An all-terrain mobile climbing robot based on multi-chamber linked retractable suction cups

Abstract

The present invention discloses an all-terrain mobile climbing robot based on a multi-chamber linked retractable suction cup, comprising a suction cup support, four suction cup arms, a suction cup support structure and a pneumatic control system; the four suction cup arms are all connected to the suction cup support; the suction cup support structure is used to support the retractable suction cup; the retractable suction cup is composed of an outer stiffness limiting membrane, an internal suction cup body and an air tube; the pneumatic control system is used to control the inflation and deflation of the retractable airbag and the negative pressure adsorption function of the suction cup; through the coordinated design of the multi-suction cup arm structure and the flexible control system, stable adsorption and movement can be achieved on a variety of complex three-dimensional surfaces including planes, slopes, concave and convex terrains, vertical walls, curved cylinders and ceilings, and the terrain adaptability is also improved, realizing true "all-terrain" movement.

Description

Technical Field

[0001] The present invention belongs to the field of flexible robots, and in particular relates to an all-terrain mobile climbing robot based on multi-air chamber linked retractable suction cups. Background Art

[0002] Traditional all-terrain mobile robots are mostly based on legged, tracked, or wheel-leg hybrid designs. While they can achieve a certain degree of terrain adaptability, their understanding of "all-terrain" remains limited, primarily focusing on slopes with small curvature changes, slightly uneven surfaces, or steps. They struggle to adapt to complex three-dimensional surfaces such as vertical walls and curved cylinders. Furthermore, traditional flexible mobile robots often lack the assistance of rolling elements, especially on non-horizontal or vertical surfaces. This results in low mobility efficiency, high power consumption, and complex motion control, limiting the robots' ability to be rapidly deployed and flexibly operated in a variety of application scenarios.

[0003] In terms of achieving stable adsorption, the existing technology usually adopts a passive suction cup structure, that is, the robot is moved as a whole close to the surface of the target object so that the suction cup is attached and then negative pressure is applied to complete the adsorption. This method relies on the precise positioning and drive coordination of the entire robot system, and when faced with target surfaces with special shapes, curves, softness or complex textures, the difficulty of adsorption increases significantly and the reliability decreases. At the same time, for the retractable structure of the suction cup, some existing technologies have attempted to use rigid mechanisms to achieve the retractable function, such as using mechanical structures such as guide rails, sliders, and screw-bearing pairs to push the suction cup to extend or retract. However, this type of structure generally has the following shortcomings: complex structure, a large number of components, prone to mechanical jamming or wear, and poor reliability; the material is highly rigid and easily corroded in high humidity, dust or corrosive environments, requiring additional protection; the retraction process usually requires the participation of independent control motors or actuators, and the system integration is complex, the response speed is slow, and the cost is high.

[0004] In summary, the technical problems of existing technologies are as follows: (1) low mobility efficiency and poor terrain adaptability: they cannot effectively cope with various types of terrain including vertical, curved and complex obstacle environments; (2) insufficient telescopic capacity of the suction cup structure or complex control: traditional rigid telescopic mechanisms are bulky, have poor flexibility, and are not suitable for harsh environments; (3) weak adsorption and adhesion capabilities and low adsorption efficiency: it is difficult to achieve full adhesion on non-flat target surfaces, the adsorption stability is poor, and the failure rate is high. Summary of the Invention

[0005] In response to the shortcomings of the existing technology, the present invention provides an all-terrain mobile climbing robot based on multi-air chamber linked retractable suction cups. Through the collaborative design of the multi-suction cup arm structure and the flexible control system, it can achieve stable adsorption and movement on a variety of complex three-dimensional surfaces including planes, slopes, concave and convex terrains, vertical walls, curved cylinders and ceilings, significantly surpassing the terrain adaptability range of traditional all-terrain robots, and also improving the terrain adaptability, realizing true "all-terrain" movement.

[0006] The present invention is specifically achieved through the following technical solutions:

[0007] An all-terrain mobile climbing robot based on multi-chamber linked retractable suction cups, comprising:

[0008] A suction cup support member, which is a shell structure with an open upper end and provided with a plurality of through holes;

[0009] Four suction cup arms, each connected to the suction cup support, the suction cup arm consisting of a suction cup support structure, a retractable suction cup, a rolling wheel, a bellows and a traction rope;

[0010] A suction cup support structure for supporting the retractable suction cup; the retractable suction cup is composed of an outer stiffness limiting membrane, an inner suction cup body and an air tube;

[0011] A bellows, one end of which is connected to the suction cup support structure and the other end is connected to the suction cup support member, for achieving length adjustment and flexible transmission of the suction cup arm;

[0012] Multiple traction ropes are arranged along the circumference of the bellows to achieve spatial posture adjustment of the suction cup arm. One end of the traction rope is connected to the suction cup support structure, and the other end passes through a small hole provided on the side wall of the suction cup support;

[0013] A plurality of rolling wheels are provided at the bottom of the suction cup support structure, and are used for achieving rolling movement when the retractable suction cup is not adsorbed;

[0014] A pneumatic control system includes a solenoid valve, an air pump and a control chip, and is used to control the inflation and deflation of the telescopic airbag and the negative pressure adsorption function of the suction cup.

[0015] Specifically, the retractable suction cup includes a retractable airbag and a central negative pressure passage. The retractable airbag is covered with a stiffness limiting membrane and inflation is controlled by the retractable airbag air tube. The negative pressure passage is connected to the negative pressure source through the suction cup air tube.

[0016] Specifically, the air tube includes a central suction cup air tube and telescopic air bag air tubes on both sides; the telescopic air bag air tube is the only vent hole of the telescopic air bag, and the rest of the positions are fully enclosed structures.

[0017] Specifically, the suction cup body includes a negative pressure passage in the middle and a circle of telescopic air bags around it. The negative pressure passage is directly connected to the suction cup air pipe. When a negative pressure is provided at the suction cup air pipe, the suction cup starts to work; when the suction cup structure needs to be extended, the control chip controls the two-position three-way solenoid valve to be in a conducting state, connects the air pump and the two telescopic air bag air pipes, and uses the air pump to inflate the telescopic air bags. Under the action of the outer stiffness limiting membrane, the horizontal expansion of the telescopic air bags is restricted and can only be extended in the vertical direction. Then, the suction cup air pipe connected to the negative pressure passage in the middle is connected to realize the adsorption function; when the suction cup needs to be retracted, it is only necessary to connect the pressure relief valve through the control chip to connect the inside of the telescopic air bag to the atmosphere, and the telescopic air bag shrinks to its normal length to realize partial retraction of the suction cup.

[0018] Specifically, the suction cup arm is used to cooperate with the traction rope and the bellows structure. By pulling the traction rope and inflating and deflating the bellows, the omnidirectional deformation of the suction cup arm is achieved; by controlling the air pressure of the telescopic airbag, the extension and retraction of the suction cup is achieved; by applying negative pressure through the negative pressure channel, the adsorption function of the suction cup is achieved; by grouping multiple suction cup arms to alternately adsorb and release, the robot can achieve functions including but not limited to translation, column holding, wall climbing and other all-terrain movement.

[0019] Furthermore, the all-terrain movement function is implemented as follows: when realizing the translation function, the suction cup arms are divided into two groups, wherein the first group extends the suction cup and is completely adsorbed on the contact surface, and the second group pulls the traction rope to change the orientation angle and length of the suction cup arms. After the new position is determined, the extended suction cup is adsorbed on the new position of the contact surface. At this time, the first group of suction cup arms retracts the suction cup, and the traction rope is pulled to move the suction cup to the new position and adsorb, and the above process is repeated to realize the movement function; when realizing the column holding and wall climbing functions, it is only necessary to adjust the traction rope so that the retractable suction cup on the suction cup arm is facing the new contact surface / contact surface, and extend the suction cup through the extension function. At this time, a pressure facing the contact surface will be applied to the suction cup to further increase the adsorption force of the suction cup. The specific movement realized is still the same as the aforementioned translation. The two groups alternately deform and adsorb to realize the all-terrain movement function.

[0020] Furthermore, the rolling wheel can also achieve catapult sprint, which is specifically implemented as follows: the suction cup arm with an angle greater than 90° to the target catapult direction is pulled toward the suction cup support through the traction rope to allow the bellows to fully shrink. At this time, the bellows is inflated and the suction cup is operated to adsorb the contact surface. After the bellows accumulates maximum elastic potential energy, the traction rope is released. When the bellows is fully stretched, the suction cup is released to make it move quickly in the target direction. Due to the action of the rolling wheel, the moving friction at this time is rolling friction, which enables the all-terrain mobile climbing robot to achieve efficient movement.

[0021] Specifically, the suction cup adopts a retractable design with multiple air chambers linked together, and can accurately control the retractable action by driving the air circuit system with a control chip according to task requirements; the suction cup automatically extends when in use and retracts into the internal structure when not in use, and cooperates with the stiffness limiting membrane through a surround-type retractable airbag to apply positive adhesion force during the extension process, which can adapt to different surface curvatures and achieve close fit and negative pressure adsorption.

[0022] Furthermore, the suction cup, when extended, can be applied to surfaces including but not limited to irregular, rough or soft objects. The beneficial effects of the present invention are as follows:

[0023] The proposed all-terrain mobile climbing robot not only achieves autonomous expansion and contraction of its suction cup structure and adaptive fit, preventing structural exposure and damage while improving the robot's suction stability, but also offers flexible movement, supporting alternating suction and release cycles and possessing excellent maneuverability. Furthermore, the robot's simplified overall structure avoids the vulnerability to wear and corrosion associated with rigid mechanical components. It also features a catapult sprint function, improving planar movement efficiency. The entire system is highly integrated, possessing the potential for intelligent control. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic diagram of the retractable suction cup of the present invention;

[0025] Figure 2 This is a control flow chart of the retractable suction cup of the present invention;

[0026] Figure 3 is a schematic diagram of the suction cup arm of the present invention;

[0027] Figure 4 Schematic diagram of the all-terrain mobile robot based on multi-air chamber linkage retractable suction cups of the present invention;

[0028] Figure 5 This is an example diagram of the bending direction of the suction cup arm of the present invention;

[0029] Figure 6 This is an example diagram of the movement of the all-terrain mobile robot based on the multi-air chamber linkage retractable suction cup of the present invention;

[0030] Figure 7 This is an example diagram of an all-terrain mobile robot holding a column and climbing a wall based on a multi-chamber linked retractable suction cup;

[0031] Reference numerals:

[0032] 1-suction cup arm; 2-suction cup support; 11-suction cup support structure; 12-retractable suction cup; 13-rolling wheel; 14-bellows; 15-traction rope; 121-suction cup air tube; 122-retractable air bag air tube; 123-stiffness limiting membrane; 124-retractable air bag; 125-negative pressure passage. DETAILED DESCRIPTION

[0033] Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. In the following description, when referring to the drawings, like numbers in different figures represent like or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present invention, as detailed in the appended claims.

[0034] Through the collaborative design of a multi-suction cup arm structure and a flexible control system, the present invention can achieve stable adsorption and movement on a variety of complex three-dimensional surfaces including planes, slopes, concave and convex terrains, vertical walls, curved cylinders and ceilings, significantly exceeding the terrain adaptability range of traditional all-terrain robots.

[0035] The present invention provides an all-terrain mobile climbing robot based on a multi-chamber linked retractable suction cup, which is composed of a central suction cup support 2 and surrounding suction cup arms 1. Figure 4 As shown. The suction cup support 2 is a shell-like structure with an open top and five through-holes (four small and one large) around each side. The suction cup arm 1 consists of a suction cup support structure 11, a retractable suction cup 12, a rolling wheel 13, a bellows 14, and a traction rope 15. The retractable suction cup 12 includes a retractable airbag 124 and a central negative pressure passage 125. The retractable airbag 124 is covered with a stiffness limiting membrane 123 and inflation is controlled by a retractable airbag air tube 122. The negative pressure passage 125 is connected to a negative pressure source via a suction cup air tube 121. Figure 3 The bellows 14 shown connects the suction cup support structure 11 and the suction cup support member 2, and can be inflated and deflated through the large hole on the side wall of the suction cup support member 2; the traction rope 15 is arranged around the bellows 14, one end of which is connected to the suction cup support structure 11, and the other end passes through the small hole on the side wall of the suction cup support member 2. The suction cup arm 1 can be bent and deformed in all directions by pulling the traction rope 15, as shown in FIG. Figure 5 As shown, when the bellows 14 is kept inflated, the suction cup arm 1 can achieve an upward posture by pulling the two traction ropes 15 on the upper side, and the remaining actions are also operated by the corresponding traction ropes 15; the rolling wheels 13 are located below the suction cup support structure 11, and each suction cup support structure 11 has four rolling wheels 13, which can achieve contact with the ground (contact surface) when the retractable suction cup 12 is contracted to achieve rolling movement; the retractable suction cup 12 is fixed at the center of the lower side of the suction cup support structure 11 to achieve the function of adsorbing the target.

[0036] The retractable suction cup 12 based on multi-chamber linkage is composed of an outer stiffness limiting membrane 123, an inner suction cup body and an air tube, such as Figure 1The suction cup body comprises a central negative pressure passage 125 surrounded by a circle of telescopic airbags 124. The air tubes include a central suction cup air tube 121 and two telescopic airbag air tubes 122 on either side. The telescopic airbag air tube 122 is the only vent in the telescopic airbag 124, while the rest of the structure is fully enclosed. The negative pressure passage 125 is directly connected to the suction cup air tube 121. When a negative pressure is applied to the suction cup air tube 121, the suction cup begins to operate. When the suction cup structure needs to be extended, the control chip controls the two-position three-way solenoid valve to be in the conducting state, connects the air pump and the two telescopic airbag air tubes 122, and uses the air pump to inflate the telescopic airbag 124. Under the action of the outer stiffness limiting membrane 123, the horizontal expansion of the telescopic airbag is limited and it can only be extended in the vertical direction. Then, the air tube connected to the negative pressure passage 125 in the middle is connected to realize the adsorption function. When the suction cup needs to be retracted, it is only necessary to connect the pressure relief valve through the control chip to connect the interior of the telescopic airbag 124 to the atmosphere, and the telescopic airbag 124 shrinks back to its normal length, thus realizing partial retraction of the suction cup. Figure 2 shown.

[0037] Based on the above design, the all-terrain mobile climbing robot based on multi-chamber linkage retractable suction cup of the present invention can achieve including but not limited to Figure 6 、 Figure 7 The movements shown, such as translation, column holding, and wall climbing, take translation as an example. The present invention can be achieved by dividing the four suction cup arms 1 into two groups, wherein the first group extends the suction cup and is completely adsorbed on the contact surface, and the second group pulls the traction rope 15 to change the orientation angle and length of the suction cup arm 1. After the new position is determined, the extended suction cup is adsorbed on the new position of the contact surface. At this time, the first group of suction cup arms 1 retracts the suction cup, and pulls the traction rope 15 to move the suction cup to the new position and adsorb it, and repeats the above process to realize the moving function; during movements such as column holding and wall climbing, it is only necessary to adjust the traction rope 15 so that the retractable suction cup 12 on the suction cup arm 1 faces the new contact surface (contact curved surface), and extend the suction cup through the extension function. At this time, a pressure opposite to the contact surface will be applied to the suction cup, so that the suction cup is adsorbed more tightly, and the specific movement implemented is still similar to the previous translation. The two groups alternately deform and adsorb to realize the all-terrain movement function.

[0038] In addition, the present invention can also achieve ejection sprint with the help of the rolling wheel 13. On a relatively flat surface, first, all the suction cup arms 1 with an angle greater than 90° to the target ejection direction (that is, away from the target direction) are completely pulled toward the suction cup support 2 through the traction rope 15, so that the bellows 14 is completely contracted. At this time, the bellows 14 is inflated, and the suction cup is operated to adsorb the contact surface. After the bellows 14 accumulates enough elastic potential energy, the traction rope 15 is released. When the bellows 14 is fully stretched, the suction cup is immediately released to make it move quickly toward the target direction. Due to the action of the rolling wheel 13, the moving friction at this time is rolling friction, and the energy dissipation is less. The all-terrain mobile climbing robot can move quickly. Performing this operation in sequence can achieve efficient movement.

[0039] As can be seen from the above, the suction cup described in the present invention adopts a retractable design with multiple air chambers linked together, and the control chip can drive the air path system to accurately control the retractable action according to the task requirements. The suction cup automatically extends when in use, and can be retracted into the internal structure when not in use, avoiding interference with the external environment, avoiding exposure and damage to the structure, and significantly improving the stability and life of the structure. The suction cup also has adaptive fitting capabilities. Through the cooperation of the surround-type retractable airbag 124 and the stiffness limiting membrane 123, a positive clamping force is applied during the elongation process, which can adapt to different surface curvatures, achieve good fitting and negative pressure adsorption, effectively improve the adsorption success rate, and is suitable for special-shaped, rough or soft object surfaces, and improves adsorption stability. In addition,

[0040] The suction cup arm 1 cooperates with the traction rope 15 and the bellows 14 structure to achieve omnidirectional bending deformation and spatial posture adjustment. Through the alternating deformation, adsorption, release and other actions of two groups of suction cup arms 1, complex movement operations such as translation, climbing, turning, and holding columns can be completed, with high flexibility and controllability.

[0041] The present invention features a simplified overall structure, avoiding the use of traditional rigid mechanical telescopic structures such as guide rails and lead screws. Instead, it utilizes a flexible pneumatic drive. This results in a simpler, lighter, and easier-to-maintain structure, making it suitable for use in complex environments (such as high humidity, high dust, and corrosive environments). This significantly improves system reliability and avoids the fragility and corrosion associated with rigid mechanical components. Furthermore, the bellows 14 stores elastic potential energy during traction and contraction, which, combined with the rolling wheels 13, reduces frictional losses. Rapid linear motion is achieved upon release, enabling efficient "bouncing" displacement on flat surfaces, further improving the robot's movement speed and responsiveness in specific scenarios.

[0042] In addition, the entire system of the present invention is not only highly integrated, but also has the potential for intelligent control. That is, all expansion and contraction and adsorption actions can be completed in coordination with the solenoid valve, air pump and control chip. It has the potential to be integrated with visual, tactile or other perception systems, and supports high-level intelligent control such as path planning and action decision-making.

[0043] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An all-terrain mobile climbing robot based on multi-chamber linked retractable suction cups, characterized in that: include: A suction cup support member, which is a shell structure with an open upper end and provided with a plurality of through holes; Four suction cup arms, each connected to the suction cup support, the suction cup arm consisting of a suction cup support structure, a retractable suction cup, a rolling wheel, a bellows and a traction rope; The suction cup support structure is used to support the retractable suction cup; the retractable suction cup is composed of an outer stiffness limiting membrane, an internal suction cup body and an air tube; the suction cup body includes a negative pressure passage in the middle and a circle of retractable air bags around it, the negative pressure passage is directly connected to the suction cup air tube, and when a negative pressure is provided at the suction cup air tube, the suction cup starts to work; when the suction cup structure needs to be extended, the control chip controls the two-position three-way solenoid valve to be in a conducting state, connects the air pump and the two retractable air bag air tubes, and uses the air pump to inflate the retractable air bags. Under the action of the outer stiffness limiting membrane, the horizontal expansion of the retractable air bags is limited and can only be extended in the vertical direction, and then the suction cup air tube connected to the negative pressure passage in the middle is connected to realize the adsorption function; when the suction cup needs to be retracted, it is only necessary to connect the pressure relief valve through the control chip to connect the inside of the retractable air bag with the atmosphere, and the retractable air bag shrinks to its normal length to realize partial retraction of the suction cup; A bellows, one end of which is connected to the suction cup support structure and the other end is connected to the suction cup support member, for achieving length adjustment and flexible transmission of the suction cup arm; Multiple traction ropes are arranged along the circumference of the corrugated tube to achieve spatial posture adjustment of the suction cup arm. One end of the traction rope is connected to the suction cup support structure, and the other end passes through a small hole provided on the side wall of the suction cup support; A plurality of rolling wheels are provided at the bottom of the suction cup support structure, and are used for achieving rolling movement when the retractable suction cup is not adsorbed; A pneumatic control system includes a solenoid valve, an air pump and a control chip, and is used to control the inflation and deflation of the telescopic airbag and the negative pressure adsorption function of the suction cup.

2. The all-terrain mobile climbing robot based on multi-air chamber linkage retractable suction cup according to claim 1, characterized in that: The retractable suction cup includes a retractable airbag and a central negative pressure passage. The retractable airbag is covered with a stiffness limiting membrane and inflation control is achieved through the retractable airbag air tube. The negative pressure passage is connected to a negative pressure source through the suction cup air tube.

3. The all-terrain mobile climbing robot based on multi-air chamber linkage retractable suction cup according to claim 1, characterized in that: The air tube includes a central suction cup air tube and telescopic air bag air tubes on both sides; the telescopic air bag air tube is the only vent hole of the telescopic air bag, and the rest of the positions are fully enclosed structures.

4. The all-terrain mobile climbing robot based on multi-air chamber linkage retractable suction cup according to claim 1, characterized in that: The suction cup arm is used to cooperate with the traction rope and the bellows structure. The omnidirectional deformation of the suction cup arm is achieved by pulling the traction rope and inflating and deflating the bellows; the extension and retraction of the suction cup are achieved by controlling the air pressure of the telescopic airbag; the adsorption function of the suction cup is achieved by applying negative pressure through the negative pressure passage; and the grouping and alternating adsorption and release of multiple suction cup arms can realize the robot's functions including but not limited to translation, column holding, wall climbing and other all-terrain movement.

5. The all-terrain mobile climbing robot based on multi-air chamber linkage retractable suction cup according to claim 1, characterized in that: The all-terrain movement function is implemented as follows: when realizing the translation function, the suction cup arms are divided into two groups, wherein the first group extends the suction cup and is completely adsorbed on the contact surface, and the second group pulls the traction rope to change the orientation angle and length of the suction cup arms. After the new position is determined, the extended suction cup is adsorbed on the new position of the contact surface. At this time, the first group of suction cup arms retracts the suction cup, and the traction rope is pulled to move the suction cup to the new position and adsorb, and the above process is repeated to realize the movement function; when realizing the column holding and wall climbing functions, it is only necessary to adjust the traction rope so that the retractable suction cup on the suction cup arm faces the new contact surface / contact surface, and extend the suction cup through the extension function. At this time, a pressure facing the contact surface will be applied to the suction cup to further increase the suction force of the suction cup. The specific movement realized is still the same as the aforementioned translation. The two groups alternately deform and adsorb to realize the all-terrain movement function.

6. The all-terrain mobile climbing robot based on multi-air chamber linkage retractable suction cup according to claim 1, characterized in that: The rolling wheel can also achieve catapult sprint, which is specifically implemented as follows: the suction cup arm with an angle greater than 90° to the target catapult direction is pulled toward the suction cup support through a traction rope to allow the bellows to fully contract. At this time, the bellows is inflated and the suction cup is operated to adsorb the contact surface. After the bellows accumulates maximum elastic potential energy, the traction rope is released. When the bellows is fully stretched, the suction cup is released to make it move quickly toward the target direction. Due to the action of the rolling wheel, the moving friction at this time is rolling friction, which enables the all-terrain mobile climbing robot to achieve efficient movement.

7. The all-terrain mobile climbing robot based on multi-air chamber linkage retractable suction cup according to claim 1, characterized in that: The suction cup adopts a retractable design with multiple air chambers linked together, and can accurately control the retractable movement by driving the air circuit system with a control chip according to task requirements; the suction cup automatically extends when in use and retracts into the internal structure when not in use, and cooperates with the stiffness limiting membrane through a surround-type retractable airbag to apply positive adhesion force during the extension process, which can adapt to different surface curvatures and achieve close fit and negative pressure adsorption.

8. The all-terrain mobile climbing robot based on multi-air chamber linkage retractable suction cups according to claim 6, characterized in that: When extended, the suction cup can be adapted to surfaces including but not limited to irregularly shaped, rough or soft objects.

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