CN111152859B - Modularization climbing robot - Google Patents
Modularization climbing robot Download PDFInfo
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- CN111152859B CN111152859B CN202010015806.3A CN202010015806A CN111152859B CN 111152859 B CN111152859 B CN 111152859B CN 202010015806 A CN202010015806 A CN 202010015806A CN 111152859 B CN111152859 B CN 111152859B
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- assembly
- climbing robot
- adsorption
- main control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Abstract
The invention relates to a modularized climbing robot, which is characterized in that a main control unit and an adsorption mechanism are arranged in the field of modularized robots, the main control unit is detachably connected with the adsorption mechanism, the main control unit controls at least one adsorption mechanism to be adsorbed on an external object and to move on the external object, so that a user can assemble the modularized climbing robot according to needs, the style of the climbing robot is improved, the climbing robot has a detachable function, and the use of the climbing robot and the possibility of multi-structure assembly are facilitated.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the field of modular robots, in particular to a modular climbing robot.
[ background of the invention ]
The modular robot is a robot formed by connecting a plurality of composition units with the same structure through a connecting structure, every two composition units are detachably connected, a user can connect the plurality of composition units into different structures according to needs, and every two composition units can rotate relatively.
Accessible sucking disc is walked on the facade among current climbing robot, but current climbing robot all is integrated into one piece, and unable dismantlement can't realize the independently concatenation function of modularization, and the style is single.
[ summary of the invention ]
In order to solve the problem that the existing modular climbing robot is single in style, the invention provides a modular climbing robot which comprises a main control unit and at least one adsorption mechanism, wherein the main control unit is detachably connected with the adsorption mechanism, and when the main control unit is connected with the adsorption mechanism, the main control unit is electrically connected with the adsorption mechanism; the main control unit controls the at least one adsorption mechanism to be adsorbed on an external object and can move on the external object; the adsorption mechanism comprises at least two adsorption components and at least one first composition unit, and the positions of detachable connection of each adsorption component and the first composition unit are different; the first assembly unit comprises a first rotating part and a second rotating part which can rotate relatively, and the at least two adsorption components are detachably connected with at least one of the first rotating part and the second rotating part; the main control unit is detachably connected with at least one of the first rotating part and the second rotating part; the suction assembly comprises at least one second assembly unit and at least one suction disc assembly, one end of the second assembly unit is detachably connected with the suction disc assembly, and the opposite end of the second assembly unit is detachably connected with the first rotating part or the second rotating part; the first constituent unit and the second constituent unit have the same structure.
Preferably, the suction assembly further comprises at least one extension piece, the extension piece is arranged between the second component unit and the suction disc assembly, or the extension piece is arranged between the first component unit and the second component unit, or the extension piece is arranged between the two second component units.
Preferably, the sucker assembly comprises a sucker piece and a soft rubber piece, one end of the sucker piece is detachably connected with the second assembly unit, and the opposite end of the sucker piece is connected with the soft rubber piece; the soft rubber part is of an annular structure, and a cavity is formed between the sucker part and the soft rubber part.
Preferably, the sucker is provided with an air suction hole and an air discharge hole which are communicated with the cavity, the air suction hole is used for vacuumizing the cavity, and the air discharge hole is used for discharging the pressure in the cavity.
Preferably, a pressure detector is further arranged on one side, close to the soft rubber piece, of the sucker piece and used for detecting the pressure in the cavity.
Preferably, an indicator light is arranged on the sucker, and the indicator light is turned on when the sucker is connected with the second assembly unit.
Preferably, the wall surface of the soft rubber member is bent inward by a preset angle.
Compared with the prior art, the modularized climbing robot provided by the invention has the following advantages:
1. in the modularization robot field, through setting up main control unit and adsorption apparatus structure, the main control unit can be dismantled with adsorption apparatus and be connected, the main control unit control at least one adsorption apparatus constructs and adsorbs on external object and can remove on external object for the user can assemble as required and obtain modularization climbing robot, has improved the pattern of climbing robot, makes climbing robot have can dismantle the function, convenience of customers' use and the possibility that the multi-structure was assembled.
2. By arranging at least two adsorption components and a first composition unit, the positions of detachable connection of each adsorption component and the first composition unit are different; the first assembly unit comprises a first rotating part and a second rotating part which can rotate relatively, and the at least two adsorption components are detachably connected with at least one of the first rotating part and the second rotating part; the main control unit is detachably connected with at least one of the first rotating portion and the second rotating portion, so that the adsorption components are alternately adsorbed and moved in a rotating and moving mode, and the modular climbing robot can walk on a vertical surface.
3. Through setting up at least one second constitutional unit and at least sucking disc subassembly, second constitutional unit one end with sucking disc subassembly can dismantle the connection, relative one end with the second portion of rotating can dismantle the connection. Make the adsorption component can add or reduce the quantity of second constitutional unit and sucking disc subassembly according to user's needs to obtain the adsorption component of different structures, all can realize dismantling between arbitrary structure, improved the degree of freedom that assembles of modularization climbing robot.
4. Through the extension piece, make the adsorption component can have longer size, reduce the quantity of second constitutional unit, saved the assembly time. Simultaneously, the extension piece is different with the structure of second constitutional unit for the product after the equipment has new structure, improves the variety of product structure, improves user experience.
5. Through addding pressure controller makes the automation of sucking disc spare adsorption control has avoided lasting evacuation to lead to the problem that power consumption increases, has saved the power consumption of modularization climbing robot operation.
6. The structure of the second composition unit is the same as that of the first composition unit, namely the second composition unit and the first composition unit belong to the same structure, so that the second composition unit and the first composition unit can be used alternately, the diversification and the generalization of splicing a plurality of modules in the modular climbing robot are improved, a user can splice more freely, and the user experience is improved.
7. When the sucker piece is connected with the second assembly unit, the indicator lamp is turned on to prompt a user that connection and pairing are successful, and meanwhile, the product is more attractive.
8. The flexible glue spare wall is inwards bent and is preset the angle, makes the flexible glue spare deviates from sucking disc spare one end and is uncovered structure, and the flexible glue spare need not the adjustment when adsorbing the object, can directly push down the completion and adsorb, has made things convenient for the absorption step, avoids adsorbing unstable maloperation.
[ description of the drawings ]
Fig. 1 is a schematic structural diagram of a modular climbing robot provided by a first embodiment of the invention.
Fig. 2 is a schematic structural diagram of a modular climbing robot provided by the first embodiment of the invention.
Fig. 3 is a schematic structural diagram of a suction cup assembly in the modular climbing robot provided by the first embodiment of the invention.
Fig. 4 is a schematic structural diagram of another angle of the suction cup assembly in the modular climbing robot provided by the first embodiment of the invention.
Description of reference numerals:
1. a modular climbing robot; 11. a main control unit;
12. an adsorption mechanism;
121. an adsorption component; 1211. a sucker component; 12111. a chuck member; 12112. a soft rubber member; 12113. a suction hole; 12114. air bleeding holes; 12115. a pressure detector; 12116. an indicator light; 1212. a second constituent unit; 1213. an extension member;
122. a first constituent unit; 1221. a first rotating section; 1222. a second rotating part; 200. a rotating connection unit.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1 and 2, a first embodiment of the present invention provides a modular climbing robot 1, including a main control unit 11 and at least one adsorption mechanism 12, where the main control unit 11 is detachably connected to the adsorption mechanism 12, when the main control unit 11 is connected to the adsorption mechanism 12, the main control unit 11 is electrically connected to the adsorption mechanism 12, and the main control unit 11 controls the at least one adsorption mechanism 12 to be adsorbed on an external object and to move on the external object.
It can be understood that the main control unit 11 controls the adsorption mechanism 12 to adsorb on an external object by receiving external control information, and the external control information may be from a limb signal, a face signal or a voice signal sent by a user, or from a control instruction sent by software and/or hardware, such as software such as a mobile phone ap p, and moves on the external object by adsorbing.
The suction mechanism 12 includes at least two suction devices 121 and at least one first component unit 122, and the position of each suction device 121 detachably connected to the first component unit 122 is different. The first assembly unit 122 includes a first rotating portion 1221 and a second rotating portion 1222 that are relatively rotatable, the plurality of suction units 121 are detachably connected to at least one of the first rotating portion 1221 and the second rotating portion 1222, and the main control unit 11 is detachably connected to at least one of the first rotating portion 1221 and the second rotating portion 1222. For example, in this embodiment, the number of the adsorption components 121 is two, the two adsorption components 121 are detachably connected to the second rotating portion 1222, the main control unit 11 is detachably connected to the first rotating portion 1221, and the second rotating portion 1222 rotates relative to the first rotating portion 1221, so that the second rotating portion 1222 drives the two adsorption components 121 to rotate relative to each other, when the climbing robot 1 is adsorbed on a vertical surface (e.g., a wall surface), one adsorption component 121 is in an adsorption positioning state, the other adsorption component 121 is rotated and moved to a corresponding position for adsorption, and the two adsorption components 121 are alternately adsorbed and moved, so that the modular climbing robot 1 walks on the vertical surface. Of course, the number of the adsorption assemblies 121 may also be 3, 4 or more, as long as a plurality of the adsorption assemblies 121 can alternately realize adsorption and movement.
It is understood that each of the suction units 121 is detachably connected to the first constituent unit 122 at a different position, for example, when each of the suction units 121 is simultaneously connected to the first rotating part 1221 or the second rotating part 1222, the connection position of each of the suction units 121 is different, so that when the first rotating part 1221 or the second rotating part 1222 rotates, the plurality of suction units 121 can rotate relatively. For another example, when the plurality of suction modules 121 are respectively connected to the first rotating portion 1221 and the second rotating portion 1222 (as shown in fig. 2), the relative rotation of the plurality of suction modules 121 can also be realized by the relative rotation of the first rotating portion 1221 and the second rotating portion 1222, which is not described herein again.
With reference to fig. 1, the suction assembly 121 includes at least a second assembly unit 1212 and at least a suction cup assembly 1211, wherein one end of the second assembly unit 1212 is detachably connected to the suction cup assembly 1211, and the opposite end is detachably connected to the second rotating portion 1222. The second assembly unit 1212 is also provided with two ends capable of rotating relatively, that is, the degree of freedom of the adsorption assembly 121 in one direction can be increased by providing one more second assembly unit 1212. For example, in this embodiment, the number of the second constituent units 1212 is two, the number of the suction cup assemblies 1211 is one, two second constituent units 1212 are connected in series, one end of each second constituent unit is connected to the suction cup assembly 1211, and the opposite end of each second constituent unit is connected to the first constituent unit 122 (as shown in fig. 1), so that two second constituent units 1212 and one suction cup assembly 1211 are sequentially connected in series to form the suction assembly 121. Of course, the number of the second components 1212 and the number of the suction cup assembly 1211 may also be increased as required, each time one second component 1212 is added, one degree of freedom of the suction assembly 121 may be increased, and the increased suction cup assembly 1211 may increase the suction area and improve the suction stability.
In some embodiments, the structure of the second composition unit 1212 is the same as that of the first composition unit 122, that is, both of the second composition unit 1212 and the first composition unit 122 belong to the same structure, so that the second composition unit 1212 and the first composition unit 122 can be used alternately, diversification and generalization of splicing of a plurality of modules in the modular climbing robot 1 are improved, a user can have more freely selected splices, and user experience is improved. Of course, the structure of the second assembly unit 1212 may be different from the structure of the first assembly unit 122, as long as the second assembly unit 1212 has two opposite ends that are relatively rotatable.
It can be understood that by arranging the plurality of second composition units 1212 and the suction cup assembly 1211, a user can assemble the adsorption assemblies 121 in various shapes according to needs, any structure can be disassembled, the plasticity of the product is improved, and the product style is enriched.
With reference to fig. 2, the suction assembly further includes at least one extension 1213, the extension 1213 is detachably connected to the first component unit 122 or the second component unit 1212, the extension 1213 is a strip-shaped structure, and two ends of the extension 1213 are detachably connected to the second component unit 1212 and the suction cup assembly 1211, respectively, so that the suction assembly 121 can have a longer size by the extension 1213, the number of the second component units 1212 is reduced, and the assembling time is saved. Meanwhile, the extension 1213 and the second assembly unit 1212 have different structures, so that the assembled product has a new structure, the diversity of the product structure is improved, and the user experience is improved.
It is understood that the extension 1213 may be disposed between the first component unit 122 and the second component unit 1212, between the two second component units 1212, between the second component units 1212 and the suction cup assembly 12111, or both.
Referring to fig. 3, the suction cup assembly 1211 includes a suction cup member 12111 and a soft rubber member 12112, one end of the suction cup member 12111 is detachably connected to the second assembly unit 1212, an opposite end of the suction cup member 12111 is connected to the soft rubber member 12112, the soft rubber member 12112 is in an annular structure, a cavity is formed between the suction cup member 12111 and the soft rubber member 12112, when the end of the soft rubber member 12112 away from the suction cup member 12111 contacts with an external object, a closed cavity is formed between the soft rubber member 12112, the suction cup member 12111 and the external object, and the suction cup member 12111 is used to evacuate the closed cavity, thereby achieving an adsorption effect.
Specifically, with reference to fig. 3, the sucking disc 12111 is provided with an air suction hole 12113, an air discharge hole 12114 and a pressure controller 12115, which are communicated with the cavity, wherein the air suction hole 12113 is used for evacuating the cavity, the air discharge hole 12114 is used for releasing the pressure in the cavity, and the pressure controller 12115 is used for detecting the real-time pressure value in the closed cavity. For example, in this embodiment, when the end of the soft rubber member 12112 away from the sucking disc member 12111 contacts with an external object, the suction hole 12113 evacuates the sealed cavity to achieve a negative pressure in the sealed cavity to generate an adsorption force, and when the soft rubber member needs to be released, the negative pressure is released by opening the air release hole 12114, so that the adsorption force disappears. It can be understood that the modular climbing robot assembled in different structures has different weights and centers and different required adsorption forces, the pressure value in the closed cavity is detected in real time through the pressure controller 12115 at the moment, and the work of the air suction holes 12113 is stopped when the pressure value reaches a preset range.
Through addding pressure controller 12115 for the automation of sucking disc spare 12111 adsorption control has avoided lasting evacuation to lead to the problem of power consumption increase, has saved the power consumption of modularization climbing robot 1 operation.
It can be understood that the air suction hole 12113 may be provided with an air pump device for air suction, the air discharge hole 12114 may be provided with an electromagnetic valve for operation, the air pump starts to pump vacuum when operating, and the electromagnetic valve opens the air discharge hole 12114 to unload air when operating.
Optionally, referring to fig. 3, an indicator 12116 is disposed on the suction element 12111, and when the suction element 12111 is connected to the second assembly unit 1212, the indicator 12116 is illuminated to prompt the user that the connection and pairing are successful, and make the product more beautiful.
Optionally, referring to fig. 3, the wall surface of the soft rubber member 12112 is bent inward by a predetermined angle, so that one end of the soft rubber member 12112 away from the suction cup 12111 is an open structure, and the soft rubber member 12112 can be pressed down to complete the adsorption without adjustment when adsorbing the object, thereby facilitating the adsorption step and avoiding the misoperation of unstable adsorption.
It can be understood that, the utility model discloses in the modularization climbing robot 1 that the first embodiment provided, the connection of dismantling between each above-mentioned structure, can set up to having the same connection structure between arbitrary the two, for example, can be provided with the same swivelling joint unit between sucking disc spare 12111 and the second constitutional unit 1212 respectively, the two is docked the back and is rotated and predetermines the angle and realize that the lock of the two is connected to all can realize dismantling the connection between the module of realization multiple different structure, the user can splice different structures as required. For example, as shown in fig. 4, a rotary connection unit 200 is disposed at an end of the suction disc member 12111 away from the flexible adhesive member 12112, and correspondingly, the rotary connection unit 200 can be disposed at corresponding positions of the second assembly unit 1212, the first assembly unit 122, the main control unit 11, and the extension member 1213, so as to implement any splicing manner between different structures, and a user can splice to obtain a plurality of modular robots with different structures as required.
Compared with the prior art, the modularized climbing robot provided by the invention has the following advantages:
1. in the modularization robot field, through setting up main control unit and adsorption apparatus structure, the main control unit can be dismantled with adsorption apparatus and be connected, the main control unit control at least one adsorption apparatus constructs and adsorbs on external object and can remove on external object for the user can assemble as required and obtain modularization climbing robot, has improved the pattern of climbing robot, makes climbing robot have can dismantle the function, convenience of customers' use and the possibility that the multi-structure was assembled.
2. By arranging at least two adsorption components and a first composition unit, the positions of detachable connection of each adsorption component and the first composition unit are different; the first assembly unit comprises a first rotating part and a second rotating part which can rotate relatively, and the at least two adsorption components are detachably connected with at least one of the first rotating part and the second rotating part; the main control unit is detachably connected with at least one of the first rotating portion and the second rotating portion, so that the adsorption components are alternately adsorbed and moved in a rotating and moving mode, and the modular climbing robot can walk on a vertical surface.
3. Through setting up at least one second constitutional unit and at least sucking disc subassembly, second constitutional unit one end with sucking disc subassembly can dismantle the connection, relative one end with the second portion of rotating can dismantle the connection. Make the adsorption component can add or reduce the quantity of second constitutional unit and sucking disc subassembly according to user's needs to obtain the adsorption component of different structures, all can realize dismantling between arbitrary structure, improved the degree of freedom that assembles of modularization climbing robot.
4. Through the extension piece, make the adsorption component can have longer size, reduce the quantity of second constitutional unit, saved the assembly time. Simultaneously, the extension piece is different with the structure of second constitutional unit for the product after the equipment has new structure, improves the variety of product structure, improves user experience.
5. Through addding pressure controller makes the automation of sucking disc spare adsorption control has avoided lasting evacuation to lead to the problem that power consumption increases, has saved the power consumption of modularization climbing robot operation.
6. The structure of the second composition unit is the same as that of the first composition unit, namely the second composition unit and the first composition unit belong to the same structure, so that the second composition unit and the first composition unit can be used alternately, the diversification and the generalization of splicing a plurality of modules in the modular climbing robot are improved, a user can splice more freely, and the user experience is improved.
7. When the sucker piece is connected with the second assembly unit, the indicator lamp is turned on to prompt a user that connection and pairing are successful, and meanwhile, the product is more attractive.
8. The flexible glue spare wall is inwards bent and is preset the angle, makes the flexible glue spare deviates from sucking disc spare one end and is uncovered structure, and the flexible glue spare need not the adjustment when adsorbing the object, can directly push down the completion and adsorb, has made things convenient for the absorption step, avoids adsorbing unstable maloperation.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent alterations and improvements made within the spirit of the present invention should be included in the scope of the present invention.
Claims (7)
1. A modularization climbing robot which characterized in that: the adsorption device comprises a main control unit and at least one adsorption mechanism, wherein the main control unit is detachably connected with the adsorption mechanism, and when the main control unit is connected with the adsorption mechanism, the main control unit is electrically connected with the adsorption mechanism;
the main control unit controls the at least one adsorption mechanism to be adsorbed on an external object and can move on the external object;
the adsorption mechanism comprises at least two adsorption components and at least one first composition unit, and the positions of detachable connection of each adsorption component and the first composition unit are different;
the first assembly unit comprises a first rotating part and a second rotating part which can rotate relatively, and the at least two adsorption components are detachably connected with at least one of the first rotating part and the second rotating part;
the main control unit is detachably connected with at least one of the first rotating part and the second rotating part;
the suction assembly comprises at least one second assembly unit and at least one suction disc assembly, one end of the second assembly unit is detachably connected with the suction disc assembly, and the opposite end of the second assembly unit is detachably connected with the first rotating part or the second rotating part;
the first constituent unit and the second constituent unit have the same structure.
2. The modular climbing robot as recited in claim 1, further comprising: the suction assembly further comprises at least one extension piece, and the extension piece is arranged between the second component unit and the suction disc assembly, or between the first component unit and the second component unit, or between the two second component units.
3. The modular climbing robot as recited in claim 1, further comprising: the sucker assembly comprises a sucker piece and a soft rubber piece, one end of the sucker piece is detachably connected with the second assembly unit, and the opposite end of the sucker piece is connected with the soft rubber piece;
the soft rubber part is of an annular structure, and a cavity is formed between the sucker part and the soft rubber part.
4. The modular climbing robot as recited in claim 3 wherein: the sucking disc piece is provided with an air suction hole and an air release hole which are communicated with the cavity, the air suction hole is used for vacuumizing the cavity, and the air release hole is used for releasing the pressure in the cavity.
5. The modular climbing robot as recited in claim 4, further comprising: and a pressure detector is also arranged on one side of the sucker close to the soft rubber part and used for detecting the pressure in the cavity.
6. The modular climbing robot as recited in claim 3 wherein: and an indicator light is arranged on the sucker piece, and when the sucker piece is connected with the second assembly unit, the indicator light is turned on.
7. The modular climbing robot as recited in claim 3 wherein: the wall surface of the soft rubber part is bent inwards by a preset angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010015806.3A CN111152859B (en) | 2020-01-07 | 2020-01-07 | Modularization climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010015806.3A CN111152859B (en) | 2020-01-07 | 2020-01-07 | Modularization climbing robot |
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| Publication Number | Publication Date |
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| CN111152859A CN111152859A (en) | 2020-05-15 |
| CN111152859B true CN111152859B (en) | 2021-05-11 |
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Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0631655A (en) * | 1992-07-13 | 1994-02-08 | Mitsubishi Heavy Ind Ltd | Vehicle type robot having connector |
| GB2292355A (en) * | 1994-08-06 | 1996-02-21 | Thomas Leith Taig | A machine for moving over vertical and horizontal surfaces |
| JP4543278B2 (en) * | 2004-05-01 | 2010-09-15 | ウラカミ合同会社 | Device that can move along the surface of an object |
| CN204587074U (en) * | 2015-03-23 | 2015-08-26 | 王涛 | A kind of negative-pressure adsorption-type bionic wall climbing robot |
| CN104972459B (en) * | 2015-07-07 | 2017-03-01 | 华中科技大学 | A kind of absorption climb type Bridge Crack detection robot |
| CN207241837U (en) * | 2017-09-19 | 2018-04-17 | 广东工业大学 | A kind of modularization multi-foot robot |
| CN109455242B (en) * | 2018-09-30 | 2020-06-05 | 浙江大学 | Modular flexible wall climbing robot |
| CN109795575A (en) * | 2019-02-26 | 2019-05-24 | 华南理工大学 | Hexapod robot system and its motion control method for glass curtain wall detection |
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2020
- 2020-01-07 CN CN202010015806.3A patent/CN111152859B/en active Active
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