Negative pressure adsorption mobile chassis and mobile robot including the chassis

Abstract

This invention provides a negative pressure adsorption mobile chassis and a mobile robot including the chassis, belonging to the field of mobile robot technology. The negative pressure adsorption mobile chassis includes a mobile base plate, on which a negative pressure generating device and a walking assembly are disposed; an elastic sealing gasket, which has a ring-shaped structure and is located below the mobile base plate; a contact plate, located below the elastic sealing gasket, which is connected to the mobile base plate and / or the contact plate, and the mobile base plate, elastic sealing gasket, and contact plate can sequentially fit together to form a negative pressure adsorption cavity; and a guide assembly, whose two ends are respectively connected to the lower end face of the mobile base plate and the upper end face of the contact plate, with limit screws disposed inside the guide assembly. This invention uses a contact plate instead of an elastic sealing gasket to contact the surface to be adsorbed and moved, reducing wear on the elastic sealing gasket; the presence of a return spring allows the contact plate to better contact the surface to be adsorbed, improving sealing performance.

Description

Technical Field

[0001] This invention relates to the field of mobile robot technology, and more particularly to a negative pressure adsorption mobile chassis and a mobile robot including the chassis. Background Technology

[0002] The mobile chassis is the basis for the robot's movement and the basis for installing functional components. The chassis of commonly used wall- or window-following walking robots generally use negative pressure sliding suction cups. However, conventional sliding suction cups are prone to wear or pressure loss. Summary of the Invention

[0003] This invention provides a negative pressure adsorption mobile chassis and a mobile robot including the chassis, to solve the defects of the sliding suction cup in the prior art that is easy to wear or easy to depressurize, and to achieve a strong negative pressure performance of the mobile chassis.

[0004] This invention provides a negative pressure adsorption mobile chassis, comprising:

[0005] A movable base plate is provided with a negative pressure generating device, a walking assembly, and a housing; the housing is connected to the upper end face of the movable base plate and is used to cover the walking assembly and the negative pressure generating device located on the movable base plate; the walking assembly includes a drive motor and a walking contact component that is drivenly connected to the drive motor;

[0006] An elastic sealing gasket, wherein the elastic sealing gasket has a ring-shaped structure and is located below the movable base plate;

[0007] A contact plate is located below the elastic sealing gasket. The elastic sealing gasket is connected to the movable base plate and / or the contact plate. The movable base plate, the elastic sealing gasket, and the contact plate can be sequentially fitted to form a negative pressure adsorption chamber. The negative pressure adsorption chamber is connected to the negative pressure generating device. The contact plate has a negative pressure adsorption port at the position corresponding to the negative pressure adsorption chamber. The walking component is located outside the negative pressure adsorption chamber. The contact plate has an active channel at the position corresponding to the walking component.

[0008] According to the present invention, a negative pressure adsorption mobile chassis further includes a guide assembly, the two ends of which are respectively connected to the lower end face of the mobile base plate and the upper end face of the contact plate. The guide assembly is provided with a limiting screw inside, which is used to limit the range of motion of the contact plate relative to the mobile base plate and prevent the contact plate from detaching from the mobile base plate.

[0009] According to the present invention, a negative pressure adsorption mobile chassis includes a guide assembly comprising a guide post and a guide sleeve. The guide post is disposed on one of the mobile base plate and the contact plate, one end of the guide sleeve is disposed on the other of the mobile base plate and the contact plate, and the other end of the guide sleeve is movably sleeved on the guide post.

[0010] According to the present invention, a negative pressure adsorption mobile chassis is provided, wherein the guide post is disposed on the lower surface of the mobile base plate and the guide sleeve is disposed on the contact plate.

[0011] According to the present invention, a negative pressure adsorption mobile chassis is provided, wherein a guide groove is provided on the lower end face of the mobile base plate, and a guide post is located in the guide groove; a return spring is sleeved on the guide post and the guide sleeve, one end of the return spring is connected to the inner top of the guide groove, and the other end of the return spring is connected to the outer wall of the guide sleeve.

[0012] According to the present invention, a negative pressure adsorption mobile chassis is provided, wherein the limiting screw includes a threaded rod and a limiting part, the guide sleeve is provided with a limiting step part, one end of the threaded rod passes through the limiting step part and is threadedly fixed to the guide post, the other end of the threaded rod is connected to the limiting part, and the limiting part abuts against the limiting step part to restrict the contact plate from disengaging from the mobile chassis.

[0013] According to the present invention, a negative pressure adsorption mobile chassis is provided, wherein the contact plate is provided with a through hole for the limiting screw to pass through at the position corresponding to the guide sleeve, and the guide post is provided with a screw connection hole.

[0014] According to the present invention, a negative pressure adsorption mobile chassis is provided, wherein the guide sleeve includes a primary guide sleeve and a secondary guide sleeve, the limiting step is disposed in the primary guide sleeve, the primary guide sleeve is connected to the secondary guide sleeve and communicates with it internally, and the inner diameter of the primary guide sleeve is larger than the inner diameter of the secondary guide sleeve.

[0015] The secondary guide sleeve is movably sleeved on the guide post, and the end of the primary guide sleeve away from the secondary guide sleeve is connected to the contact plate. The return spring is sleeved on the guide post and the secondary guide sleeve, and one end of the return spring is connected to the end of the primary guide sleeve.

[0016] According to the present invention, a negative pressure adsorption mobile chassis is provided on the mobile chassis, the air extraction connector includes an air inlet end and an air outlet end, the mobile chassis is provided with a plurality of negative pressure air extraction holes connected to the air inlet end of the air extraction connector, and the air outlet end of the air extraction connector is connected to the negative pressure generating device through an air pipe.

[0017] The present invention also provides a mobile robot, including a negative pressure adsorption mobile chassis as described above.

[0018] The present invention provides a negative pressure adsorption mobile chassis and a mobile robot including the chassis. A contact plate, an elastic sealing gasket, and a mobile base plate are sequentially fitted to form a negative pressure adsorption cavity. A negative pressure generating device draws air from the negative pressure adsorption cavity, creating a negative pressure inside, thereby adsorbing the mobile chassis onto the surface to be adsorbed and moved. The mobile chassis then moves via a walking assembly that drives the mobile air extraction connector. The contact plate replaces the elastic sealing gasket in contact with the surface to be adsorbed, reducing wear on the elastic sealing gasket. Simultaneously, a guide assembly increases the stability of the contact plate during movement. The presence of a return spring allows the contact plate to better contact the surface to be adsorbed, improving sealing performance. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is one of the perspective views of the negative pressure adsorption mobile chassis provided by the present invention;

[0021] Figure 2 This is the second perspective view of the negative pressure adsorption mobile chassis provided by the present invention;

[0022] Figure 3 yes Figure 2 Exploded view;

[0023] Figure 4 This is a bottom view of the negative pressure adsorption mobile chassis provided by the present invention;

[0024] Figure 5 yes Figure 4 AA section view;

[0025] Figure 6 yes Figure 4 BB section view;

[0026] Figure 7 yes Figure 6 Enlarged view of the structure at point C.

[0027] Figure label:

[0028] 100. Movable base plate; 101. Guide groove; 200. Elastic sealing gasket;

[0029] 300. Contact plate; 301. Through hole; 302. Negative pressure adsorption port; 303. Moving channel;

[0030] 400. Guide assembly; 401. Guide post; 402. Guide sleeve;

[0031] 4021, Primary guide sleeve; 4022, Secondary guide sleeve; 403, Return spring;

[0032] 404, limit screw; 405, limit step;

[0033] 500. Outer casing; 600. Negative pressure generating device; 601. Air extraction connector;

[0034] 602, Negative pressure suction port; 700, Walking assembly; 800, Negative pressure adsorption chamber. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0036] The following is combined Figures 1-7 This invention describes a negative pressure adsorption mobile chassis and a mobile robot including the chassis.

[0037] This mobile robot is designed to walk along walls or windows. In conventional robots, a negative pressure sliding suction cup is typically used on the chassis to allow the robot to adhere to the work surface. However, conventional sliding suction cups only contact the work surface through an elastic seal. After a period of use, the elastic seal is prone to wear, which can lead to pressure leakage and prevent the robot from adhering properly to the work surface.

[0038] To address the above problems, the present invention provides a mobile robot, including a negative pressure adsorption mobile chassis;

[0039] The negative pressure adsorption mobile chassis includes a mobile base plate 100, an elastic sealing gasket 200, a contact plate 300, a guide assembly 400, and a housing 500.

[0040] A negative pressure generating device 600 and a walking assembly 700 are provided on the movable base plate 100; the outer shell 500 is connected to the upper end face of the movable base plate 100 and is used to cover the walking assembly 700 and the negative pressure generating device 600 located on the movable base plate 100.

[0041] Among them, the negative pressure generating device 600 is a negative pressure fan, and the walking component 700 includes a drive motor and a walking contact component that is connected to the drive motor. The walking contact component can be a track or a walking wheel, and a part of the walking contact component is located on the underside of the moving base plate 100.

[0042] like Figure 3 and Figure 5 As shown, the elastic sealing gasket 200 has a ring-shaped structure and is located below the movable base plate 100.

[0043] like Figure 5 and Figure 6 As shown, the contact plate 300 is located below the elastic sealing gasket 200. The elastic sealing gasket 200 is connected to the movable base plate 100 and / or the contact plate 300. The movable base plate 100, the elastic sealing gasket 200, and the contact plate 300 can be sequentially fitted to form a negative pressure adsorption chamber 800. The negative pressure adsorption chamber 800 is connected to the negative pressure generating device 600. The contact plate 300 has a negative pressure adsorption port 302 at the position corresponding to the negative pressure adsorption chamber 800. The walking component 700 is disposed outside the negative pressure adsorption chamber 800. The contact plate 300 has an active channel 303 at the position corresponding to the walking component 700 for the walking contact component to pass through.

[0044] In this embodiment, at least two negative pressure adsorption chambers 800 are provided, which can reduce air leakage and improve the ability to pass through uneven surfaces. At the same time, the walking component 700 is located outside the range of the negative pressure adsorption chambers 800, which reduces the difficulty of sealing and makes the arrangement of the negative pressure adsorption chambers 800 more flexible, and the force on the machine is more balanced.

[0045] Due to the elastic expansion and contraction of the elastic sealing gasket 200, the contact plate 300 can move closer to or further away from the lower surface of the movable base plate 100 in a direction perpendicular to the movable base plate 100.

[0046] like Figure 5 As shown, the movable base plate 100 is provided with an air extraction connector 601, which includes an air inlet end and an air outlet end. The movable base plate 100 is provided with a plurality of negative pressure air extraction holes 602 that are connected to the air inlet end of the air extraction connector 601. The air outlet end of the air extraction connector 601 is connected to the negative pressure generating device 600 through an air pipe.

[0047] The two ends of the guide assembly 400 are respectively connected to the lower end face of the movable base plate 100 and the upper end face of the contact plate 300;

[0048] Specifically, such as Figure 7As shown, the guide assembly 400 includes a guide post 401 and a guide sleeve 402. The guide post 401 is disposed on one of the movable base plate 100 and the contact plate 300. One end of the guide sleeve 402 is disposed on the other of the movable base plate 100 and the contact plate 300, and the other end of the guide sleeve 402 is movably sleeved on the guide post 401.

[0049] In this embodiment, the guide post 401 is disposed on the lower surface of the movable base plate 100, and the guide sleeve 402 is disposed on the contact plate 300; the arrangement of the guide assembly 400 can increase the stability of the contact plate 300 during movement.

[0050] More specifically, a guide groove 101 is provided on the lower end face of the movable base plate 100, and a guide post 401 is located in the guide groove 101; a return spring 403 is sleeved on the guide post 401 and the guide sleeve 402, one end of the return spring 403 is connected to the inner top of the guide groove 101, and the other end of the return spring 403 is connected to the outer wall of the guide sleeve 402.

[0051] The guide sleeve 402 includes a primary guide sleeve 4021 and a secondary guide sleeve 4022. The limiting step 405 is disposed inside the primary guide sleeve 4021. The primary guide sleeve 4021 is connected to the secondary guide sleeve 4022 and they communicate internally. The inner diameter of the primary guide sleeve 4021 is larger than the inner diameter of the secondary guide sleeve 4022.

[0052] The secondary guide sleeve 4022 is movably sleeved on the guide post 401. The end of the primary guide sleeve 4021 away from the secondary guide sleeve 4022 is connected to the contact plate 300. The return spring 403 is sleeved on the guide post 401 and the secondary guide sleeve 4022, and one end of the return spring 403 is connected to the end of the primary guide sleeve 4021.

[0053] The guide assembly 400 is provided with a limiting screw 404 inside. The limiting screw 404 is used to limit the range of motion of the contact plate 300 relative to the movable base plate 100 and to prevent the contact plate 300 from disengaging from the movable base plate 100.

[0054] The limiting screw 404 includes a threaded rod and a limiting part. The guide sleeve 402 is provided with a limiting step part 405. One end of the threaded rod passes through the limiting step part 405 and is threadedly fixed to the guide post 401. The other end of the threaded rod is connected to the limiting part, and the limiting part and the limiting step part 405 abut against each other to restrict the contact plate 300 from disengaging from the movable base plate 100.

[0055] The contact plate 300 has a through hole 301 at the position corresponding to the guide sleeve 402 for the limit screw 404 to pass through, and the guide post 401 is provided with a screw connection hole.

[0056] The limiting screw 404 limits the range of motion of the contact plate 300. Based on the limiting effect of the limiting screw 404, the return spring 403 is always compressed, keeping the contact plate 300 in an extended state under normal conditions. After the contact plate 300 contacts the surface to be adsorbed, it compresses the return spring 403, causing the contact plate 300, the elastic sealing gasket 200, and the movable base plate 100 to sequentially adhere. The return spring 403 provides elastic force to the contact plate 300, allowing it to better contact the surface to be adsorbed and improving sealing performance. A cleaning cloth, such as a velvet cloth, is provided on the lower surface of the contact plate 300, which reduces friction and allows for wiping the surface to be cleaned.

[0057] Under normal conditions, the contact plate 300 is in the first telescopic position, and the distance between the lower surface of the contact plate 300 and the lower surface of the movable base plate 100 is greater than the distance between the lower surface of the traveling contact and the lower surface of the movable base plate 100.

[0058] When the contact plate 300 is compressed to the limit position by pressing by hand or other means, the contact plate 300 is in the second extension position. The distance between the lower surface of the contact plate 300 and the lower surface of the moving base plate 100 is less than the distance between the lower surface of the walking contact and the lower surface of the moving base plate 100. This is to provide a compression allowance for the walking contact, to enhance the friction between the walking contact and the surface to be walked, and to reduce the possibility of slippage.

[0059] When the movable base plate 100 is adsorbed onto the walking surface to be adsorbed, the surface of the walking contact component is flush with the lower surface of the contact plate 300. That is, the lower surface of the walking contact component and the lower surface of the contact plate 300 are in contact with the walking surface to be adsorbed at the same time.

[0060] In use, after the mobile chassis presses against the surface to be adsorbed and moved, the contact plate 300, the elastic sealing gasket 200 and the mobile base plate 100 are sequentially attached to form a negative pressure adsorption chamber 800. The negative pressure generating device 600 draws air from the negative pressure adsorption chamber 800, creating a negative pressure inside, thereby adsorbing the mobile chassis onto the surface to be adsorbed and moved. Then, the mobile chassis is driven to move by the walking assembly 700. The contact plate 300 replaces the elastic sealing gasket 200 in contact with the surface to be adsorbed and moved, reducing the wear of the elastic sealing gasket 200.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A negative pressure adsorption mobile chassis, characterized in that, include: A movable base plate, on which a negative pressure generating device, a walking assembly, and a housing are provided; The outer shell is connected to the upper end face of the movable base plate and is used to cover the walking assembly and the negative pressure generating device located on the movable base plate; The walking assembly includes a drive motor and a walking contact component that is driven by the drive motor. An elastic sealing gasket, wherein the elastic sealing gasket has a ring-shaped structure and is located below the movable base plate; A contact plate is located below the elastic sealing gasket. The elastic sealing gasket is connected to the movable base plate and / or the contact plate. The movable base plate, the elastic sealing gasket, and the contact plate can be sequentially fitted to form a negative pressure adsorption chamber, so that the contact plate contacts the surface to be adsorbed and moved. The negative pressure adsorption chamber is connected to the negative pressure generating device. The contact plate has a negative pressure adsorption port at the position corresponding to the negative pressure adsorption chamber. The moving assembly is disposed outside the negative pressure adsorption chamber. The contact plate has an active channel at the position corresponding to the moving assembly. When the contact plate is in the first telescopic position, the distance between the lower surface of the contact plate and the lower surface of the movable base plate is greater than the distance between the lower surface of the walking contact and the lower surface of the movable base plate. When the contact plate is in the second telescopic position, the distance between the lower surface of the contact plate and the lower surface of the movable base plate is less than the distance between the lower surface of the walking contact and the lower surface of the movable base plate, so as to provide a compression allowance to the walking contact. When the movable base plate is adsorbed onto the surface to be adsorbed, the lower surface of the walking contact component is flush with the lower surface of the contact plate.

2. The negative pressure adsorption mobile chassis according to claim 1, characterized in that, It also includes a guide assembly, the two ends of which are respectively connected to the lower end face of the movable base plate and the upper end face of the contact plate. The guide assembly is provided with a limit screw inside, which is used to limit the range of motion of the contact plate relative to the movable base plate and prevent the contact plate from detaching from the movable base plate.

3. The negative pressure adsorption mobile chassis according to claim 2, characterized in that, The guiding assembly includes a guide post and a guide sleeve. The guide post is disposed on one of the movable base plate and the contact plate. One end of the guide sleeve is disposed on the other of the movable base plate and the contact plate, and the other end of the guide sleeve is movably sleeved on the guide post.

4. The negative pressure adsorption mobile chassis according to claim 3, characterized in that, The guide post is disposed on the lower surface of the movable base plate, and the guide sleeve is disposed on the contact plate.

5. The negative pressure adsorption mobile chassis according to claim 4, characterized in that, The lower end face of the movable base plate is provided with a guide groove, and the guide post is located in the guide groove; a return spring is sleeved on the guide post and the guide sleeve, one end of the return spring is connected to the inner top of the guide groove, and the other end of the return spring is connected to the outer wall of the guide sleeve.

6. The negative pressure adsorption mobile chassis according to claim 5, characterized in that, The limiting screw includes a threaded rod and a limiting part. The guide sleeve is provided with a limiting step part. One end of the threaded rod passes through the limiting step part and is threadedly fixed to the guide post. The other end of the threaded rod is connected to the limiting part, and the limiting part abuts against the limiting step part to prevent the contact plate from disengaging from the movable base plate.

7. The negative pressure adsorption mobile chassis according to claim 6, characterized in that, The contact plate has a through hole for the limiting screw to pass through at the position corresponding to the guide sleeve, and the guide post has a screw connection hole.

8. The negative pressure adsorption mobile chassis according to claim 6, characterized in that, The guide sleeve includes a primary guide sleeve and a secondary guide sleeve. The limiting step is disposed inside the primary guide sleeve. The primary guide sleeve is connected to and internally communicates with the secondary guide sleeve. The inner diameter of the primary guide sleeve is larger than the inner diameter of the secondary guide sleeve. The secondary guide sleeve is movably sleeved on the guide post, and the end of the primary guide sleeve away from the secondary guide sleeve is connected to the contact plate. The return spring is sleeved on the guide post and the secondary guide sleeve, and one end of the return spring is connected to the end of the primary guide sleeve.

9. The negative pressure adsorption mobile chassis according to claim 1, characterized in that, The movable base plate is provided with an air extraction connector, which includes an air inlet and an air outlet. The movable base plate has several negative pressure air extraction holes that are connected to the air inlet of the air extraction connector. The air outlet of the air extraction connector is connected to the negative pressure generating device through an air pipe.

10. A mobile robot, characterized in that, Includes the negative pressure adsorption mobile chassis as described in any one of claims 1-9.

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