An intelligent adsorption cavity and an adsorption device with adjustable posture
An adsorption cavity and intelligent technology, applied in the field of robotics, can solve the problems of large errors and achieve the effects of reducing fitting errors, ensuring tight fit, and good curve fitting
Active Publication Date: 2022-02-15
HUAZHONG UNIV OF SCI & TECH
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Problems solved by technology
In the measurement of the normal vector, the existing technology usually uses discrete points to fit the surface information, and the error is large
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[0052] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.
[0053] Such as figure 1 As shown, the present invention provides an intelligent adsorption chamber. The intelligent adsorption chamber includes: an adsorption chamber main body 1 and a flexible lip 2; one end of the adsorption chamber main body is used to connect with a vacuum device during the adsorption process, and the other end is Flexible lip; one end of the flexible lip is connected to th...
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The invention discloses an intelligent adsorption chamber and an adsorption device with adjustable posture, belonging to the technical field of robots. Including: the main body of the adsorption chamber and the flexible lip; one end of the main body of the adsorption chamber is used to connect with the vacuum device during the adsorption process, and the other end is a flexible lip; one end of the flexible lip is connected to the main body of the adsorption chamber, and at least one is embedded in the other end The sensor is used to closely adhere to the surface of the adsorbed target, thereby realizing passive compliance to the adsorbed surface, and the sensor is used to output a corresponding response according to the curvature of the adsorbed surface. The present invention realizes passive compliance through the flexible lip, realizes close fit to the surface to be adsorbed, and has a smooth surface, which reduces the frictional resistance generated during the movement process; the embedded sensor can realize curvature perception and obtain two-way curvature information, which is adsorbed after processing. The active compliance of the cavity provides the normal vector to ensure that the adsorption cavity can achieve both passive compliance and active compliance during the adsorption process, ensuring a close fit with the contacted surface.
Description
technical field [0001] The invention belongs to the technical field of robots, and more specifically relates to an intelligent adsorption chamber and an adsorption device with adjustable posture. Background technique [0002] In the field of wall-climbing robots, adsorption technology is one of the most important technologies. Compared with magnetic adsorption, thrust adsorption and bionic adsorption, vacuum adsorption can adapt to the adsorption surface of any material, and can provide a large adsorption force to ensure that the wall-climbing robot has a large enough load, so it is widely used in the field of wall-climbing robots. more. [0003] The vacuum adsorption chamber has a great influence on the vacuum adsorption capacity, and whether it can closely fit the surface to be adsorbed is one of the decisive factors affecting the adsorption force. Most of the existing adsorption mechanisms use rubber suction cups, and their lips only have passive compliance. When encoun...
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IPC IPC(8): B62D57/024
CPCB62D57/024
Inventor 龚泽宇李可怡陶波顾振峰石颖
Owner HUAZHONG UNIV OF SCI & TECH