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

Abstract

The application discloses a pneumatic-motor cooperative driving super-redundant deformation continuum charging robot system, which comprises a pneumatic manipulator, the pneumatic manipulator comprising a plurality of pneumatic continuums, a charging head installed at the first end of the pneumatic manipulator, and hollow motors respectively connecting adjacent pneumatic continuums. The application adopts a pneumatic half bellows to drive the flexible bending movement of each pneumatic continuum in a plane, and converts the plane bending movement into multi-degree-of-freedom movement in a three-dimensional space through hollow motor driving. Through the cooperative control of pneumatic driving and hollow motor, the charging head can flexibly adjust the position and attitude, adapt to charging interfaces at different positions and angles, and significantly improve the adaptability to diversified charging scenes. Meanwhile, the pneumatic driving endows the robot with natural output force compliance characteristics, effectively improves the safety and reliability in the charging docking process, and is especially suitable for complex working conditions with positioning errors or dynamic changes.

Description

Technical Field

[0001] This invention relates to the field of continuum robot technology, and in particular to a super-redundant deformable continuum charging robot system driven by pneumatic-motor coordination. Background Technology

[0002] In recent years, with the rapid development of the new energy vehicle industry, the level of intelligence and automation of charging facilities has become one of the key factors affecting its large-scale promotion and application. Currently, the widely adopted charging solutions still mainly rely on fixed charging piles combined with manual plugging and unplugging of charging guns. This method suffers from problems such as insufficient flexibility of charging spaces, susceptibility to being occupied by gasoline vehicles, and cumbersome user operations. To improve charging efficiency and user experience, intelligent mobile charging robots have gradually gained attention and application. They autonomously navigate to the vehicle's parking location, realizing a new "electricity finds the car" service model, effectively improving the utilization efficiency of charging resources. However, most existing mobile charging robots only possess autonomous movement capabilities; the plugging and unplugging of charging guns still relies on manual operation, and true full-process automation has not yet been achieved.

[0003] To further advance the unmanned and intelligent charging process, some companies and research institutions have begun developing autonomous charging robots integrated with robotic arms, attempting to achieve automatic docking of charging interfaces through visual recognition and the collaboration of rigid robotic arms. However, such rigid robotic arms face problems in real parking scenarios, including limited mobility, susceptibility to rigid collisions with vehicles, and low tolerance for charging port position deviations. Especially when dealing with significant differences in the charging port positions of different vehicle models, it is difficult to ensure docking accuracy while also maintaining operational safety and compliance.

[0004] Against this backdrop, continuum robots, with their excellent compliance, high flexibility, and super-redundant degrees of freedom, have gradually become a research hotspot for charging robot actuators. This type of robot replaces traditional rigid links and joints with flexible structures, enabling continuous deformation in confined and unstructured spaces, demonstrating strong environmental adaptability. However, traditional continuum robots often employ uniform stiffness structural designs, resulting in isotropic overall mechanical properties and an inherent contradiction between load capacity and deformation performance. During charging tasks, the robot needs to accurately operate the charging gun and bear its own weight; uniform stiffness structures struggle to achieve localized stiffness enhancement in critical areas, making it prone to overall instability under high load conditions. Furthermore, traditional continuum robots typically rely on motors driven by cables, resulting in a rigid drive mechanism that not only affects the stability and reliability of the docking process but may also damage the vehicle's charging interface and surface paint. Therefore, existing technologies still face significant bottlenecks in structural design, drive methods, and environmental adaptability, necessitating the development of novel charging robot structural solutions to address these technical challenges.

[0005] To address the shortcomings of existing technologies, this invention provides a pneumatic-motor coordinated driven super-redundant deformable continuum charging robot system. Summary of the Invention

[0006] The purpose of this invention is to provide a super-redundant deformable continuum charging robot system driven by pneumatic pressure and electric motor, so as to solve the problems existing in the prior art.

[0007] To achieve the above objectives, the present invention provides the following solution: The present invention provides a pneumatic-motor coordinated driven super-redundant deformable continuum charging robot system, comprising:

[0008] A pneumatic robotic arm, comprising several pneumatic continuous sections connected in series;

[0009] A charging head, which is installed at the leading end of the pneumatic robotic arm;

[0010] Hollow motors are used to control the rotation of adjacent pneumatic continuous bodies.

[0011] The pneumatic continuous body includes several segments, which are connected by a tenon and mortise structure. Pneumatic semi-corrugated pipes are symmetrically installed between adjacent segments. The two sets of pneumatic semi-corrugated pipes control the deflection of the segments by inflation and deflation. The pneumatic semi-corrugated pipes are connected to the air supply system module.

[0012] According to the pneumatic-motor coordinated drive super-redundant deformable continuum charging robot system provided by the present invention, two sets of arc-shaped grooves are respectively provided at both ends of the joint, and the two sets of arc-shaped grooves located at the same end are symmetrically arranged, and the pneumatic semi-corrugated pipes are respectively installed in the arc-shaped grooves.

[0013] According to the pneumatic-motor coordinated drive super-redundant deformable continuum charging robot system provided by the present invention, the pneumatic semi-corrugated pipes located on the same side are connected in sequence, and an air nozzle is installed on the pneumatic semi-corrugated pipe located at the first end, and the air nozzle is connected to the air supply system.

[0014] According to the pneumatic-motor coordinated drive super-redundant deformable continuum charging robot system provided by the present invention, a cable routing hole is provided at the center of the joint, and the cable of the charging head passes through the cable routing hole.

[0015] According to the pneumatic-motor coordinated drive super-redundant deformable continuum charging robot system provided by the present invention, the air supply system includes an air supply pipe and an air pump. One end of the air supply pipe is connected to the air pump. An air pipe hole is opened on the side wall of the wiring hole. The other end of the air supply pipe extends into the wiring hole and is connected to the air nozzle through the air pipe hole.

[0016] According to the pneumatic-motor coordinated drive super-redundant deformable continuum charging robot system provided by the present invention, the tenon and mortise structure includes a tenon structure and a mortise structure, the tenon structure and the mortise structure are respectively disposed on adjacent joints, and the tenon structure and the mortise structure are connected.

[0017] The pneumatic-motor co-driven super-redundant deformable continuum charging robot system provided by the present invention further includes a threading module, the threading module comprising a nickel-titanium alloy wire, the joint having a threading hole, the nickel-titanium alloy wire passing through the threading hole and being fixed to the joint at both ends.

[0018] The pneumatic-motor co-driven super-redundant deformable continuum charging robot system provided by the present invention has threaded holes on the skeletal segments located at the ends.

[0019] The present invention discloses the following technical effects:

[0020] In this invention, the pneumatic continuous body is composed of multiple segments connected by mortise and tenon joints. With the inflation and deflation control of the pneumatic semi-corrugated pipe, the pneumatic continuous body can achieve flexible left and right bending motion on the plane. In addition, the rotational motion controlled by the hollow motor realizes the relative rotational motion between the segments of the pneumatic continuous body. The planar bending motion of each segment of the pneumatic continuous body is transformed into the three-dimensional spatial bending motion of the robot as a whole. This allows the charging head to adapt to charging interfaces at different positions and angles, improving its adaptability to various charging scenarios.

[0021] This invention utilizes a pneumatic drive system that works in conjunction with a hollow motor. By precisely controlling the inflation and deflation of the pneumatic semi-corrugated tube and accurately adjusting the rotation angle of the hollow motor, high-precision positioning of the charging head can be achieved, ensuring accurate docking between the charging head and the charging interface and reducing docking deviations. Simultaneously, the pneumatic drive system employs a pneumatic semi-corrugated tube made of flexible material as the actuating element, possessing inherent force compliance. This allows for smooth contact during charging docking, preventing rigid collisions between the charging head and the vehicle surface, effectively preventing damage to the vehicle body, and significantly improving the safety and reliability of the charging docking process.

[0022] The mortise and tenon structure achieves axial restraint and radial fit in the assembly direction, allowing adjacent joints to form a tight connection in a direction perpendicular to the mortise and tenon disc plane. This provides high bending and compressive stiffness, effectively bearing external loads generated during charging head docking and ensuring structural stability. Simultaneously, it allows relative rotation between adjacent joints within the disc plane, endowing the robot with excellent compliant motion capabilities, meeting its needs for bending, torsion, and other multi-dimensional deformations in space. Furthermore, by combining pneumatic drive and hollow motor coordinated control, the overall and local stiffness of the robot can be dynamically adjusted to adapt to the spatial position and docking force requirements of charging interfaces for different vehicle models, improving the adaptability and safety of charging operations.

[0023] The pneumatic drive method of this invention has the characteristics of fast response. The air supply system module quickly converts the air energy of the pneumatic semi-corrugated tube into the action of the pneumatic continuous body. Combined with the real-time rotation control of the hollow motor, the entire device can quickly complete the position adjustment and docking action of the charging head, thus improving the docking efficiency of the charging interface.

[0024] This invention employs a hollow motor to connect adjacent pneumatic continuums. Compared to traditional motors, its hollow structure not only saves installation space but also facilitates the passage of cables and pneumatic pipes, enabling centralized routing of power, signal, and pneumatic lines. This avoids tangling and interference from external cables, further optimizing the overall layout. This design makes the internal structure of the pneumatic robotic arm more compact and highly integrated, effectively reducing the external dimensions of the robotic arm. This facilitates flexible movement and operation in narrow and complex parking environments, enhancing the robot's spatial adaptability in practical application scenarios. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is an isometric view of the charging pile robot of the present invention;

[0027] Figure 2 This is a cross-sectional view of the charging station robot of the present invention;

[0028] Figure 3 This is an isometric view of the middle segment of the bone in this invention;

[0029] Figure 4 This is a cross-sectional view of the middle segment of the bone in this invention;

[0030] Figure 5Axonometric view of the proximal and distal vertebrae of the present invention Figure I ;

[0031] Figure 6 This is a cross-section of the proximal and distal vertebrae of the present invention. Figure I ;

[0032] Figure 7 Axonometric view of the proximal and distal vertebrae of the present invention Figure II ;

[0033] Figure 8 This is a cross-section of the proximal and distal vertebrae of the present invention. Figure II ;

[0034] Figure 9 This is an isometric view of the pneumatic semi-bellows tube of the present invention;

[0035] Figure 10 This is a cross-sectional view of the pneumatic semi-corrugated pipe of the present invention;

[0036] Figure 11 This is a schematic diagram showing the fit between the pneumatic semi-bellows tube and the joint of the present invention;

[0037] Figure 12 This is a schematic diagram of the hollow motor in this invention;

[0038] Figure 13 This is a schematic diagram of the structure of the charging head of the present invention;

[0039] Figure 14 This is a schematic diagram of the operating mode of the charging pile robot of the present invention. Figure I ;

[0040] Figure 15 This is a schematic diagram of the operating mode of the charging pile robot of the present invention. Figure II ;

[0041] Figure 16 This is a schematic diagram of the operating mode of the charging pile robot of the present invention. Figure III ;

[0042] Figure 17 This is a schematic diagram of the operating mode of the charging pile robot of the present invention. Figure IV ;

[0043] Figure 18 This is a schematic diagram of the operating mode of the charging pile robot of the present invention. Figure V ,

[0044] Among them, 1. Charging head; 2. Hollow motor; 3. Joint; 4. Pneumatic semi-corrugated pipe; 5. Air nozzle; 6. Cable hole; 7. Air pipe hole; 8. Tenon structure; 9. Mortise structure; 10. Through hole; 11. Threaded hole. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0047] Reference Figures 1-18 This invention provides a pneumatic-motor co-driven super-redundant deformable continuum charging robot system, comprising:

[0048] A pneumatic robotic arm consists of several pneumatic continuous sections connected in series.

[0049] Charging head 1 is installed at the head end of the pneumatic robotic arm;

[0050] The charging head 1 is the end component of the robot that performs charging operations and is used to dock with the charging interface of an electric vehicle. In this embodiment, the charging head 1 adopts an interface structure that conforms to the electric vehicle charging standard. It is connected to the end segment 3 via a flange through a quick-connect interface and has a built-in alignment sensor that can provide real-time feedback on the positional deviation with the vehicle charging interface, assisting the controller in accurately adjusting the robot's posture and achieving millimeter-level docking accuracy.

[0051] Hollow motor 2, adjacent pneumatic continuous bodies are connected by hollow motors respectively, used to control the rotation of the pneumatic continuous bodies;

[0052] Hollow motor 2 is used to connect multiple segments of a continuous robot, enabling relative rotation between segments and expanding the robot's motion dimensions. In this embodiment, hollow motor 2 is a specially designed hollow shaft motor. The hollow channel can be used to connect air pipes, charging cables, and control cables, etc. The motor output shaft is connected through a flange and other structures, which can drive adjacent continuous segments to rotate around the axis (the rotation angle range can be set as needed, such as 0-360°). Combined with the planar bending motion of the pneumatic semi-bellows 4, the robot end effector (load of charging head 1) can be accurately positioned in four-dimensional space.

[0053] The pneumatic continuous body includes several segments 3, which are connected by a tenon and mortise structure. Pneumatic semi-corrugated pipes 4 are symmetrically installed between adjacent segments 3. The two sets of pneumatic semi-corrugated pipes 4 control the deflection of the segments 3 by inflation and deflation. The pneumatic semi-corrugated pipes 4 are connected to the air supply system module.

[0054] The semi-corrugated tube employs an alternating design of corrugated and smooth structures, made of flexible rubber. With an optimized configuration of four corrugated rings, it generates stable and controllable expansion and contraction deformation during inflation / deflation, providing precise planar oscillation force for the continuous robot. Its design, with one end sealed and the other connected to an air pipe, ensures excellent pneumatic system sealing. The fitting design of the perforations in joint 3 and the precise placement of the semi-corrugated tube within joint 3 further reduces the risk of motion interference, ensuring smooth actuation. The flexible rubber material gives the pneumatic semi-corrugated tube 4 inherent force compliance, effectively preventing damage to the vehicle body and significantly improving the safety and reliability of the charging docking process.

[0055] The joint 3 is made of rigid material and serves as the foundation for the robot's structural support and posture adjustment. In this embodiment, the joint 3 is 3D printed using resin material. Under the combined action of external force and the pneumatic semi-corrugated pipe 4, it can drive the entire structure to produce bending and torsional movements. The specific structure of a single joint 3 includes a main body and a connecting part. The main body 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. Adjacent joints 3 are connected through this mortise and tenon structure, allowing the joints 3 to rotate relative to each other in the disc plane direction (demonstrating flexibility and meeting the robot's bending and torsional requirements), while being tightly connected in the direction perpendicular to the disc plane (demonstrating rigidity, ensuring structural stability, and bearing loads such as the docking of the charging head 1). This achieves non-uniform stiffness characteristics, balancing motion flexibility and structural stability.

[0056] When this invention is in operation, the entire system starts operating after the charging robot receives a charging command. The air supply system module begins working, precisely controlling the inflation and deflation of two symmetrically installed pneumatic semi-corrugated pipes 4 in the pneumatic continuous body. This causes relative deflection between adjacent joints 3, thereby driving the pneumatic continuous body, which is composed of several joints 3 connected by mortise and tenon joints, to achieve in-plane bending motion. Simultaneously, the hollow motor 2 between adjacent pneumatic continuous bodies starts, controlling the connected pneumatic continuous bodies to rotate according to the direction and angle that the charging head 1 needs to be adjusted. This coordinates with the bending motion of the pneumatic continuous body, precisely adjusting the spatial position and posture of the charging head 1 installed at the end of the pneumatic robotic arm. Driven by the pneumatic robotic arm, the charging head 1 gradually approaches the charging interface of the device to be charged, finally completing the docking and charging operation. After charging is completed, the air supply system module reverses its operation, the pneumatic semi-corrugated pipes 4 deflate, the pneumatic continuous body resets, the hollow motor 2 drives the pneumatic continuous body to rotate and reset, and the charging head 1 disengages from the interface and returns to its initial position.

[0057] To further optimize the design, two sets of arc-shaped grooves are provided at both ends of the joint 3, and the two sets of arc-shaped grooves located at the same end are symmetrically arranged, with the pneumatic semi-corrugated pipes 4 installed in the arc-shaped grooves respectively.

[0058] The two sets of symmetrical arc-shaped grooves at both ends of the joint 3 provide a more fitting installation space for the pneumatic semi-bellows 4. The curvature of the arc-shaped grooves matches the outer contour of the semi-bellows, which can limit the radial displacement of the semi-bellows during the inflation and deflation process, ensuring that its axial expansion and contraction force is completely converted into the deflection torque of the joint 3. The arc-shaped grooves can make the smooth section of the semi-bellows fit tightly against the inner wall of the joint 3, reducing frictional loss during movement, while avoiding local deformation of the semi-bellows due to uneven force, thus improving the linearity and accuracy of bending movements.

[0059] The basic shape of segment 3's cross-section is obtained by symmetrically manipulating a circle along a secant line. This symmetrical shape is stretched to form the prototype of segment 3. Considering the need for precise control of segment 3's movement using a semi-corrugated tube, perforations are made in the prototype to ensure the tube can pass smoothly through and reliably fix itself. The size of the perforations is carefully designed to precisely match the dimensions of the semi-corrugated tube, ensuring unobstructed passage while forming a stable fit with segment 3. Furthermore, to ensure the continuous robot composed of these segments 3 can smoothly achieve bending movements under the action of the semi-corrugated tube, quarter-circle sections are cut from the four corners of the prototype. When two segments 3 are connected by a mortise and tenon structure, the diameter of the resulting half-circle is precisely set, slightly larger than the length of the corrugated structure of the semi-corrugated tube. This design allows the semi-corrugated tube to fully function when driving segment 3 movement, achieving the desired bending effect while ensuring no interference between components, thus guaranteeing the smoothness and stability of the entire continuous robot's movement.

[0060] The scheme is further optimized by connecting the pneumatic semi-corrugated pipes 4 on the same side in sequence, and installing an air nozzle 5 on the pneumatic semi-corrugated pipe 4 at the first end, which is connected to the air supply system.

[0061] After the pneumatic semi-corrugated pipes 4 on the same side are connected in sequence, they are connected to the air supply system through the first-end air nozzle 5 to form a series air path. The series design allows the semi-corrugated pipes on the same side to receive air pressure signals synchronously, ensuring that the deflection angle of each joint 3 is consistent and avoiding action delays caused by independent air supply. At the same time, reducing the number of air nozzles 5 simplifies the pipeline layout, reduces the risk of air pipe entanglement, and improves the system response speed.

[0062] The pneumatic semi-bellows 4 are made of flexible material and can deform under internal air pressure, thereby driving the continuous robot to move. In this embodiment, the pneumatic semi-bellows 4 are made of rubber material with good wear resistance and elasticity. Multiple pneumatic semi-bellows 4 are arranged along the length of the joint group 3, symmetrically distributed on both sides of the joint group 3. Each pneumatic semi-bellows 4 has an air cavity inside. The side closer to the joint group 3 is a constraint layer, and the side farther away is an expansion layer. The expansion layer is composed of multiple corrugated rings spaced apart along the length direction. Each corrugated ring is connected to the air cavity to form a pleated structure. Under the same air pressure, the expansion layer is more likely to deform than the constraint layer, and the wall thickness of the constraint layer is greater than that of the expansion layer, further enhancing this deformation difference. By controlling the inflation and deflation of the pneumatic semi-bellows 4 on different sides, the continuous robot can produce bending motion: inflating one side of the semi-bellows to make it expand and deflating the other side to make it contract can drive the joint group 3 to bend towards the deflating side; and vice versa.

[0063] The design is further optimized by providing a cable routing hole 6 at the center of the joint 3, through which the cable of the charging head 1 is routed.

[0064] The cable routing hole 6 runs through the center of the joint 3, providing an independent channel for the cable of the charging head 1. The cable routing hole 6 can prevent the cable from interfering with pneumatic components and moving structures, and prevent the cable from being squeezed or worn due to the bending of the joint 3. At the same time, the centralized cable routing fixes the cable path, reduces cable dragging during robot movement, and improves the positioning accuracy of the charging head 1.

[0065] The diameter of the cable tray hole 6 is designed according to the number and diameter of the cables. The inner wall is smoothed and fitted with a wear-resistant sleeve to reduce cable friction loss. A partition plate can be installed inside the hole to separate the signal line from the power line and reduce electromagnetic interference.

[0066] Further optimization of the scheme: the gas supply system includes a gas supply pipe and a gas pump. One end of the gas supply pipe is connected to the gas pump. A gas pipe hole 7 is opened on the side wall of the wiring hole 6. The other end of the gas supply pipe extends into the wiring hole 6 and is connected to the gas nozzle 5 through the gas pipe hole 7.

[0067] The scheme is further optimized. 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 respectively set on adjacent joints 3 and connected.

[0068] The robot employs a non-uniform stiffness design using a disc-shaped tenon structure 8 and a mortise structure 9. The rigid connection perpendicular to the disc direction ensures a stable connection between adjacent joints 3, effectively resisting external loads during charging head 1 docking, preventing structural loosening or displacement, and ensuring the robot's stability under complex working conditions. The flexible rotational characteristics along the disc direction endow the robot with flexible bending and torsional capabilities, allowing it to freely adjust its posture in narrow parking spaces and other winding areas, meeting the charging needs of electric vehicles at different parking angles. This effectively overcomes the limitations of traditional rigid connection mechanisms in terms of motion flexibility, while also solving the problem of insufficient local load-bearing capacity caused by the uniform structural stiffness of traditional continuous robots, achieving an organic combination of structural strength and motion flexibility.

[0069] Further optimization of the scheme also includes a threading module, which includes a nickel-titanium alloy wire. The segment 3 has a threading hole 10, through which the nickel-titanium alloy wire passes and is fixed to the segment 3 at both ends.

[0070] Nickel-titanium alloy, due to its excellent superelastic properties, is inserted into the perforation holes 10 of the joints and arranged in series along the axial direction of multiple joints 3, effectively enhancing the overall stability and reliability of the joint connection structure. When the robot is in motion or subjected to external loads, the nickel-titanium alloy can generate large recoverable strain through its superelastic deformation capacity, absorbing and buffering external stress, thereby reducing stress concentration at the joint connection points and preventing loosening or detachment of connections due to vibration, impact, or repeated deformation, ensuring the structural integrity of the pneumatic continuous robot under complex working conditions. Simultaneously, thanks to the superelastic properties of the nickel-titanium alloy, after the external force is removed or the pneumatic driving pressure is released, each segment of the pneumatic continuous can quickly return to its initial shape under the elastic restoring force of the nickel-titanium alloy, achieving good shape recovery performance and ensuring the repeatability and control precision of the robot's motion. This design not only improves the durability and safety of the robot structure but also further enhances its self-recovery capability after performing multi-dimensional deformation tasks in confined spaces, facilitating highly reliable, long-cycle automated charging operations.

[0071] The design was further optimized by providing threaded holes 11 on the end segment 3, which facilitates the secure connection of each section of the robot's pneumatic continuous body to the hollow motor via bolts.

[0072] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0073] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A pneumatic-motor co-driven super-redundant deformable continuum charging robot system, characterized in that, include: A pneumatic robotic arm, comprising several pneumatic continuous sections connected in series; Charging head (1), the charging head (1) is installed at the head end of the pneumatic robotic arm; Hollow motor (2), adjacent pneumatic continuous bodies are respectively connected by the hollow motor, used to control the relative rotation between the pneumatic continuous body segments; The pneumatic continuum includes several segments (3), which are made of rigid material. The specific structure of a single segment (3) includes a main body and a connecting part. The connecting part is a disc-shaped tenon and mortise structure. Adjacent segments (3) are connected by the tenon and mortise structure, so that the segments (3) can rotate relative to each other in the direction of the disc plane and are tightly connected in the direction perpendicular to the disc plane, thereby achieving non-uniform stiffness characteristics. Pneumatic semi-corrugated pipes (4) are symmetrically installed between adjacent segments (3). The two sets of pneumatic semi-corrugated pipes (4) control the deflection of the segments (3) by filling and releasing air. The pneumatic semi-corrugated pipes (4) are connected to the air supply system module. Two sets of arc-shaped grooves are provided at both ends of the joint (3), and the two sets of arc-shaped grooves located at the same end are arranged symmetrically. The pneumatic semi-corrugated pipes (4) are respectively installed in the arc-shaped grooves. The pneumatic semi-corrugated pipes (4) located on the same side are connected in sequence, and an air nozzle (5) is installed on the pneumatic semi-corrugated pipe (4) located at the first end. The air nozzle (5) is connected to the air supply system. 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 respectively set on adjacent joints (3), and the tenon structure (8) and the mortise structure (9) are connected.

2. The pneumatic-motor coordinated driven super-redundant deformable continuum charging robot system according to claim 1, characterized in that, A cable routing hole (6) is provided at the center of the joint (3), and the cable of the charging head (1) is passed through the cable routing hole (6).

3. The pneumatic-motor coordinated driven super-redundant deformable continuum charging robot system according to claim 2, characterized in that, The gas supply system includes a gas supply pipe and a gas pump. One end of the gas supply pipe is connected to the gas pump. A gas pipe hole (7) is provided on the side wall of the wiring hole (6). The other end of the gas supply pipe extends into the wiring hole (6) and is connected to the gas nozzle (5) through the gas pipe hole (7).

4. The pneumatic-motor coordinated driven super-redundant deformable continuum charging robot system according to claim 1, characterized in that, It also includes a threading module, which includes a nickel-titanium alloy wire. The segment (3) has a threading hole (10) through which the nickel-titanium alloy wire passes and is fixed to the segment (3) at both ends.

5. The pneumatic-motor coordinated driven super-redundant deformable continuum charging robot system according to claim 1, characterized in that, A threaded hole (11) is provided on the bone segment (3) located at the end.

Images