of vibrations generated during air supply system operation on the positioning accuracy of both robots. A robotic arm controls the start and stop of the air supply system, activating it only when air is needed, avoiding gas loss caused by the system automatically starting when air pressure is low. The air supply system is connected to a pneumatic actuator, and the robotic arm controls the system to provide positive pressure air or negative pressure suction to control the actuator's start and stop. This achieves automatic air supply to the pneumatic actuator without an external air source, while still maintaining the composite robot's free movement.

[0026] The present invention also provides a control method for an automatically air-supplying composite robot, applicable to the aforementioned automatically air-supplying composite robot, the control method comprising the following steps:

[0027] S1: The robotic arm detects whether the pneumatic actuator needs air;

[0028] S2: If so, the control system detects the gas pressure inside the gas source system and outputs a gas pressure signal to the robotic arm.

[0029] S3: The robotic arm receives the gas pressure signal from the control system and controls the start and stop of the gas source system according to the corresponding signal;

[0030] S4: The robotic arm controls the gas supply system to output gas to control the start and stop of the pneumatic actuator.

[0031] Preferably, the robotic arm receiving the gas pressure signal from the control system and controlling the start and stop of the gas source system according to the corresponding signal specifically involves:

[0032] S301: When the gas pressure signal is less than the first preset pressure value, the robotic arm controls the gas source system to start and continuously supply gas.

[0033] S302: When the gas pressure signal is greater than or equal to the first preset pressure value, the robotic arm controls the gas source system to shut down.

[0034] Preferably, the method further includes the following steps:

[0035] S303: When the gas pressure signal is greater than the second preset pressure value, the control system controls the gas source system to depressurize, wherein the second preset pressure value is greater than the first preset pressure value.

[0036] Preferably, the method further includes the following steps:

[0037] S5: The control system controls the gas source system to automatically drain water periodically by controlling the electronic drain valve.

[0038] Compared with existing technologies, this invention also designs a control method for an automatically air-supplying composite robot. A robotic arm detects whether the pneumatic actuator requires air to control the start and stop of the air supply system, and then controls the air supply system to output positive pressure air or negative pressure suction to control the start and stop of the pneumatic actuator. By precisely controlling the start and stop of the air supply system and the air supply through the robotic arm, automatic air supply to the pneumatic actuator is achieved without an external air source, while also avoiding gas loss caused by the air supply system automatically starting when the air pressure is low. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the automatic air supply composite robot of the present invention.

[0040] Figure 2 This is a schematic diagram of the air supply system of the automatic air supply composite robot of the present invention. Detailed Implementation

[0041] To illustrate the technical content, structural features, and effects of the present invention in detail, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0042] like Figures 1-2 As shown, the first embodiment of the present invention provides an automatically air-supplying composite robot 1, including an air source system 10, which includes an air device for providing positive pressure air or negative pressure suction; a control system 20, which is electrically connected to the air source system 10; a housing 30 for housing the air source system 10 and the control system 20; an industrial robot 40, which is disposed above the housing 30 and electrically connected to the control system 20, and includes a robotic arm 41 and a pneumatic actuator 42 electrically connected to the control system 20, one end of the robotic arm 41 being fixed to the housing 30, and the other end of the robotic arm 41 being connected to the pneumatic actuator 42, which is connected to the air source system 10 through a first pipe 61; and a mobile robot 50, which is disposed below the housing 30 for moving the housing 30 and the industrial robot 40.

[0043] The first embodiment of this invention designs an automatically air-supplying composite robot 1. A housing 30 is set between an industrial robot 40 and a mobile robot 50. An air supply system 10 and a control system 20 are set inside the housing 30. Through the integrated structure of the industrial robot 40, the mobile robot 50 and the housing 30, the impact of vibration generated during the operation of the air supply system 10 on the positioning accuracy of the industrial robot 40 and the mobile robot 50 is reduced. The start and stop of the air supply system 10 are controlled by a robotic arm 41, and the air supply system 10 is only activated when there is a need for air, avoiding gas loss caused by the air supply system 10 starting automatically when the air pressure is low. The air supply system 10 is connected to a pneumatic actuator 42. The robotic arm 41 controls the air supply system 10 to provide positive pressure air or negative pressure suction to the pneumatic actuator 42 to control the start and stop of the pneumatic actuator 42. This realizes automatic air supply to the pneumatic actuator 42 without the need for an external air source, while still not restricting the free movement of the composite robot.

[0044] In some embodiments, a first solenoid valve is provided on the first pipeline 61, and the control system 20 is electrically connected to the first solenoid valve to control the opening and closing of the first solenoid valve to control the start and stop of the pneumatic actuator 42. The control system 20 is electrically connected to the first solenoid valve, and the robotic arm 41 is electrically connected to the control system 20. Therefore, the robotic arm 41 controls the opening and closing of the first solenoid valve by outputting a signal to the control system 20, thereby controlling the first pipeline 61 to output or disconnect gas to the pneumatic actuator 42, thereby indirectly controlling the start and stop of the pneumatic actuator 42.

[0045] In some embodiments, such as Figure 2 As shown, the air equipment is an air compressor 11, which has a first air inlet 111 and a first air outlet 112. The control system 20 is electrically connected to the air compressor 11 and is used to control the start and stop of the air compressor 11. The air compressor 11 is used to provide positive pressure air through compression. The control system 20 is electrically connected to the air compressor 11, and the robotic arm 41 is also electrically connected to the control system 20. Therefore, the robotic arm 41 outputs a signal to the control system 20 according to the current gas demand to control the start and stop of the air compressor 11. The robotic arm 41 controls the start and stop of the air compressor 11 to prevent gas loss caused by the air compressor 11 starting automatically due to low air pressure when there is no gas demand. When the air equipment is an air compressor 11, the pneumatic actuator 42 is a mechanism driven by positive pressure, such as a pneumatic gripper.

[0046] In some embodiments, such as Figure 2As shown, the air supply system 10 also includes an air storage tank 12 for storing compressed air. The air storage tank 12 has a second air inlet 121 and a second air outlet 122. The second air inlet 121 is connected to the first air outlet 112 through a second pipe 62, and the second air outlet 122 is connected to the pneumatic actuator 42 through a first pipe 61. By connecting the first air outlet 112 of the air compressor 11 with the second air inlet 121 of the air storage tank 12, the compressed air from the air compressor 11 is stored in the air storage tank 12 through the second pipe 62. Then, by connecting the second air outlet 122 of the air storage tank 12 with the pneumatic actuator 42, the compressed air stored in the air storage tank 12 is output to the pneumatic actuator 42 through the first pipe 61 to control the start and stop of the pneumatic actuator 42.

[0047] In some embodiments, a second solenoid valve 14 is provided at one end of the second pipe 62 near the air storage tank 12. The control system 20 is electrically connected to the second solenoid valve 14 and is used to control the opening and closing of the second solenoid valve 14 to control the air intake of the air storage tank 12. The control system 20 is electrically connected to the second solenoid valve 14, and the robotic arm 41 is also electrically connected to the control system 20. Therefore, the robotic arm 41 outputs a signal to the control system 20 according to the current gas demand to control the air compressor 11 to start, and at the same time, it can control the air compressed by the air compressor 11 to enter the air storage tank 12 to complete the storage of compressed air.

[0048] In some embodiments, the air tank 12 is equipped with a pressure gauge 15 for measuring and displaying the compressed air pressure inside the air tank 12. The compressed air pressure inside the air tank 12 can be directly observed through the pressure gauge 15.

[0049] In some embodiments, a pressure sensor 16 is provided on the air tank 12. The pressure sensor 16 is electrically connected to the control system 20 and is used to measure the compressed air pressure inside the air tank 12 and transmit the signal to the control system 20. The magnitude of the compressed air pressure inside the air tank 12 is determined by measuring the compressed gas pressure by the pressure sensor 16 and outputting an analog current signal to the control system 20.

[0050] Preferably, a pressure relief valve 17 is provided at the end of the first pipe 61 near the air storage tank 12, which is used to discharge the compressed air in the air storage tank 12 when the pressure of the compressed air in the air storage tank 12 exceeds a set value. That is, when the pressure gauge 15 or the pressure sensor 16 detects that the pressure of the compressed air inside the air storage tank 12 is too high, the pressure relief valve 17 will automatically open to discharge the compressed air in the air storage tank 12, ensuring the overall safety of the air storage tank 12 and the air source system 10.

[0051] In some embodiments, a third pipe 63 is provided at the bottom of the gas storage tank 12 for discharging the liquid water that has separated in the gas storage tank 12.

[0052] Preferably, an electronic drain valve 18 is provided on the third pipe 63. The electronic drain valve 18 is electrically connected to the control system 20 for automatic drainage. When the control system 20 detects that there is too much liquid water in the gas storage tank 12 or that the automatic drainage time has been exceeded, the control system 20 controls the electronic drain valve 18 to open, and the liquid water accumulated at the bottom of the gas storage tank 12 is discharged into the gas storage tank 12 through the third pipe 63.

[0053] In some embodiments, the air supply system 10 further includes a vacuum generator for generating negative pressure using compressed air. The vacuum generator includes a third air inlet and a third air outlet. The third air inlet is connected to the second air outlet 122, and the third air outlet is connected to the pneumatic actuator 42 via a first pipe 61. After the vacuum generator is connected to the second air outlet 122 of the air storage tank 12, the positive pressure compressed air is converted into negative pressure and then supplied to the pneumatic actuator 42 via the first pipe 61 to ultimately provide negative pressure suction.

[0054] In some embodiments, the air device is a vacuum pump 13, which has a gas inlet and a gas outlet. The gas outlet is connected to a pneumatic actuator 42 via a first pipe 61. The control system 20 is electrically connected to the vacuum pump 13 and is used to control the start and stop of the vacuum pump 13. The vacuum pump 13 is used to provide negative pressure suction by drawing in outside air. The control system 20 is electrically connected to the vacuum pump 13, and the robotic arm 41 is also electrically connected to the control system 20. Therefore, the robotic arm 41 outputs a signal to the control system 20 according to the current gas demand to control the start and stop of the vacuum pump 13. When the air device is a vacuum pump 13, the pneumatic actuator 42 is a mechanism driven by negative pressure, such as a pneumatic suction cup.

[0055] In some embodiments, a counterweight 31 is provided inside the housing 30 to ensure the balance of the housing 30 when the automatically air-supplying composite robot 1 moves. The counterweight 31 is set in a relatively open area inside the housing 30 as needed. For example, if the air source system 10 is set on the first side of the housing 30 and the control system 20 is set in the upper area of ​​the second side of the housing 30 opposite to the first side, the counterweight 31 can be set below the control system 20, that is, in the lower area of ​​the second side of the housing 30, in order to balance the housing 30 and help the weight distribution inside the housing 30 to be uniform, so as to ensure the overall stability of the housing 30 when the mobile robot 50 moves.

[0056] In some embodiments, the housing 30 is equipped with a distribution panel 32 for housing electrical cables and components. The distribution panel 32 is equipped with a voltage regulator module for powering the automated air-supplying composite robot 1. The voltage regulator module is configured according to the voltage required by the air equipment in the air source system 10. For example, if the air equipment is a 48V small air compressor, the voltage regulator module is also set to 48V. The air source system 10 is directly powered through the voltage regulator module, eliminating the need for additional components such as a 220V inverter, thus saving costs.

[0057] In some embodiments, one end of the robotic arm 41 is fixed to the housing 30 by a column 43.

[0058] The second embodiment of the present invention provides a control method for an automatically air-supplying composite robot, applicable to the aforementioned automatically air-supplying composite robot 1. The control method includes the following steps:

[0059] S1: The robotic arm 41 detects whether the pneumatic actuator 42 needs air;

[0060] S2: If so, the control system 20 detects the gas pressure inside the gas source system 10 and outputs a gas pressure signal to the robotic arm 41;

[0061] S3: The robotic arm 41 receives the gas pressure signal from the control system 20 and controls the start and stop of the gas source system 10 according to the corresponding signal;

[0062] S4: The robotic arm 41 controls the gas supply system 10 to output gas to control the start and stop of the pneumatic actuator 42.

[0063] The second embodiment of the present invention also designs a control method for an automatically air-supplying composite robot. A robotic arm 41 detects whether the pneumatic actuator 42 requires air to control the start and stop of the air supply system 10, and then controls the air supply system 10 to output positive pressure air or negative pressure suction to control the start and stop of the pneumatic actuator 42. By precisely controlling the start, stop, and air supply of the air supply system 10 through the robotic arm 41, automatic air supply to the pneumatic actuator 42 is achieved without an external air source, while also avoiding gas loss caused by the air supply system 10 automatically starting when the air pressure is low.

[0064] In some embodiments, the robotic arm 41 receives a gas pressure signal from the control system 20 and controls the start and stop of the gas source system 10 according to the corresponding signal, specifically as follows:

[0065] S301: When the gas pressure signal is less than the first preset pressure value, the robotic arm 41 controls the gas source system 10 to start and continuously supply gas.

[0066] S302: When the gas pressure signal is greater than or equal to the first preset pressure value, the robotic arm 41 controls the gas source system 10 to shut down.

[0067] Preferably, the method further includes the following steps:

[0068] S303: When the gas pressure signal is greater than the second preset pressure value, the control system 20 controls the gas source system 10 to depressurize, wherein the second preset pressure value is greater than the first preset pressure value.

[0069] In some embodiments, the following steps are also included:

[0070] S5: The robotic arm 41 controls the electronic drain valve 18 to control the gas supply system 10 to drain water periodically and automatically.

[0071] A control method for an automatically air-supplying composite robot according to a second embodiment of the present invention is as follows: When the automatically air-supplying composite robot 1 is first used, the robotic arm 41 detects whether the pneumatic actuator 42 needs air. If air is needed, the control system 20 automatically detects the gas pressure signal inside the air source system 10 and feeds it back to the robotic arm 41. The robotic arm 41 receives the gas pressure signal from the control system 20 and controls the start and stop of the air source system 10 according to the corresponding signal: When the gas pressure signal is less than a first preset pressure value, that is, the pressure inside the air source system 10 does not meet the air pressure requirement for starting the pneumatic actuator 42, the robotic arm 41 controls the air source system 10 to start and continuously supply air. At this time, the control system 20 continuously detects the gas pressure signal inside the air source system 10 until it detects that the gas pressure signal is greater than or equal to the first preset pressure value. At this time, the robotic arm 41 controls the air source system 10 to shut down. During this process, if the control system 20 detects that the gas pressure signal inside the air source system 10 is greater than a second preset pressure value, the control system 20 controls the air source system 10 to depressurize, and the second preset pressure value is greater than the first preset pressure value. The first preset pressure value here is the air pressure requirement for starting the pneumatic actuator 42. Multiple different first preset pressure values ​​can be set depending on the type of pneumatic actuator. The second preset pressure value is the maximum pressure that the air supply system 10 can withstand. Multiple different second preset pressure values ​​can be set depending on the type of air equipment. It should be noted that the second preset pressure value is greater than the first preset pressure value. When the robotic arm 41 controls the air supply system 10 to start, the robotic arm 41 controls the air supply system 10 to start outputting gas to the pneumatic actuator 42 to open the pneumatic actuator 42 and begin operation. When the robotic arm 41 controls the air supply system 10 to stop, the robotic arm 41 controls the air supply system 10 to stop outputting gas to the pneumatic actuator 42 to close the pneumatic actuator 42 and stop operation.

[0072] After frequent start-ups and shutdowns, the condensate generated inside the gas source system 10 can be controlled by the control system 20 to control the electronic drain valve 18 to start and stop at regular intervals, thereby controlling the gas source system 10 to automatically drain water through the drain pipe periodically, ensuring the working stability of the gas source system 10.

[0073] The second embodiment of this invention designs a control method for an automatically air-supplying composite robot. A robotic arm 41 detects whether the pneumatic actuator 42 requires air to control the start and stop of the air supply system 10. Then, it controls the air supply system 10 to output positive pressure air or negative pressure suction to control the start and stop of the pneumatic actuator 42. By precisely controlling the start, stop, and air supply of the air supply system 10 through the robotic arm 41, automatic air supply to the pneumatic actuator 42 is achieved without an external air source. This also avoids gas loss caused by the air supply system 10 automatically starting when the air pressure is low.

[0074] The above-disclosed examples are merely preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. Therefore, any equivalent variations made in accordance with the claims of the present invention shall still fall within the scope of the present invention.

Claims

1. A control method for an automatically air-supplying composite robot, comprising an automatically air-supplying composite robot, characterized in that, include: Air supply system, including air equipment, for providing positive pressure air or providing negative pressure suction; A control system, which is electrically connected to the gas source system; The enclosure is used to house the gas supply system and control system; An industrial robot is disposed above the housing and electrically connected to the control system. The industrial robot includes a robotic arm and a pneumatic actuator electrically connected to the control system. One end of the robotic arm is fixed to the housing, and the other end of the robotic arm is connected to the pneumatic actuator. The pneumatic actuator is connected to the air source system through a first pipe. A mobile robot, which is positioned below the housing, is used to move the housing and the industrial robot. The first pipeline is equipped with a first solenoid valve, and the control system is electrically connected to the first solenoid valve to control the opening and closing of the first solenoid valve in order to control the start and stop of the pneumatic actuator. When the air equipment is an air compressor, the air compressor is provided with a first air inlet and a first air outlet, and the control system is electrically connected to the air compressor for controlling the start and stop of the air compressor; The air source system also includes an air storage tank for storing compressed air. The air storage tank is provided with a second air inlet and a second air outlet. The second air inlet is connected to the first air outlet through a second pipe, and the second air outlet is connected to the pneumatic actuator through a first pipe. The gas storage tank is equipped with a pressure sensor, which is electrically connected to the control system and is used to measure the pressure of compressed air in the gas storage tank and transmit the signal to the control system. The system uses a robotic arm to detect whether the pneumatic actuator needs air to control the start and stop of the air supply system. It only activates the air supply system when there is a demand, avoiding gas loss caused by the system automatically starting when the air pressure is low. The system also includes the following steps: S1: The robotic arm detects whether the pneumatic actuator needs air; S2: If so, the control system detects the gas pressure inside the gas source system and outputs a gas pressure signal to the robotic arm. S3: The robotic arm receives the gas pressure signal from the control system and controls the start and stop of the gas source system according to the corresponding signal; S4: The robotic arm controls the gas supply system to output gas to control the start and stop of the pneumatic actuator; The robotic arm receives the gas pressure signal from the control system and controls the start and stop of the gas source system according to the corresponding signal, specifically as follows: S301: When the gas pressure signal is less than the first preset pressure value, the robotic arm controls the gas source system to start and continuously supply gas. S302: When the gas pressure signal is greater than or equal to the first preset pressure value, the robotic arm controls the gas source system to shut down.

2. The control method for the automatic air supply composite robot as described in claim 1, characterized in that, A second solenoid valve is provided at one end of the second pipeline near the gas storage tank. The control system is electrically connected to the second solenoid valve and is used to control the opening and closing of the second solenoid valve to control the gas intake of the gas storage tank.

3. The control method for the automatic air supply composite robot as described in claim 1, characterized in that, The air tank is equipped with a pressure gauge to measure and display the pressure of the compressed air inside the air tank.

4. The control method for the automatic air supply composite robot as described in any one of claims 1, characterized in that, The first pipe is equipped with a pressure relief valve at one end near the air storage tank, which is used to discharge the compressed air in the air storage tank when the pressure of the compressed air in the air storage tank exceeds a set value.

5. The control method for the automatic air supply composite robot as described in claim 1, characterized in that, The bottom of the gas storage tank is equipped with a third pipe for discharging the liquid water that has separated out inside the gas storage tank.

6. The control method for the automatic air supply composite robot as described in claim 5, characterized in that, The third pipe is equipped with an electronic drain valve, which is electrically connected to the control system for automatic drainage.

7. The control method for the automatic air supply composite robot as described in claim 1, characterized in that, The air source system also includes a vacuum generator for generating negative pressure using compressed air. The vacuum generator includes a third air inlet and a third air outlet. The third air inlet is connected to the second air outlet, and the third air outlet is connected to the pneumatic actuator through a first pipe.

8. The control method for the automatic air supply composite robot as described in claim 1, characterized in that, The air device is a vacuum pump, which has a gas inlet and a gas outlet. The gas outlet is connected to the pneumatic actuator through the first pipe. The control system is electrically connected to the vacuum pump and is used to control the start and stop of the vacuum pump.

9. The control method for the automatic air supply composite robot as described in claim 1, characterized in that, The box is equipped with a counterweight to ensure the balance of the box when the automatically air-supplying composite robot moves.

10. The control method for the automatic air supply composite robot as described in claim 1, characterized in that, The enclosure contains a power distribution panel for housing cables and electrical components. The power distribution panel is equipped with a voltage stabilizing module for supplying power to the automatic air-supplying composite robot.

11. The control method for the automatic air supply composite robot as described in claim 1, characterized in that, One end of the robotic arm is fixed to the box body by a column.

12. The control method for the automatic air supply composite robot as described in claim 1, characterized in that, It also includes the following steps: S303: When the gas pressure signal is greater than the second preset pressure value, the control system controls the gas source system to depressurize, wherein the second preset pressure value is greater than the first preset pressure value.

13. The control method for the automatic air supply composite robot as described in claim 1, characterized in that, It also includes the following steps: S5: The control system controls the gas source system to automatically drain water periodically by controlling the electronic drain valve.

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