CN115158506A - Combined type sucking disc device applied to wall-climbing robot and wall-climbing robot - Google Patents
Combined type sucking disc device applied to wall-climbing robot and wall-climbing robot Download PDFInfo
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- CN115158506A CN115158506A CN202210985822.4A CN202210985822A CN115158506A CN 115158506 A CN115158506 A CN 115158506A CN 202210985822 A CN202210985822 A CN 202210985822A CN 115158506 A CN115158506 A CN 115158506A
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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 embodiment of the disclosure discloses a combined type sucking disc device applied to a wall-climbing robot and the wall-climbing robot. One embodiment of the apparatus comprises: the novel vacuum sucker device comprises a sucker device body, an electromagnet, an inwards concave sucker and a vacuum connector, wherein a cavity is formed in the sucker device body, and openings are formed in two ends of the sucker device body. The electromagnet is connected with an opening at one end of the sucker device body, a first through hole is formed in the electromagnet, the inwards concave sucker is arranged on one surface of the electromagnet and provided with a groove, a second through hole is formed in the inwards concave sucker, the vacuum connector is connected with the opening at the other end of the sucker device body, and the vacuum connector is used for being connected with a vacuum pump. The wall-climbing robot with the combined type sucker device can be changed between negative pressure adsorption and magnetic adsorption, and can adsorb metal surfaces and nonmetal surfaces, so that the wall-climbing robot with the combined type sucker device has comprehensive functions and wide application range.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of robots, in particular to a combined type sucking disc device applied to a wall-climbing robot and the wall-climbing robot.
Background
Along with the development of science and technology, the kind of robot is also more and more abundant, and more robot is used in urban construction, especially wall climbing robot, and wall climbing robot is the robot that can freely remove on the wall. Since the wall-climbing robot can move on a vertical wall surface, stable adsorption capacity is required in addition to good motion performance. The common adsorption mode is single negative pressure adsorption or single magnetic adsorption.
However, the inventors have found that when the above adsorption method is employed, there are often technical problems as follows:
firstly, the wall-climbing robot adopting negative pressure adsorption can only work on a very smooth surface (such as an urban glass wall curtain), while the wall-climbing robot adopting magnetic adsorption can only work on a metal wall surface, so that the wall-climbing robot only having negative pressure adsorption capacity or magnetic adsorption capacity has single function and a small application range.
Secondly, for a wall surface with a complex material (for example, a wall surface with both glass material and metal material), a worker is required to manually switch the corresponding wall climbing robot, which results in lower working efficiency of the wall climbing robot.
Thirdly, to the wall of different inclinations, the required magnetic force of magnetic force absorption or the absorptive pressure of negative pressure are different, need the staff manual regulation, and the work efficiency that further leads to climbing wall robot is lower.
Disclosure of Invention
This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter. Some embodiments of the present disclosure propose a combined suction cup device and wall climbing robot applied to a wall climbing robot to solve one or more of the technical problems mentioned in the background section above.
In a first aspect, some embodiments of the present disclosure provide a combination suction cup device for use in a wall-climbing robot, the device comprising: the vacuum sucking disc device comprises a sucking disc device body, an electromagnet, an inwards concave type sucking disc and a vacuum connector, wherein a cavity is formed in the sucking disc device body, openings are formed in the two ends of the sucking disc device body, and the openings in the two ends of the sucking disc device body are communicated with the cavity. The electromagnet is connected with an opening at one end of the sucker device body, a first through hole is formed in the electromagnet, the first through hole is communicated with the opening, connected with the electromagnet, of the sucker device body, and in the working state of the electromagnet, the electromagnet is electrically connected with a power supply, and the power supply is used for supplying power to the electromagnet and controlling the magnetic force of the electromagnet according to the power supply current. The concave type sucker is arranged on the side, not connected with the sucker device body, of the electromagnet, a groove is formed in the concave type sucker, a second through hole is formed in the concave type sucker, the second through hole is communicated with the groove and the first through hole, and a vacuum pump connected with the vacuum connector is used for extracting air in the cavity and air in the groove in the working state of the concave type sucker. The vacuum connector is connected with the opening at the other end of the sucker device body, is provided with a third through hole communicated with the opening at the other end of the sucker device body, and is used for being connected with a vacuum pump.
In a second aspect, some embodiments of the present disclosure provide a wall-climbing robot, including: a robot body and a combined suction cup device as described in the first aspect for use in a wall climbing robot. The robot body is connected with the combined type sucking disc device and comprises a power supply and a vacuum pump. The power supply is electrically connected with the electromagnet included by the combined type sucking disc device. The vacuum pump is connected with a vacuum connector included by the combined type sucker device.
Optionally, the robot body further includes a main control unit and a hall sensor, and the main control unit is in communication connection with the power supply, the vacuum pump and the hall sensor; the Hall sensor is configured to identify the material of the climbing object, obtain material identification information and send the obtained material identification information to the main control unit; the main control unit is configured to control the power supply to supply power to the electromagnet in response to determining that the received material identification information represents that the material of the climbing object is a metal material, and control the vacuum pump to pump air in the cavity and air in the groove in response to determining that the received material identification information represents that the material of the climbing object is a non-metal material.
Optionally, the robot body further includes an inclination angle sensor, and the inclination angle sensor is in communication connection with the main control unit; and the tilt angle sensor is configured to detect a tilt angle of the wall-climbing robot, obtain tilt angle information, and send the tilt angle information to the main control unit; the above-mentioned master control unit is further configured to perform the steps of: and determining the weight information of the wall-climbing robot. And determining a target working pressure corresponding to the vacuum pump and/or a target power supply current corresponding to the power supply according to the weight information of the wall-climbing robot and the received inclination angle information. Wherein, the target working pressure and/or the target power supply current are generated according to the weight information and the inclination angle information of the wall-climbing robot through an artificial intelligence chip included by the main control unit. Adjusting the working pressure of the vacuum pump according to the determined target working pressure, and/or adjusting the power supply current of the power supply according to the determined target power supply current value.
The above embodiments of the present disclosure have the following advantages: through the combined type sucking disc device applied to the wall-climbing robot of some embodiments of the disclosure, the negative pressure adsorption and the magnetic force adsorption can be changed, so that the metal surface can be adsorbed, the nonmetal surface can also be adsorbed, and the wall-climbing robot provided with the combined type sucking disc device has comprehensive functions and wide application range. Specifically, the wall climbing robot has a single function and a small application range because: the wall-climbing robot adopting negative pressure adsorption can only work on a very smooth surface (such as an urban glass wall curtain), while the wall-climbing robot adopting magnetic adsorption can only work on a metal wall surface, so that the wall-climbing robot only having negative pressure adsorption capacity or magnetic adsorption capacity has single function and a small application range. Based on this, the combined type sucking disc device applied to the wall climbing robot of some embodiments of the present disclosure includes a sucking disc device body, an electromagnet, an indent type sucking disc and a vacuum connector, wherein a cavity is opened inside the sucking disc device body, openings are provided at both ends of the sucking disc device body, and the openings at both ends of the sucking disc device body are communicated with the cavity. The electromagnet is connected with an opening at one end of the sucker device body, a first through hole is formed in the electromagnet, the first through hole is communicated with the opening, connected with the electromagnet, of the sucker device body, and in the working state of the electromagnet, the electromagnet is electrically connected with a power supply, and the power supply is used for supplying power to the electromagnet and controlling the magnetic force of the electromagnet according to the power supply current. The concave type sucker is arranged on the side, not connected with the sucker device body, of the electromagnet, a groove is formed in the concave type sucker, a second through hole is formed in the concave type sucker, the second through hole is communicated with the groove and the first through hole, and a vacuum pump connected with the vacuum connector is used for extracting air in the cavity and air in the groove in the working state of the concave type sucker. The vacuum connector is connected with the opening at the other end of the sucker device body, is provided with a third through hole communicated with the opening at the other end of the sucker device body, and is used for being connected with a vacuum pump. The power supply is used for supplying power to the electromagnet and controlling the magnetic force of the electromagnet according to the power supply current. Therefore, the combined type sucking disc device can be adsorbed on the surface of a climbing object made of a metal material through the magnetic force adsorption of the electromagnet. And under the working state of the concave sucker, the vacuum pump connected with the vacuum connector is used for pumping the air in the cavity and the air in the groove. And then can make above-mentioned combination formula sucking disc device adsorb in the surface of the climbing object of non-metallic material through the negative pressure of the concave suction cup of above-mentioned. Therefore, the combined type sucking disc device applied to the wall-climbing robot can adsorb a metal surface and a nonmetal surface, so that the wall-climbing robot provided with the combined type sucking disc device has comprehensive functions and a wide application range.
Drawings
The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements. It should be understood that the drawings are schematic and that elements and components are not necessarily drawn to scale.
Fig. 1 is a schematic structural view of some embodiments of a combined suction cup device applied to a wall-climbing robot according to the present disclosure;
fig. 2 is a perspective view of some embodiments of a combination suction cup device applied to a wall-climbing robot according to the present disclosure;
fig. 3 is a vertical cross-sectional view of some embodiments of a combined suction cup device applied to a wall-climbing robot including a suction cup device body and an electromagnet according to the present disclosure;
fig. 4 is a perspective view of some embodiments of a vacuum pump connection head included in a combined suction cup device applied to a wall-climbing robot according to the present disclosure;
fig. 5 is a perspective view of some embodiments of electromagnets included in the combined suction cup device applied to a wall-climbing robot according to the present disclosure;
fig. 6 is a schematic horizontal cross-sectional view of some embodiments of electromagnets included in a combined suction cup device applied to a wall-climbing robot according to the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is to be understood that the disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. It should be understood that the drawings and embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.
It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings. The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.
It should be noted that the terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence relationship of the functions performed by the devices, modules or units.
It is noted that references to "a", "an", and "the" modifications in this disclosure are intended to be illustrative rather than limiting, and that those skilled in the art will recognize that "one or more" may be used unless the context clearly dictates otherwise.
The names of messages or information exchanged between devices in the embodiments of the present disclosure are for illustrative purposes only, and are not intended to limit the scope of the messages or information.
The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Fig. 1 is a schematic structural view of some embodiments of a combined suction cup device applied to a wall-climbing robot according to the present disclosure. Fig. 1 includes a concave type suction cup 1, an electromagnet 2, a suction cup device body 3, and a vacuum connector 4.
Fig. 2 is a perspective view of some embodiments of a combination suction cup device applied to a wall-climbing robot according to the present disclosure. Fig. 2 includes a concave type suction cup 1, an electromagnet 2, a suction cup device body 3, and a vacuum connector 4.
Fig. 3 is a vertical cross-sectional view of some embodiments of a combined suction cup device applied to a wall-climbing robot including a suction cup device body and an electromagnet according to the present disclosure. Fig. 3 includes an electromagnet 2 and a suction cup device body 3. The electromagnet 2 includes a first engaging portion 201. The suction cup device body 3 includes a second engaging portion 301 and a third engaging portion 302.
Fig. 4 is a perspective view of some embodiments of a vacuum pump connection head included in a combined suction cup device applied to a wall-climbing robot according to the present disclosure. Fig. 4 includes a vacuum connection 4. The vacuum connector 4 includes a clamping portion 401 and a fourth engaging portion 402.
Fig. 5 is a perspective view of some embodiments of electromagnets included in the combined suction cup device applied to a wall-climbing robot according to the present disclosure. Fig. 5 includes metal lines 501.
Fig. 6 is a schematic horizontal cross-sectional view of some embodiments of electromagnets included in a combined suction cup device applied to a wall-climbing robot according to the present disclosure.
In some embodiments, the combined suction cup device applied to the wall-climbing robot may include a suction cup device body 3, an electromagnet 2, a concave type suction cup 1, and a vacuum connector 4. The inside of the suction cup device body 3 can be provided with a cavity. The suction cup device body 3 may be a body portion of the combined suction cup device for connecting the electromagnet 2 and the vacuum connector 4. For example, the suction cup device body 3 may be a tubular member having a hollow interior. The concave suction cup 1 may be a suction cup with a concave inner side. The vacuum connection 4 may be a connection for connecting a vacuum pump. Both ends of the suction cup device body 3 can be provided with openings, and the openings at both ends of the suction cup device body 3 can be communicated with the cavity. As shown in fig. 1, both ends of the suction device body 3 may be an upper end of the suction device body 3 and a lower end of the suction device body 3.
In some embodiments, the electromagnet 2 may be connected to an opening at one end of the suction cup device body 3. Here, a specific connection mode of the electromagnet 2 and the suction cup device is not limited. As an example, the electromagnet 2 and the suction cup device may be connected by adhesion. The electromagnet 2 may be provided with a first through hole. The first through hole may be a hole formed in the electromagnet 2 and vertically penetrating through the electromagnet 2. The first through hole may communicate with an opening of the suction cup device body 3 to which the electromagnet 2 is connected. In the operating state of the electromagnet 2, the electromagnet 2 may be electrically connected to a power supply, and the power supply may be configured to supply power to the electromagnet 2 and control the magnetic force of the electromagnet 2 according to the magnitude of the supply current. Specifically, the larger the supply current of the power supply, the more the magnetism of the electromagnet 2 increases. Therefore, when the suction force of the combined type sucking disc needs to be increased, the magnetism of the electromagnet can be increased by increasing the current of the power supply.
In some embodiments, the concave suction cup 1 may be disposed on a surface of the electromagnet 2 not connected to the suction cup device body 3. Here, a specific form in which the concave suction pad 1 is provided on the electromagnet 2 is not limited. For example, the concave type suction cup 1 may be bonded to a surface of the electromagnet 2 which is not connected to the suction cup device body 3. As another example, the concave suction cup 1 may be sleeved on a surface of the electromagnet 2 that is not connected to the suction cup device body 3. The concave sucker 1 can be provided with a groove, and the concave sucker 1 can be provided with a second through hole. The second through hole may be a through hole provided in the concave suction cup 1 and vertically penetrating through the concave suction cup 1. The second through hole may communicate with the groove and the first through hole. In the working state of the concave suction cup 1, the vacuum pump connected to the vacuum connector 4 can be used to pump the air in the cavity and the air in the groove. Specifically, the vacuum pump may be communicated with a cavity provided in the suction cup device body 3 through the vacuum connector 4. Therefore, under the state that the vacuum pump is started, the cavity, the first through hole, the second through hole and the groove are communicated, so that air in the cavity, the first through hole, the second through hole and the groove can be extracted through the vacuum pump, the concave sucker is further compressed, and the concave sucker is tightly adsorbed on the surface of a climbing object. Further, the pressure intensity of the vacuum pump can be adjusted, so that the adsorption force between the concave sucker and the surface of the climbing object can be adjusted.
In some embodiments, the vacuum connector 4 may be connected to an opening at the other end of the suction cup device body 3. Here, a specific mode of connecting the vacuum connection head 4 to the opening at the other end of the suction cup device body 3 is not limited. The connection mode of the vacuum connector 4 and the opening at the other end of the suction cup device body 3 includes but is not limited to: inserting, bonding and welding. The vacuum connector 4 may be provided with a third through hole communicating with the opening at the other end of the suction cup device body 3. The third through hole may be a hole vertically penetrating through the vacuum connector 4 and formed in the vacuum connector 4. The vacuum connection 4 can be used for connecting a vacuum pump.
Alternatively, the structure of the suction cup device body 3 may be a corrugated structure. As an example, the suction cup device body 3 may be a bellows. The sucking disc device body 3 may be made of rubber. From this, through setting up ripple fold structure, the deformation and the compression of the above-mentioned sucking disc device body of being more convenient for to can make above-mentioned indent formula sucking disc inseparabler with climbing the surface of object and combining.
Alternatively, a first engaging portion 201 may be provided on a surface of the electromagnet 2 connected to the suction pad device body 3. A second engaging portion 301 may be provided at one end of the suction cup device body 3 connected to the electromagnet 2. The electromagnet 2 and the suction cup device body 3 can be engaged and connected by the first engaging portion 201 and the second engaging portion 301. The first engaging portion 201 may be an annular boss provided on the electromagnet 2. The second engaging portion 301 may be an annular hole formed in the suction cup device body 3 to engage with the first engaging portion 201. The first engaging portion 201 is fitted into the second engaging portion 301 in a state where the electromagnet 2 is connected to the suction cup device body 3. Therefore, compared with the bonding connection mode, the clamping connection can facilitate the detachment of the electromagnet and the sucker device body on the basis of improving the connection stability of the electromagnet and the sucker device body.
Alternatively, the outer diameter of the first engaging portion 201 may be larger than the inner diameter of the second engaging portion 301, and the difference between the outer diameter of the first engaging portion and the inner diameter of the second engaging portion 301 may be smaller than a first preset difference. For example, the first preset difference may be [1mm,2mm ]. A seal ring may be provided outside the first engaging portion 201. This improves the tightness and sealing property of the connection between the first engaging portion and the second engaging portion.
Further, at least one spring ball may be disposed outside the first engaging portion. A groove corresponding to each spring contact ball included in the at least one spring contact ball may be formed on an inner side of the second engaging portion 301, and when the first engaging portion is inserted into the second engaging portion 301, the spring contact ball formed on an outer side of the first engaging portion may be engaged with the groove formed on an inner side of the second engaging portion 301. This can further improve the tightness of the connection between the first engaging portion and the second engaging portion.
Alternatively, a third engaging portion 302 may be disposed at an end of the suction cup device body 3 connected to the vacuum connector 4. A fourth engaging portion 402 may be provided on a surface of the vacuum connector 4 connected to the suction cup device body 3. The vacuum connector 4 and the suction cup device body 3 may be engaged with each other by the third engaging portion 302 and the fourth engaging portion 402. The third engaging portion 302 may be an annular hole formed in the suction cup device body 3 for engaging with the fourth engaging portion 402. The fourth engaging portion 402 may be an annular boss provided in the vacuum connector 4 for engaging with the third engaging portion 302. The fourth engaging portion 402 may be engaged with the third engaging portion 302 in a state where the vacuum connector 4 is connected to the chuck device body 3. Therefore, compared with the bonding connection mode, the clamping connection can facilitate the detachment of the vacuum connector and the sucker device body on the basis of increasing the connection stability of the vacuum connector and the sucker device body.
Alternatively, as shown in fig. 3 and 4, the inner diameter of the third engaging portion 302 may be smaller than the outer diameter of the fourth engaging portion 402, and the difference between the inner diameter of the third engaging portion 302 and the outer diameter of the fourth engaging portion 402 may be smaller than a second predetermined difference. For example, the second preset difference value may be in the range of [1mm,2mm ]. A seal ring may be provided outside the third engaging portion 302. This improves the tightness and sealing property of the connection between the third engaging portion and the fourth engaging portion.
Further, a rubber ring may be provided outside the fourth engaging portion 402. When the fourth engaging portion 402 is fitted into the third engaging portion 302, a rubber ring provided outside the fourth engaging portion 402 may be in close contact with the inside of the third engaging portion 302. This can further improve the tightness of the connection between the third engaging portion and the fourth engaging portion.
Alternatively, as shown in fig. 4, the outer side of the vacuum connector 4 may be provided with a clamping portion 401. The clamping portion 401 may be a means for facilitating clamping of the tube of the vacuum pump. The gripping portion 401 may protrude outward around the vacuum connector 4. From this, can make things convenient for the pipe of centre gripping vacuum pump, increase above-mentioned indent formula sucking disc absorptive stability and security, improve above-mentioned indent formula sucking disc absorptive efficiency.
Alternatively, as shown in fig. 5, the electromagnet 2 may be a ring-shaped electromagnet. The ring-shaped electromagnet may be wound with a wire 501. Wherein, the metal wire 501 can be tightly wound around the annular electromagnet. The wires 501 wound around the inner ring of the annular electromagnet are closely adjacent to each other. As shown in fig. 6, the current of the wire of the outer ring flows outward. The current of the wire of the inner ring flows inward. Preferably, the metal line 501 may be a silver line. Compared with the metal wire 501 made of other materials, the silver wire has better conductivity, so that the working efficiency of the electromagnet can be improved.
Alternatively, the material of the concave suction cup 1 may be a rubber material. Specifically, the material of the concave suction cup 1 may be a soft rubber material. From this, because soft materials has better ductility to can improve the leakproofness between the surface of above-mentioned indent formula sucking disc and wall climbing object, and then increase the frictional force of climbing wall robot climbing.
The above embodiments of the present disclosure have the following advantages: through the combined type sucking disc device applied to the wall-climbing robot of some embodiments of the disclosure, the negative pressure adsorption and the magnetic force adsorption can be changed, so that the metal surface can be adsorbed, the nonmetal surface can also be adsorbed, and the wall-climbing robot provided with the combined type sucking disc device has comprehensive functions and wide application range. Specifically, the wall climbing robot has a single function and a small application range because: the wall-climbing robot adopting negative pressure adsorption can only work on a very smooth surface (such as an urban glass wall curtain), while the wall-climbing robot adopting magnetic adsorption can only work on a metal wall surface, so that the wall-climbing robot only having negative pressure adsorption capacity or magnetic adsorption capacity has single function and a small application range. Based on this, the combined type sucking disc device applied to the wall climbing robot of some embodiments of the present disclosure includes a sucking disc device body, an electromagnet, an indent type sucking disc and a vacuum connector, wherein a cavity is opened inside the sucking disc device body, openings are provided at both ends of the sucking disc device body, and the openings at both ends of the sucking disc device body are communicated with the cavity. The electromagnet is connected with an opening at one end of the sucker device body, a first through hole is formed in the electromagnet, the first through hole is communicated with the opening, connected with the electromagnet, of the sucker device body, and in the working state of the electromagnet, the electromagnet is electrically connected with a power supply, and the power supply is used for supplying power to the electromagnet and controlling the magnetic force of the electromagnet according to the power supply current. The concave type sucker is arranged on the side, not connected with the sucker device body, of the electromagnet, a groove is formed in the concave type sucker, a second through hole is formed in the concave type sucker, the second through hole is communicated with the groove and the first through hole, and in the working state of the concave type sucker, a vacuum pump connected with the vacuum connector is used for extracting air in the cavity and air in the groove. The vacuum connector is connected with the opening at the other end of the sucker device body, is provided with a third through hole communicated with the opening at the other end of the sucker device body, and is used for being connected with a vacuum pump. The power supply is used for supplying power to the electromagnet and controlling the magnetic force of the electromagnet according to the power supply current. Therefore, the combined type sucking disc device can be adsorbed on the surface of a climbing object made of a metal material through the magnetic force adsorption of the electromagnet. And under the working state of the concave sucker, the vacuum pump connected with the vacuum connector is used for pumping the air in the cavity and the air in the groove. And then can make above-mentioned combination formula sucking disc device adsorb in the surface of the climbing object of non-metallic material through the negative pressure of the concave suction cup of above-mentioned. Therefore, the combined type sucking disc device applied to the wall-climbing robot can adsorb a metal surface and a nonmetal surface, so that the wall-climbing robot provided with the combined type sucking disc device has comprehensive functions and a wide application range.
The embodiment of the disclosure also provides a wall-climbing robot. The wall-climbing robot can comprise a robot body and the combined type sucking disc device applied to the wall-climbing robot in any embodiment. The robot body can be an intelligent machine capable of climbing and working semi-autonomously or fully autonomously. The robot body may be connected to the combined suction cup device, and the robot body may include a power source and a vacuum pump. Here, a specific mode of connecting the robot body and the combined type suction cup device is not limited. The connection mode of the robot body and the combined type sucker device includes but is not limited to: snap connection, threaded connection, welding. As an example, the combined type suction cup device may be provided at a lower end of the robot body. The specific number of the combined suction cup devices arranged on the robot body is not limited. The power supply is electrically connected with the electromagnet included by the combined type sucking disc device. The vacuum pump is connected with a vacuum connector included by the combined type sucker device.
Optionally, the robot body may further include a main control unit and a hall sensor, where the main control unit may be a microcontroller for processing various received information. For example, the above-mentioned master control unit may include, but is not limited to, at least one of the following: soC (System on Chip), MCU (micro controller Unit), and DSP (Digital Signal Processor). The main control unit can be in communication connection with the power supply, the vacuum pump and the Hall sensor. Here, a specific mode of the main control unit communicatively connected to the power supply, the vacuum pump, and the hall sensor is not limited. As an example, the main control unit may be wired to the power supply, the vacuum pump, and the hall sensor. As still another example, the main control unit may be wirelessly connected to the power supply, the vacuum pump, and the hall sensor. The wireless connection means may include, but is not limited to, a 3G/4G connection, a WiFi connection, a bluetooth connection, a WiMAX connection, a Zigbee connection, an UWB (ultra wideband) connection, and other wireless connection means now known or developed in the future.
Alternatively, the hall sensor may be configured to identify a material of the climbing object, obtain material identification information, and transmit the obtained material identification information to the main control unit. The material identification information may represent whether the material of the climbing object is metal. For example, when the identified material is metal, the material identification information may be "metal, 1".
Optionally, the main control unit may be configured to control the power supply to supply power to the electromagnet in response to determining that the received material identification information indicates that the material of the climbing object is a metal material, and control the vacuum pump to pump air in the cavity and air in the groove in response to determining that the received material identification information indicates that the material of the climbing object is a non-metal material. From this, when detecting the object of climbing for the metal material, can adopt magnetism to inhale. And when the climbing object is detected to be nonmetal, negative pressure adsorption can be adopted. Therefore, the wall-climbing robot can realize automatic identification and switch adsorption modes, and the working efficiency is improved.
The optional content is taken as an invention point of the embodiment of the disclosure, and a second technical problem mentioned in the background art is solved, namely, for a wall surface with a complex material (for example, a wall surface with a glass material and a metal material), a worker needs to manually switch the corresponding wall climbing robot, so that the work efficiency of the wall climbing robot is low. The reason for the low work completion efficiency is as follows: for a wall surface with a complex material (for example, a wall surface made of glass or metal), a worker is required to manually switch the corresponding wall climbing robot. If the above factors are solved, the working efficiency can be improved. In order to achieve the effect, the robot body further comprises a main control unit and a hall sensor, wherein the main control unit is in communication connection with the power supply, the vacuum pump and the hall sensor. And the Hall sensor is configured to identify the material of the climbing object, obtain material identification information and send the obtained material identification information to the main control unit. The main control unit is configured to control the power supply to supply power to the electromagnet in response to determining that the received material identification information represents that the material of the climbing object is a metal material, and control the vacuum pump to pump air in the cavity and air in the groove in response to determining that the received material identification information represents that the material of the climbing object is a non-metal material. Therefore, when the object to be climbed is detected to be made of metal, magnetic adsorption can be adopted. And when the climbing object is detected to be nonmetal, negative pressure adsorption can be adopted. Therefore, the wall climbing robot can automatically recognize the material of the climbing object and switch the adsorption mode according to the material of the climbing object, and the working efficiency is improved.
Optionally, the robot body may further include a tilt angle sensor, and the tilt angle sensor may be in communication connection with the main control unit. The inclination angle sensor may be a sensor for detecting an angle between the robot body and a horizontal plane. The tilt angle sensor may be configured to detect a tilt angle of the wall-climbing robot, obtain tilt angle information, and transmit the tilt angle information to the main control unit. The inclination angle information may be information representing an angle between the robot body and a horizontal plane. The above-mentioned master control unit may also be configured to perform the steps of:
first, weight information corresponding to the wall-climbing robot is determined. The weight information may be information representing a weight of the wall-climbing robot. In practice, the weight information may be pre-stored information in the main control unit. The weight information may also be information detected by an associated weight sensor.
And secondly, determining a target working pressure corresponding to the vacuum pump and/or a target power supply current corresponding to the power supply according to the weight information of the wall-climbing robot and the received inclination angle information. And generating the target working pressure and/or the target power supply current according to the weight information and the inclination angle information of the wall-climbing robot through an artificial intelligent chip included in the main control unit. The target working pressure may be a minimum pressure characterizing that the vacuum pump provides to prevent the wall-climbing robot from falling. The target supply current may be a minimum supply current that is characterized by the power supply and is capable of preventing the wall-climbing robot from falling. In practice, the main control unit may input the weight information of the wall-climbing robot and the received tilt angle information into a machine learning model carried by the artificial intelligence chip to obtain a target working pressure and/or a target power supply current. The machine learning model carried by the artificial intelligence chip is obtained by training a training sample set. The machine learning model is obtained by taking the weight information and the sample inclination angle information of the sample wall climbing robot as input and taking the sample target working pressure and/or the sample target supply current as expected output.
And thirdly, adjusting the working pressure of the vacuum pump according to the determined target working pressure, and/or adjusting the power supply current of the power supply according to the determined target power supply current. In practice, the main control unit may adjust the working pressure of the vacuum pump to a target working pressure when detecting that the vacuum pump is in a working state. And when the power supply is detected to be in the working state, regulating the power supply current of the power supply to be the target power supply current.
The optional content mentioned above is an invention point of the embodiment of the present disclosure, and solves the technical problem mentioned in the background art "for wall surfaces with different slopes, the required magnetic force or the negative pressure for magnetic force adsorption is different, and a worker needs to manually adjust the magnetic force or the negative pressure, which further results in lower working efficiency of the wall climbing robot". The reason for further making the work completion efficiency low is as follows: for the wall surfaces with different slopes, the required magnetic force adsorbed by the magnetic force or the pressure adsorbed by the negative pressure are different, and the adjustment is manually carried out by a worker. If the above factors are solved, the working efficiency can be further improved. In order to achieve this effect, the robot body of the present disclosure further includes an inclination angle sensor, and the inclination angle sensor is in communication connection with the main control unit; and the tilt angle sensor is configured to detect a tilt angle of the wall-climbing robot, obtain tilt angle information, and send the tilt angle information to the main control unit; the above-mentioned master control unit is further configured to perform the steps of: and determining the weight information of the wall-climbing robot. And determining a target working pressure corresponding to the vacuum pump and/or a target power supply current corresponding to the power supply according to the weight information of the wall-climbing robot and the received inclination angle information. Wherein, the target working pressure and/or the target power supply current are generated according to the weight information and the inclination angle information of the wall-climbing robot through an artificial intelligence chip included by the main control unit. Adjusting the working pressure of the vacuum pump according to the determined target working pressure, and/or adjusting the power supply current of the power supply according to the determined target power supply current value. Therefore, the wall-climbing robot can automatically determine the inclination angle and the weight of the robot, so that the current/pressure intensity is adjusted according to the inclination angle and the weight of the robot, the grabbing force of the sucker is automatically adjusted, and the working efficiency is further improved.
The above embodiments of the present disclosure have the following advantages: through the wall climbing robot of some embodiments of this disclosure, can alternate between negative pressure absorption and magnetic force absorption, both can adsorb the metal surface and also can adsorb the non-metal surface to the function that makes the wall climbing robot that is provided with combination formula sucking disc device is more comprehensive and range of application is wider. Specifically, the wall climbing robot has a single function and a small application range because: the wall-climbing robot adopting negative pressure adsorption can only work on a very smooth surface (such as an urban glass wall curtain), while the wall-climbing robot adopting magnetic adsorption can only work on a metal wall surface, so that the wall-climbing robot only having negative pressure adsorption capacity or magnetic adsorption capacity has single function and smaller application range. Based on this, the wall climbing robot of some embodiments of this disclosure includes the robot body and the combination formula sucking disc device who applies to wall climbing robot. The robot body is connected with the combined type sucker device and comprises a power supply and a vacuum pump. The power supply is electrically connected with the electromagnet included by the combined type sucker device. The vacuum pump is connected with a vacuum connector included by the combined type sucker device. Because the power supply is electrically connected with the electromagnet, the magnetic force of the electromagnet can be controlled according to the power supply current. Therefore, the combined type sucker device can be adsorbed on the surface of a climbing object made of a metal material through the magnetic force adsorption of the electromagnet. And because the concave suction cup is connected with a vacuum pump, the air in the cavity and the air in the groove can be extracted. And then can make above-mentioned combination formula sucking disc device adsorb in the surface of the climbing object of non-metallic material through the negative pressure of the concave suction cup of above-mentioned. Therefore, the wall-climbing robot provided with the combined type sucker device can adsorb a metal surface and a nonmetal surface, so that the wall-climbing robot is comprehensive in function and wide in application range.
The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combinations of the above-mentioned features, and other embodiments in which the above-mentioned features or their equivalents are combined arbitrarily without departing from the spirit of the invention are also encompassed. For example, the above features and (but not limited to) the features with similar functions disclosed in the embodiments of the present disclosure are mutually replaced to form the technical solution.
Claims (10)
1. A combined type sucking disc device applied to a wall-climbing robot comprises a sucking disc device body, an electromagnet, an inwards concave type sucking disc and a vacuum connector, wherein,
a cavity is formed in the sucker device body, openings are formed in two ends of the sucker device body, and the openings in the two ends of the sucker device body are communicated with the cavity;
the electromagnet is connected with an opening at one end of the sucker device body, a first through hole is formed in the electromagnet, the first through hole is communicated with the opening, connected with the electromagnet, of the sucker device body, and in the working state of the electromagnet, the electromagnet is electrically connected with a power supply which is used for supplying power to the electromagnet and controlling the magnetic force of the electromagnet according to the power supply current;
the concave type sucker is arranged on the side, which is not connected with the sucker device body, of the electromagnet, the concave type sucker is provided with a groove, a second through hole is formed in the concave type sucker, the second through hole is communicated with the groove and the first through hole, and a vacuum pump connected with the vacuum connector is used for pumping air in the cavity and air in the groove in the working state of the concave type sucker;
the vacuum connector is connected with the opening at the other end of the sucker device body, the vacuum connector is provided with a third through hole communicated with the opening at the other end of the sucker device body, and the vacuum connector is used for connecting a vacuum pump.
2. The combined type suction cup device applied to a wall-climbing robot of claim 1, wherein the suction cup device body is corrugated and made of rubber.
3. The combined type suction cup device applied to the wall-climbing robot as claimed in claim 1, wherein a first engaging portion is provided on a surface of the electromagnet connected to the suction cup device body, a second engaging portion is provided on an end of the suction cup device body connected to the electromagnet, and the electromagnet is engaged with the suction cup device body through the first engaging portion and the second engaging portion.
4. The combination type suction cup device applied to a wall-climbing robot of claim 3, wherein the outer diameter of the first engaging portion is larger than the inner diameter of the second engaging portion, and the difference between the outer diameter of the first engaging portion and the inner diameter of the second engaging portion is smaller than a first preset difference.
5. The combined type chuck device for wall-climbing robot as claimed in claim 1, wherein the end of the chuck device body connected to the vacuum connector is provided with a third engaging portion, the side of the vacuum connector connected to the chuck device body is provided with a fourth engaging portion, and the vacuum connector and the chuck device body are engaged with each other through the third engaging portion and the fourth engaging portion.
6. The combined type suction cup device applied to a wall-climbing robot of claim 5, wherein the inner diameter of the third engaging portion is smaller than the outer diameter of the fourth engaging portion, and the difference between the inner diameter of the third engaging portion and the outer diameter of the fourth engaging portion is smaller than a second preset difference.
7. The combined type suction cup device applied to a wall-climbing robot of claim 1, wherein a clamping portion is provided at an outer side of the vacuum connector, the clamping portion protruding outward around the vacuum connector.
8. The combined type suction cup device applied to a wall-climbing robot of claim 1, wherein the electromagnet is a ring-shaped electromagnet, and a metal wire is wound on the ring-shaped electromagnet.
9. The combination type suction cup device for a wall climbing robot according to any one of claims 1 to 8, wherein the concave type suction cup is made of rubber.
10. A wall climbing robot, wherein the wall climbing robot comprises a robot body and a combined suction cup device applied to the wall climbing robot as claimed in one of claims 1 to 9;
the robot body is connected with the combined type sucker device and comprises a power supply and a vacuum pump;
the power supply is electrically connected with the electromagnet included by the combined type sucker device;
the vacuum pump is connected with a vacuum connector included by the combined type sucker device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210985822.4A CN115158506B (en) | 2022-08-15 | Be applied to wall climbing robot's combination formula sucking disc device and wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210985822.4A CN115158506B (en) | 2022-08-15 | Be applied to wall climbing robot's combination formula sucking disc device and wall climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115158506A true CN115158506A (en) | 2022-10-11 |
| CN115158506B CN115158506B (en) | 2024-04-12 |
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