Air pressure-motor cooperative driving super-redundant deformation continuum charging robot system

Abstract

The invention discloses an air pressure-motor cooperative driving super-redundant deformation continuum charging robot system, which comprises a pneumatic mechanical arm, a motor, a charging robot, a charging robot, a charging robot and a charging robot, and is characterized in that the pneumatic mechanical arm comprises a plurality of sections of pneumatic continuum; the charging head is mounted at the head end of the pneumatic mechanical arm; the adjacent pneumatic continuum bodies are connected through the hollow motors. The flexible bending movement of each section of pneumatic continuum in a plane is realized by adopting the pneumatic semi-corrugated pipe for driving, and the plane bending movement is converted into multi-degree-of-freedom movement in a three-dimensional space through the hollow motor for driving. Through cooperative control of pneumatic driving and the hollow motor, the position and posture of the charging head can be flexibly adjusted to adapt to charging interfaces at different positions and angles, and the adaptability to diversified charging scenes is remarkably improved. Meanwhile, the robot is endowed with the natural output force compliance characteristic through pneumatic driving, the safety and reliability in the charging docking process are effectively improved, and the robot is particularly suitable for the complex working condition environment with positioning errors or dynamic changes.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of continuum robots, in particular to a pneumatic-motor cooperative driving super-redundant deformation continuum charging robot system. BACKGROUND

[0002] In recent years, with the rapid development of new energy vehicle industry, the intelligentization and automation level of charging facilities has become one of the key factors affecting its large-scale promotion and application. The current widely used charging scheme still mainly adopts fixed charging piles cooperating with manual plugging and unplugging of charging guns. This mode has problems such as insufficient flexibility of charging space, easy occupation by fuel vehicles, and cumbersome user operation. In order to improve charging efficiency and user experience, intelligent mobile charging robots have gradually attracted attention and application. They realize a new service mode of "electricity finding vehicles" by autonomously navigating to the vehicle parking position, effectively improving the utilization efficiency of charging resources. However, most of the existing mobile charging robots only have autonomous mobile capability, and the plugging and unplugging operation of the charging gun still depends on manual completion, and the full-process automation has not been realized in a true sense.

[0003] In order to further promote the unmanned and intelligentization of the charging process, some enterprises and research institutions have begun to develop autonomous charging robots integrated with mechanical arms, trying to realize automatic docking of charging interfaces through visual recognition and rigid mechanical arms. However, such rigid mechanical arms have problems such as limited motion flexibility, easy rigid collision with vehicles, and low tolerance to charging port position deviation in real parking scenarios, especially when facing large differences in charging interface positions of different vehicle models, it is difficult to ensure docking accuracy while considering operation safety and flexibility.

[0004] Under this background, continuum robots have gradually become a research hotspot for charging robot actuators due to their good flexibility, high flexibility and super-redundant degrees of freedom. This type of robot replaces the traditional rigid links and joints with a flexible structure, which can realize continuous deformation in narrow and unstructured spaces and has strong environmental adaptability. However, traditional continuum robots mostly adopt uniform stiffness structure design, resulting in isotropic overall mechanical properties, which causes inherent contradictions between load capacity and deformation performance. When performing charging tasks, the robot needs to accurately operate the charging gun and bear its own weight, and the uniform stiffness structure is difficult to realize local stiffness enhancement of key positions, and is prone to overall instability under high load working conditions. In addition, traditional continuum robots usually rely on motors to drive through cables, and the driving mode is relatively rigid, which not only affects the stability and reliability of the docking process, but also may cause damage to the vehicle charging interface and surface paint. Therefore, the existing technology still has significant bottlenecks in structure design, driving mode and environmental adaptability, and a new charging robot structure scheme is needed to solve the above technical problems.

[0005] In view of the problems existing in the prior art, the application provides a super-redundant deformation continuum charging robot system driven by air pressure and motor in cooperation SUMMARY

[0006] The application aims to provide a super-redundant deformation continuum charging robot system driven by air pressure and motor in cooperation to solve the problems existing in the prior art.

[0007] To achieve the above-mentioned purpose, the application provides the following scheme: the application provides a super-redundant deformation continuum charging robot system driven by air pressure and motor in cooperation, comprising:

[0008] A pneumatic mechanical arm, the pneumatic mechanical arm comprises a plurality of segments of pneumatic continuum, and the plurality of segments of pneumatic continuum are connected in series;

[0009] A charging head, the charging head is installed at the first end of the pneumatic mechanical arm;

[0010] A hollow motor, the adjacent pneumatic continuum is connected by the hollow motor respectively, and the hollow motor is used for controlling the rotation of the pneumatic continuum;

[0011] Wherein, the pneumatic continuum comprises a plurality of segments of bone joints, the adjacent bone joints are connected by a mortise and tenon structure, the adjacent bone joints are symmetrically installed with pneumatic half bellows, two groups of the pneumatic half bellows are used for controlling the deflection of the bone joint by air charging and discharging, and the pneumatic half bellows are connected with a gas supply system module.

[0012] According to the super-redundant deformation continuum charging robot system driven by air pressure and motor in cooperation provided by the application, two groups of arc-shaped grooves are arranged at the two ends of the bone joint respectively, and the two groups of arc-shaped grooves at the same end are symmetrically arranged, and the pneumatic half bellows are installed in the arc-shaped grooves respectively.

[0013] According to the super-redundant deformation continuum charging robot system driven by air pressure and motor in cooperation provided by the application, the pneumatic half bellows at the same side are connected in sequence, a gas nozzle is installed on the pneumatic half bellows at the first end, and the gas nozzle is connected with the gas supply system.

[0014] According to the super-redundant deformation continuum charging robot system driven by air pressure and motor in cooperation provided by the application, a wire arranging hole is arranged at the central position of the bone joint, and the cable of the charging head is arranged in the wire arranging hole.

[0015] According to the super-redundant deformation continuum charging robot system driven by air pressure and motor in cooperation provided by the application, the gas supply system comprises a gas supply pipe and a gas pump, one end of the gas supply pipe is connected with the gas pump, a gas pipe hole is arranged on the side wall of the wire arranging hole, the other end of the gas supply pipe is arranged in the wire arranging hole, and the other end of the gas supply pipe is connected with the gas nozzle through the gas pipe hole.

[0016] The pneumatic-motor cooperative driving super-redundant deformation continuum charging robot system provided by the application comprises a mortise and tenon structure, the mortise structure and the tenon structure are arranged on adjacent bone joints respectively, and the mortise structure and the tenon structure are connected.

[0017] The pneumatic-motor cooperative driving super-redundant deformation continuum charging robot system provided by the application further comprises a threading module, the threading module comprises a nickel-titanium alloy wire, a threading hole is formed in the bone joint, the nickel-titanium alloy wire passes through the threading hole, and the nickel-titanium alloy wire is fixed with the bone joints at two ends.

[0018] The pneumatic-motor cooperative driving super-redundant deformation continuum charging robot system provided by the application is provided with a threaded hole on the bone joint at the end.

[0019] The application discloses the following technical effects:

[0020] In the application, the pneumatic continuum is connected by a plurality of bone joints through a mortise and tenon structure, and can realize flexible bending movement left and right on a plane through the inflation and deflation control of the pneumatic half-corrugated pipe, and in addition, the relative rotation movement between the segments of the pneumatic continuum is realized through the rotation action of the hollow motor, the plane bending movement of each segment of the pneumatic continuum is converted into three-dimensional space bending movement of the whole robot, the charging head can adapt to charging interfaces at different positions and different angles, and the adaptability to various charging scenes is improved.

[0021] The pneumatic drive and the hollow motor work cooperatively, the high-precision positioning of the charging head is realized through the accurate control of the inflation and deflation amount of the pneumatic half-corrugated pipe and the accurate regulation and control of the rotation angle of the hollow motor, the charging head and the charging interface are accurately connected, and the connection deviation is reduced. Meanwhile, the pneumatic drive adopts the pneumatic half-corrugated pipe made of flexible material as an execution element, has natural force compliance, can realize compliant contact in the charging connection process, avoids rigid collision between the charging head and the surface of the vehicle, effectively prevents damage to the vehicle body, and significantly improves the safety and reliability of the charging connection process.

[0022] The mortise and tenon structure realizes axial limiting and radial cooperation in the assembly direction, so that adjacent bone segments form a close connection in the direction perpendicular to the mortise and tenon disc plane, has high bending and compression stiffness, can effectively bear external loads generated in the charging head docking process, and guarantees the structural stability; meanwhile, relative rotation between adjacent bone segments is allowed in the disc plane, good compliant motion ability of the robot is given, and the needs of the robot for bending, twisting and other multi-dimensional deformation in space are met. On this basis, combined with the cooperative control of the pneumatic drive and the hollow motor, dynamic adjustment of the overall and local stiffness of the robot can be further realized to adapt to the spatial position and docking force requirements of different vehicle charging interfaces, and the adaptability and safety of the charging operation are improved.

[0023] The pneumatic driving mode has the characteristics of fast response, the gas supply system module can quickly convert the inflation and deflation of the pneumatic half corrugated pipe into the action of the pneumatic continuum, and the instantaneous rotation control of the hollow motor makes the whole device quickly complete the position adjustment and docking action of the charging head, thereby improving the docking efficiency of the charging interface.

[0024] The hollow motor is used to connect adjacent pneumatic continua, compared with the traditional motor, the hollow structure not only saves the installation space, but also facilitates the cable and pneumatic pipeline to pass through, realizes the centralized wiring of power, signal lines and air path, avoids the winding and interference of external cables, and further optimizes the overall layout. The design makes the internal structure of the pneumatic manipulator more compact and has higher integration, effectively reduces the external contour size of the manipulator, is beneficial to flexible motion and operation in narrow and complex parking environments, and improves the spatial adaptability of the robot in actual application scenarios. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description only constitute some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0026] Figure 1 is the axial view of the charging pile robot of the present application;

[0027] Figure 2 is the sectional view of the charging pile robot of the present application;

[0028] Figure 3 is the axial view of the middle segment bone segment of the present application;

[0029] Figure 4 is the sectional view of the middle segment bone segment of the present application;

[0030] Figure 5Axonometric view of the bone joint of the first and last segments of the present invention Figure I ;

[0031] Figure 6 Sectional view of the bone joint of the first and last segments of the present invention Figure I ;

[0032] Figure 7 Axonometric view of the bone joint of the first and last segments of the present invention Figure II ;

[0033] Figure 8 Sectional view of the bone joint of the first and last segments of the present invention Figure II ;

[0034] Figure 9 Axonometric view of the pneumatic half-wave tube of the present invention

[0035] Figure 10 Sectional view of the pneumatic half-wave tube of the present invention

[0036] Figure 11 Schematic diagram of the cooperation between the pneumatic half-wave tube and the bone joint of the present invention

[0037] Figure 12 Schematic diagram of the hollow motor of the present invention

[0038] Figure 13 Schematic diagram of the structure of the charging head of the present invention

[0039] Figure 14 Schematic diagram of the operation mode of the charging pile robot of the present invention Figure I ;

[0040] Figure 15 Schematic diagram of the operation mode of the charging pile robot of the present invention Figure II ;

[0041] Figure 16 Schematic diagram of the operation mode of the charging pile robot of the present invention Figure III ;

[0042] Figure 17 Schematic diagram of the operation mode of the charging pile robot of the present invention Figure IV ;

[0043] Figure 18 Schematic diagram of the operation mode of the charging pile robot of the present invention Figure V ,

[0044] Wherein, 1, charging head; 2, hollow motor; 3, bone joint; 4, pneumatic half-wave tube; 5, air nozzle; 6, wire hole; 7, air pipe hole; 8, tenon structure; 9, mortise structure; 10, through hole; 11, threaded hole. DETAILED DESCRIPTION

[0045] ​With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described, obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0046] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0047] With reference to Figures 1-18 The present application provides a pneumatic-motor cooperative driving super-redundant deformation continuum charging robot system, comprising:

[0048] A pneumatic mechanical arm, the pneumatic mechanical arm comprising a plurality of segments of pneumatic continuum, the plurality of segments of pneumatic continuum being connected in series;

[0049] A charging head 1, the charging head 1 being installed at the first end of the pneumatic mechanical arm;

[0050] The charging head 1 is the end component for the robot to perform charging operation, and is used for docking the charging interface of the electric vehicle. In the present embodiment, the charging head 1 adopts an interface structure conforming to the charging standard of the electric vehicle, is connected with the last segment of bone joint 3 through a flange, and is internally provided with a position sensor, so as to feedback the position deviation from the charging interface of the vehicle in real time, and assist the controller to accurately adjust the posture of the robot, so as to realize millimeter-level docking accuracy.

[0051] A hollow motor 2, the adjacent segments of pneumatic continuum being connected through the hollow motor respectively, and being used for controlling the rotation of the segments of pneumatic continuum;

[0052] The hollow motor 2 is used for connecting the multi-segment continuum robot, realizing the relative rotation between the segments, and expanding the movement dimension of the robot. In the present embodiment, the hollow motor 2 is a special hollow shaft motor, the hollow channel can pass through the air pipe, charging cable and control cable, etc., the output shaft of the motor is connected through a flange and the like, and can drive the adjacent segments of continuum to rotate around the shaft (the rotation angle range is set as required, such as 0-360°), so as to cooperate with the planar bending movement of the pneumatic half bellows 4, and enable the robot end (the charging head 1 load) to be accurately positioned in the four-dimensional space.

[0053] The pneumatic continuum comprises a plurality of segments of bone joint 3, the adjacent segments of bone joint 3 being connected through a mortise and tenon structure, and the adjacent segments of bone joint 3 being symmetrically provided with the pneumatic half bellows 4, the two groups of pneumatic half bellows 4 being used for deflecting the segments of bone joint 3 through air charging and discharging control, and the pneumatic half bellows 4 being connected with a gas supply system module.

[0054] The half-wave tube adopts an alternating design of corrugated structure and smooth structure, the material thereof is flexible rubber, and the half-wave tube is in stable and controllable diastolic compression deformation when being inflated or deflated, so as to provide accurate plane swing force for the continuum robot; the design that one end of the half-wave tube is sealed and the other end is connected with the air pipe ensures that the pneumatic system is in good sealing, the adaptive design of the half-wave tube and the hole of the bone joint 3 and the accurate layout between the bone joints 3 further reduce the risk of motion interference and ensure the smoothness of the driving process. The flexible rubber material makes the pneumatic half-wave tube 4 have natural force compliance, effectively prevents damage to the vehicle body, and significantly improves the safety and reliability of the charging docking process.

[0055] The bone joint 3 is made of rigid material and is the basis for the structure support and attitude adjustment of the robot. In this embodiment, the bone joint 3 is made of resin material and is 3D printed, and under the synergistic action of external force and the pneumatic half-wave tube 4, the whole can be driven to produce bending, twisting and other movements. The specific structure of a single bone joint 3 includes a main body part and a connecting part. The main body part is optimized to reduce weight while ensuring strength; the connecting part is a disc-shaped mortise and tenon structure, including a protruding tenon structure 8 and a recessed mortise structure 9, and adjacent bone joints 3 are connected through the mortise and tenon structure, so that the bone joints 3 can rotate relatively in the disc plane direction (flexible, meet the bending and twisting requirements of the robot), and are tightly connected in the vertical disc plane direction (rigid, ensure the stability of the structure, bear the load of the charging head 1 docking, etc.), so as to realize the non-uniform stiffness characteristic, balance the motion flexibility and the structural stability.

[0056] When the charging pile robot receives a charging instruction, the whole system starts to work. The gas supply system module starts to work, and through the accurate inflation and deflation control of the two groups of symmetrical pneumatic half-wave tubes 4 in the pneumatic continuum, the relative deflection between adjacent bone joints 3 is generated, and then the bending movement of the pneumatic continuum formed by the connection of the bone joints 3 through the mortise and tenon structure is realized. At the same time, the hollow motor 2 between the adjacent pneumatic continua starts to work, and according to the direction and angle that the charging head 1 needs to adjust, the connected pneumatic continua are controlled to rotate, so as to cooperate with the bending action of the pneumatic continuum, and accurately adjust the spatial position and attitude of the charging head 1 installed at the front end of the pneumatic mechanical arm. Under the driving of the pneumatic mechanical arm, the charging head 1 gradually approaches the charging interface of the device to be charged, and finally completes the docking and charging operation. After the charging is completed, the gas supply system module works in reverse, the pneumatic half-wave tube 4 is deflated, the pneumatic continuum is reset, the hollow motor 2 drives the pneumatic continuum to rotate and reset, the charging head 1 is separated from the interface, and returns to the initial position.

[0057] Further optimization scheme, two groups of arc-shaped grooves are arranged at the two ends of the bone joint 3, and the two groups of arc-shaped grooves at the same end are symmetrically arranged, and the pneumatic half-wave tube 4 is arranged in the arc-shaped groove.

[0058] Two groups of symmetrical arc-shaped grooves are arranged at both ends of the bone joint 3, which provide a higher fitting installation space for the pneumatic half-wave bellows 4. The curvature of the arc-shaped groove matches the outer contour of the half-wave bellows, which can limit the radial deviation of the half-wave bellows during inflation and deflation, ensure that the axial expansion force of the half-wave bellows is fully converted into the deflection torque of the bone joint 3, and the arc-shaped groove can make the smooth section of the half-wave bellows tightly fit the inner wall of the bone joint 3, reduce the friction loss during movement, and avoid local deformation of the half-wave bellows due to uneven stress, thereby improving the linearity and precision of the bending action.

[0059] The basic shape of the cross section of the bone joint 3 is obtained by symmetrically operating a circle along a tangent. By stretching the symmetric figure, the prototype of the bone joint 3 is formed. Considering the need to accurately control the movement of the bone joint 3 by using the half-wave bellows, in order to enable the half-wave bellows to smoothly pass through the bone joint 3 and achieve reliable fixation, perforation processing is performed on the basis of the prototype. The size of the perforation is carefully designed to accurately match the size of the half-wave bellows, ensuring that the half-wave bellows can pass through without obstacles while forming a stable fitting relationship with the bone joint 3. In addition, in order to ensure that the continuum robot composed of these bone joints 3 can smoothly realize the bending action under the action of the half-wave bellows, a quarter circle size portion is cut off at the four corners of the prototype. When two bone joints 3 are connected through the mortise and tenon structure, the diameter of the half circle formed is accurately set to be slightly larger than the length of the bellows structure of the half-wave bellows. This design enables the half-wave bellows to fully function when driving the bone joint 3 to move, achieving the expected bending effect, while ensuring that there is no interference between the components, and ensuring the smoothness and stability of the movement of the entire continuum robot.

[0060] Further optimization scheme, the pneumatic half-wave bellows 4 on the same side are connected in sequence, and the pneumatic half-wave bellows 4 at the leading end is provided with an air nozzle 5, and the air nozzle 5 is connected with the gas supply system.

[0061] After the pneumatic half-wave bellows 4 on the same side are connected in sequence, the leading end air nozzle 5 is connected with the gas supply system to form a series air path. The series design can make the half-wave bellows on the same side receive the air pressure signal synchronously, ensure that the deflection angles of the bone joints 3 are consistent, and avoid the action delay caused by independent air supply. At the same time, reducing the number of air nozzles 5 can simplify the pipeline layout, reduce the risk of air pipe winding, and improve the system response speed.

[0062] The pneumatic half bellows 4 is made of flexible material and can be deformed under the action of internal air pressure, thereby driving the continuum robot to move. In this embodiment, the pneumatic half bellows 4 is made of rubber material with good wear resistance and good elasticity. A plurality of pneumatic half bellows 4 are arranged along the length direction of the bone group 3 and symmetrically distributed on both sides of the bone group 3. Each pneumatic half bellows 4 is internally provided with an air cavity, the side close to the bone group 3 is a constraint layer, and the side away from the bone group 3 is an expansion layer. The expansion layer is composed of a plurality of bellows rings arranged at intervals along the length direction, and each bellows ring is in communication with the air cavity to form a pleated structure. Under the action of the same air pressure, the expansion layer is more prone to deformation than the constraint layer, and the wall thickness of the constraint layer is greater than the thickness of the expansion layer, further strengthening the difference in deformation. By controlling the inflation and deflation of the pneumatic half bellows 4 on different sides, the continuum robot can be made to produce bending motion: inflation of one side of the half bellows makes it expand, and deflation of the other side makes it contract, thereby driving the bone group 3 to bend towards the deflation side; vice versa.

[0063] Further optimization scheme, the center position of the bone group 3 is provided with a wire arranging hole 6, and the cable of the charging head 1 is arranged in the wire arranging hole 6.

[0064] The wire arranging hole 6 penetrates through the center of the bone group 3 and provides an independent channel for the cable of the charging head 1. The wire arranging hole 6 can avoid interference between the cable and the pneumatic components and the motion structure, and prevent the cable from being squeezed or worn due to the bending of the bone group 3. At the same time, the concentrated wiring makes the cable path fixed, reduces the cable drag during the movement of the robot, and improves the positioning accuracy of the charging head 1.

[0065] The diameter of the wire arranging hole 6 is designed according to the number and diameter of the cable, the inner wall is treated with smoothness and is provided with a wear-resistant sleeve to reduce the friction loss of the cable; a partition plate can be arranged in the hole to separate the signal line and the power line, thereby reducing electromagnetic interference.

[0066] Further optimization scheme, the gas supply system includes a gas supply pipe and a gas pump, one end of the gas supply pipe is connected with the gas pump, a gas pipe hole 7 is formed in the side wall of the wire arranging hole 6, the other end of the gas supply pipe extends into the wire arranging hole 6 and is connected with the air nozzle 5 through the gas pipe hole 7.

[0067] Further optimization scheme, the mortise and tenon structure includes a tenon structure 8 and a mortise structure 9, the tenon structure 8 and the mortise structure 9 are arranged on adjacent bone groups 3 respectively, and the tenon structure 8 and the mortise structure 9 are connected.

[0068] The non-uniform rigidity design of the disc-shaped tenon structure 8 and the mortise structure 9 can make the adjacent bone joints 3 be stably connected in the vertical disc direction, effectively resist external loads when the charging head 1 is docked, prevent the structure from loosening or displacement, and ensure the shape stability of the robot in complex working conditions. The flexible rotation characteristics along the disc direction endow the robot with flexible bending and twisting capabilities, so that it can freely adjust the posture in the tortuous space such as a narrow parking space, and meet the charging needs of electric vehicles at different parking angles. The limitations of the traditional rigid connection mechanism in motion flexibility are effectively overcome, and the problem of insufficient local bearing capacity caused by uniform structural rigidity of the traditional continuum robot is solved, realizing the organic combination of structural strength and motion flexibility.

[0069] The further optimization scheme further comprises a threading module, the threading module comprises a nickel-titanium alloy wire, the bone joint 3 is provided with a threading hole 10, the nickel-titanium alloy wire passes through the threading hole 10, and the nickel-titanium alloy wire is fixed with the bone joints 3 at the two ends.

[0070] The nickel-titanium alloy is threaded in the threading hole 10 of the bone joint due to its excellent super-elasticity characteristics, is arranged in series along the axial direction of the plurality of bone joints 3, and can effectively enhance the overall stability and reliability of the connection structure of the bone joints. When the robot is in motion or is subjected to external loads, the nickel-titanium alloy can generate a large recoverable strain through its super-elastic deformation capacity, thereby absorbing and buffering external stress, reducing stress concentration at the connection part of the bone joint, preventing loosening or disconnection of the connection due to vibration, impact or repeated deformation, and ensuring the structural integrity of the pneumatic continuum robot in complex working conditions. At the same time, due to the super-elasticity characteristics of the nickel-titanium alloy, after the external force is removed or the pneumatic driving pressure is released, each section of the pneumatic continuum can quickly recover to the initial shape under the elastic restoring force of the nickel-titanium alloy, realizing good shape resetting performance and ensuring the repeatability and control accuracy of the robot motion. This design not only improves the durability and safety of the robot structure, but also further enhances the self-recovery ability of the robot after performing multi-dimensional deformation tasks in a small space, which is beneficial to realize high-reliability and long-period automatic charging operation.

[0071] The further optimization scheme is that the bone joint 3 at the end is provided with a threaded hole 11, so that the sections of the pneumatic continuum of the robot and the hollow motor are stably connected through bolts.

[0072] In the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0073] The above-described embodiments are merely intended to describe the preferred modes of the present application, and are not intended to limit the scope of the present application. Various modifications and improvements of the present application made by those skilled in the art based on the above-described embodiments should fall within the scope of the present application defined by the claims.

Claims

1. A baro-motor synergic driven super-redundant morphing continuum charging robot system, characterized in that, The utility model relates to a pneumatic robot arm, which comprises a plurality of pneumatic segments connected in series, a charging head (1) mounted at the leading end of the pneumatic robot arm, hollow motors (2) respectively connecting adjacent pneumatic segments for controlling the relative rotation between the pneumatic segments, wherein the pneumatic segments comprise a plurality of bone segments (3) connected by a mortise and tenon structure, and a pair of pneumatic half bellows (4) symmetrically mounted between adjacent bone segments (3). The two ends of the bone segment (3) are respectively provided with two groups of arc-shaped grooves, and the two groups of arc-shaped grooves at the same end are symmetrically arranged, and the pneumatic half bellows (4) are respectively mounted in the arc-shaped grooves. The pneumatic half bellows (4) on the same side are connected in series, and a gas nozzle (5) is mounted on the pneumatic half bellows (4) at the leading end, and the gas nozzle (5) is connected with the gas supply system. A wire hole (6) is formed at the center of the bone segment (3), and the cable of the charging head (1) is arranged in the wire hole (6). The gas supply system comprises a gas supply pipe and a gas pump, one end of the gas supply pipe is connected with the gas pump, a gas pipe hole (7) is formed in the side wall of the wire hole (6), the other end of the gas supply pipe extends into the wire hole (6) and is connected with the gas nozzle (5) through the gas pipe hole (7).

2. The baro-motor synergic driven super-redundant metamorphic continuum charging robot system according to claim 1, wherein, The mortise and tenon structure comprises a tenon structure (8) and a mortise structure (9), the tenon structure (8) and the mortise structure (9) are respectively arranged on adjacent bone segments (3), and the tenon structure (8) and the mortise structure (9) are connected.

3. The pneumatic-motor cooperative driving super-redundant metamorphic continuum charging robot system according to claim 1, wherein, The utility model further comprises a penetrating module, the penetrating module comprises a nickel-titanium alloy wire, a penetrating hole (10) is formed in the bone segment (3), the nickel-titanium alloy wire penetrates through the penetrating hole (10) and is fixed with the bone segments (3) at both ends.

4. The pneumatic-motor synergic driven super-redundant metamorphic continuum charging robot system according to claim 3, wherein, The bone segment (3) at the end is provided with a threaded hole (11).

5. The pneumatic-motor synergic driven super-redundant metamorphic continuum charging robot system according to claim 4, wherein, ​ 6. The pneumatic-motor synergic driven super-redundant metamorphic continuum charging robot system according to claim 1, wherein, ​ 7. The pneumatic-motor synergic driven super-redundant metamorphic continuum charging robot system according to claim 1, wherein, ​ 8. The pneumatic-motor synergic driven super-redundant metamorphic continuum charging robot system according to claim 1, wherein, ​

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