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A negative pressure adsorption robot and a motion control method for variable adsorption surface

A curved surface motion and robot technology, which is applied in the direction of motor vehicles, manipulators, manufacturing tools, etc., can solve the problems that cannot meet the requirements of complex curved surface motion tasks, unstable robot adsorption, and robots cannot pass through, etc., to achieve wide adaptability and low cost , the effect of long working hours

Active Publication Date: 2021-10-19
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, conventional planar adsorption robots, such as the patent No. CN200610151073.6 and the name "small wall-climbing robot based on the principle of negative pressure adsorption" cannot meet the requirements of complex curved surface motion tasks
[0004] The existing curved surface adsorption mobile robots generally have the problem of poor adaptability to curvature, slope, and load changes
Curvature, slope, load and other factors that affect the required adsorption force are often not constant: when the required adsorption force becomes smaller, the robot may have problems such as excessive adsorption force, high energy consumption, excessive suction, and even difficulty in movement ; When the required adsorption force becomes larger, the robot may experience unstable adsorption, slipping or even roll off; when the required adsorption force change rate is too large, the robot may not be able to pass through the surface

Method used

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  • A negative pressure adsorption robot and a motion control method for variable adsorption surface
  • A negative pressure adsorption robot and a motion control method for variable adsorption surface
  • A negative pressure adsorption robot and a motion control method for variable adsorption surface

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specific Embodiment approach 1

[0030] Specific implementation mode one: as Figure 1-Figure 5 As shown, this embodiment describes a negative pressure adsorption robot, including a robot body 1 and a controller 4; the negative pressure adsorption robot also includes a sensing system 2 and a variable adsorption force device 3, and the sensing system 2 includes Pose sensor 21, pressure sensor 22 and distance sensor 23, described variable adsorption force device 3 comprises adsorption force adjustment device 31 (generating variable adsorption force), drive plate 32 and gap maintaining device 33; Described adsorption force adjustment device 31 Including a fan 311, a suction cup 312 and a sealing skirt 313, the robot body 1 includes four modular omnidirectional kinematic mechanisms 11, a vehicle body chassis and a frame 12, and the four modular omnidirectional kinematic mechanisms 11 include Mecanum Wheel 111, drive motor 112 and support 113;

[0031]The suction cup 312 is a rectangular frame structure, the uppe...

specific Embodiment approach 2

[0037] Specific implementation mode two: as figure 1 As shown, this embodiment is a further description of specific embodiment 1. The pose sensor 21 is a three-axis gyroscope (the three-axis gyroscope can detect the pose of the robot in real time, such as according to the plane where the robot itself is located and the horizontal plane. And the included angle of the vertical plane, so as to calculate the included angle θ) between the gravity of the robot and the adsorption force.

specific Embodiment approach 3

[0038] Specific implementation mode three: as figure 1 As shown, this embodiment is a further description of Embodiment 1. The gap maintaining device 33 includes a ball 331, a support 332 and a support spring 333; Fixedly connected, the other end of the support spring 333 is fixedly connected with the support 332, the ball 331 is hinged with the support 332, the 1 / 2 part of the ball 331 is exposed outside the support 332, the lower surface of the ball 331 and the sealing skirt 313 The lower surface is on the same level.

[0039] The gap maintaining device 33 can ensure that the gap between the sealing skirt 313 on the suction cup 312 and the curved surface will not be too small through the hardware limit method (ball 331 and support spring 333), and ensure that the gap height between the variable adsorption force device 3 and the curved surface is in the range of 2-5mm Internal changes, while reducing the rate of change in the gap height and the role of buffer vibration isola...

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Abstract

The invention relates to a negative pressure adsorption robot and a motion control method for a curved surface with variable adsorption force, and relates to the technical field of special robots. Pre-measure the total weight of the robot and the load, the equivalent friction coefficient of the robot’s curved surface movement, and the adsorption force comparison table. During the movement of the robot along the curved surface, the pose sensor detects the robot’s pose in real time, the pressure sensor detects the current adsorption force in real time, and the distance sensor detects the current adsorption force in real time. Detect the gap height between the bottom of the robot and the curved surface, and transmit the above information to the controller for processing in real time. When the curvature or slope of the surface changes, the controller will substitute the pose of the robot into the calculation of the critical adsorption force to obtain the current required adsorption force; refer to the comparison table, change the parameters of the adsorption force adjustment device, and feed back information through the sensor system With closed-loop control, under the premise of ensuring the reliable adsorption of the robot’s curved surface motion, it will neither cause excessive motion resistance or excessive suction due to excessive adsorption force, nor will it cause unstable motion or even slip due to too small adsorption force.

Description

technical field [0001] The invention relates to the technical field of special robots, in particular to a negative pressure adsorption robot and a method for controlling the motion of a curved surface using the variable adsorption force of the robot. Background technique [0002] In the process of engineering implementation or application, it is often difficult to ensure that the support surface or working surface of construction machinery or operators is always a horizontal surface, so in practice, it is necessary to solve the problem of curved surface operations. The existing technology mostly adopts methods such as slings, engineering vehicles, and scaffolding to artificially create a horizontal support surface and solve it through manual operations by operators. These methods have problems such as poor flexibility, high cost, low operating efficiency, and high danger to operating personnel. [0003] The use of the above methods can be avoided by special robots, and robo...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/024B25J11/00F16L55/32
CPCB25J11/00B62D57/024F16L55/32
Inventor 刘刚峰莫昊李长乐张学贺赵杰
Owner HARBIN INST OF TECH