A cylinder structure and controllable throwing robot based on magnetorheological technology

Abstract

The invention discloses an air cylinder structure based on the magneto-rheological technology. A partition plate which is transversely arranged in an inner sleeve relative to the axial direction of the inner sleeve divides the space inside the inner sleeve into a first cavity and a second cavity, the side wall of the portion, close to the partition plate, of the second cavity is provided with ventholes, a wire connected with a power source is spirally wound on the outer side of the inner sleeve, the end face, away from the partition plate, of the second cavity is provided with a gas source hole connected with a gas source, the first cavity is filled with magneto-rheological fluid, a connection rod is arranged in the axial direction of the inner sleeve and penetrates through the partitionplate, one end of the connection rod is connected with a piston arranged inside the second cavity, the other end of the connection rod stretches out of the end face, away from the partition plate, ofthe first cavity to be connected with a piston arranged outside, and a damping device is installed in the first cavity and fixedly connected with the connection rod. A stop block is added into an aircylinder, the improved technical scheme is carried out on the air cylinder structure based on the magneto-rheological technology, the air cylinder output pressure is controllable, the throwing hit rate of the robot is improved, and mechanical collision and energy loss are reduced.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a cylinder structure based on magneto-rheological technology and a controllable throwing robot. Background technique [0002] The China Robot Competition is currently the highest-level and largest robot competition in China. The basketball robot project is an education and competition project that has emerged in recent years. This project provides a multi-field research on robot motion control, robot vision and artificial intelligence. Standard test platform. As a common pneumatic actuator, the cylinder is inevitably involved in the robot system. It will be a very meaningful topic to study how to improve the design of the cylinder structure for a specific robot application field. [0003] The most basic structure of the cylinder is a built-in piston, an external piston, and a connecting rod connecting the inner and outer pistons. The working principle is to press the gas compress...

AI Technical Summary

Problems solved by technology

In this working mode of the cylinder, if the amount of work done by the cylinder cannot be accurately controlled, the distance and height of the thrown object will be difficult to reach the expected value, and the target will be difficult to reach the target point; It is easy to cause collision damage and energy loss to the mechanical structure

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