Spherical mobile robot based on one-way suction cups

Abstract

The invention discloses a spherical mobile robot based on a one-way suction cup. The spherical mobile robot comprises a suction cup structure, a shell, an air bag in the shell, an inner layer space and a hole site. The air bag in the shell is located in the shell and connected with an air pump through an air pipe, the suction cup structure is connected to a corresponding hole position of the shell and comprises a suction cup, a one-way plate and a network-shaped rigid structure, the suction cup is fixedly connected with the periphery of the one-way plate, the one-way plate is located above the network-shaped rigid structure, and the one-way plate is tightly attached to the upper portion of the network-shaped rigid structure. The suction cup comprises an upper cavity, a lower cavity, an upper suction cup wall and a lower suction cup wall, and the upper cavity and the lower suction cup wall are supported by a network-shaped rigid structure. According to the structure, the function of moving in complex scenes such as narrow positions can be achieved only through the two air pumps.

Description

Technical Field

[0001] This application belongs to the field of robotics engineering technology, specifically relating to the design and control technology of a spherical mobile robot based on an adsorption mechanism. Background Technology

[0002] Existing technologies include wall-climbing robots and spherical rolling robots based on vacuum suction cups or negative pressure adsorption. These technologies typically achieve surface attachment and movement through passive suction cups, vacuum pumps, or magnetic mechanisms, but they have certain limitations. The existing technologies suffer from the following technical problems: (1) The adsorption mechanism has poor adaptability to surface type and is difficult to adhere stably in curved, rough or uneven environments; (2) Multiple drive sources or complex control systems are required, resulting in high energy consumption and complex structure; (3) Insufficient maneuverability in narrow or dynamic scenarios, unable to achieve flexible alternating adsorption and retraction. Summary of the Invention

[0003] The purpose of this invention is to achieve stable movement in complex scenarios such as narrow locations.

[0004] To achieve the above objectives, the present invention is implemented through the following technical solution: A spherical mobile robot based on a one-way suction cup includes: a suction cup structure, a shell, an internal air bladder, an inner space, and holes. The internal air bladder is located inside the shell and is connected to the shell by an air tube and an air pump, and is sealed with adhesive. The shell has multiple holes, and the suction cup structure is connected to the shell through corresponding holes. The suction cup structure and the shell are connected by an air tube and an air pump. The suction cup structure includes: a suction cup, a one-way plate, and a network-like rigid structure. The suction cup is fixedly connected to the one-way plate around its perimeter. The one-way plate is located above the network-like rigid structure, and the network-like rigid structure is closely attached to the one-way plate. The network-like rigid structure has multiple small holes. The suction cup includes: an upper suction cup wall and a lower suction cup wall. The inner space of the upper suction cup wall forms an upper cavity, and the inner space of the lower suction cup wall forms a lower cavity. The upper cavity and the lower suction cup wall are supported by the network-like rigid structure.

[0005] Furthermore, the outer shell is a single-layer spherical flexible shell.

[0006] Furthermore, the suction cup structure is arranged in a double-circular array on the outer shell, and is evenly distributed on the surface of the outer shell.

[0007] Furthermore, the internal air bladder of the outer shell is a spherical flexible structure.

[0008] Furthermore, the suction cup is a one-way, horn-shaped silicone suction cup.

[0009] Furthermore, the one-way plate is a high-rigidity plastic plate with an extremely thin cross structure in the middle and a certain degree of elasticity.

[0010] Furthermore, the holes are disc-shaped and evenly distributed on the outer shell.

[0011] Furthermore, the suction cup structure has the following operating modes: (1) Inhalation mode When air is drawn in, the pressure on the one-way plate decreases, and the lower side is connected to the atmosphere through the mesh rigid structure, generating an upward air pressure difference. The air pressure difference lifts the suction cup structure, connects the air passage of the suction cup part, and the suction cup part begins to work. (2) Inflation mode When inflated, the pressure on the one-way plate increases, and the rigid network structure on the lower side supports the one-way plate, preventing it from deforming downwards and blocking the air from escaping. The air passage of the suction cup is closed, the upper cavity is inflated and expanded, the equivalent stiffness increases, and the one-way plate is not easily deformed.

[0012] Furthermore, when the suction cup structure is not inhaling or deflating, it is in a soft state by default. When the air bladder inside the shell is inflated, the inner space expands, and some suction cup structures are inflated while others are inhaling. The suction cup structures that are inhaling protrude outwards, and the suction cups work and adhere to the external surface. When the air bladder inside the shell deflates, the suction cup structures retract from the protruding state, and the suction cups adhere to the plane. The spherical robot structure as a whole moves toward the adsorption side.

[0013] Beneficial effects: (1) The movement function can be achieved with only two air pumps. (2) Each part can move and alternately become the main moving part. (3) It can move stably in complex scenarios such as narrow positions. Attached Figure Description

[0014] Figure 1a This is a front view of the overall structure of the spherical mobile robot based on a unidirectional suction cup according to the present invention. Figure 1b This is a partial cross-sectional view from the left side of the overall structure of the spherical mobile robot based on a unidirectional suction cup according to the present invention. Figure 1c This is a top view of the overall structure of the spherical mobile robot based on a unidirectional suction cup according to the present invention; Figure 1d This is an isometric view of the overall structure of the spherical mobile robot based on a unidirectional suction cup according to the present invention. Figure 2a This is a front view of the suction cup structure of the present invention; Figure 2b This is a partial cross-sectional view of the suction cup structure of the present invention. Figure 2c This is a top view of the suction cup structure of the present invention; Figure 2dThis is a partial top sectional view of the suction cup structure of the present invention; Figure 3a This is a partial cross-sectional view of the one-way plate of the present invention from the front view; Figure 3b This is an isometric view of the one-way plate of the present invention; Figure 4a This is a partial cross-sectional view of the flexible housing of the present invention. Figure 4b This is a top view of the flexible shell of the present invention; Figure 4c This is an isometric view of the flexible shell of the present invention.

[0015] The meanings of the labels in the attached figures are as follows: 1-suction cup structure, 2-outer shell, 3-inner airbag of the outer shell, 4-suction cup, 5-one-way plate, 6-network rigid structure, 7-hole, 8-upper cavity, 9-lower cavity, 10-upper suction cup wall, 11-lower suction cup wall, 12-inner space. Detailed Implementation

[0016] The present invention will now be described in further detail with reference to the accompanying drawings.

[0017] like Figures 1a-1d As shown, the spherical mobile robot based on a unidirectional suction cup of the present invention includes: a suction cup structure 1, a shell 2, an internal airbag 3, and openings 7. The internal airbag 3 is a spherical flexible structure located inside the shell 2. The internal airbag 3 and the shell 2 are connected by an air tube and an air pump, and are sealed together with adhesive. Figures 4a-4c As shown, the outer shell 2 is a single-layer spherical flexible shell with multiple evenly distributed disc-shaped holes 7. The suction cup structure 1 is connected to the outer shell 2 through the corresponding holes 7 and is arranged in a double circumferential array on the surface of the outer shell 2. The suction cup structure 1 is connected to the outer shell 2 by an air pipe and an air pump.

[0018] like Figures 2a-2d As shown, the suction cup structure 1 includes: a suction cup 4, a one-way plate 5, and a mesh-like rigid structure 6. The suction cup 4 is a one-way, trumpet-shaped silicone suction cup, and the one-way plate 5 is a high-rigidity plastic plate with a very thin, somewhat elastic cross structure in the middle. The suction cup 4 is fixedly connected to the one-way plate 5 around its perimeter. Figures 3a-3b As shown, the one-way plate 5 is located above the rigid mesh structure 6, and the rigid mesh structure 6 is closely attached to the one-way plate 5. The rigid mesh structure 6 has multiple small holes. When airflow passes through from bottom to top, the airflow pushes the one-way plate 5 upward through the small holes of the rigid mesh structure 6, thus achieving airflow. The suction cup 4 includes: an upper cavity 8, a lower cavity 9, an upper suction cup wall 10, and a lower suction cup wall 11. The inner space of the upper suction cup wall 10 is the upper cavity 8, and the inner space of the lower suction cup wall 11 is the lower cavity 9. The upper cavity 8 and the lower suction cup wall 11 are supported by the rigid mesh structure 6.

[0019] The internal airbag 3 expands and recovers the robot structure as a whole, thereby increasing and restoring the spacing between the suction cup structures 1, which in turn allows the robot structure to move as a whole. When the internal airbag 3 is inflated, the inner space 12 expands, some suction cup structures 1 are inflated, and some suction cup structures 1 are sucked in. The sucked-in suction cup structures 1 protrude outwards to the side, and the suction cup 4 adheres to the external surface. When the internal airbag 3 is deflated, the suction cup structures 1 retract from the protruding state, and the suction cup 4 adheres to the external plane. The spherical robot structure moves as a whole toward the adsorption side.

[0020] The suction cup structure 1 has two modes: suction and inflation. When suctioning, the pressure on the upper side of the one-way plate 5 decreases, and the lower side is connected to the atmosphere through the mesh-like rigid structure 6, generating an upward air pressure difference that lifts the suction cup structure 1, connecting the air passages of the suction cup 4, and the suction cup 4 begins to work. When inflation, the pressure on the upper side of the one-way plate 5 increases, and the mesh-like rigid structure 6 on the lower side prevents it from deforming downwards, preventing the one-way plate 5 from releasing air. The air passages of the suction cup 4 are closed, the upper cavity is inflated, the equivalent stiffness increases, and the one-way plate 5 is not easily deformed.

Claims

1. A unidirectional-suction-pad-based spherical mobile robot, comprising: The invention discloses a kind of spherical robot structure, including: suction disc structure (1), shell (2), shell interior air bag (3), inner space (12), hole position (7), it is characterized in that, the shell interior air bag (3) is located inside shell (2), by air pipe and air pump and shell (2) are connected, by adhesive sealing bonding, multiple hole positions (7) are equipped on the shell (2), suction disc structure (1) is connected with shell (2) by corresponding hole position (7), and the inside of suction disc structure (1) is connected with shell (2) by air pipe and air pump, and the suction disc structure (1) includes: suction disc (4), one-way board (5), network rigid structure (6), suction disc (4) is fixedly connected with the periphery of one-way board (5), one-way board (5) is located above network rigid structure (6), network rigid structure (6) is tightly attached to one-way board (5) above, and multiple small holes are equipped on network rigid structure (6) above;The suction disc (4) includes: upper suction disc wall (10), lower suction disc wall (11), the inside space of upper suction disc wall (10) forms upper cavity (8), and the inside space of lower suction disc wall (11) forms lower cavity (9), and the network rigid structure (6) is supported between upper cavity (8) and lower suction disc wall (11).

2. The unidirectional-suck-cup-based spherical mobile robot according to claim 1, characterized by, The shell (2) is a single-layer spherical flexible shell.

3. The unidirectional-suction-pad-based spherical mobile robot according to claim 1, characterized by, The suction disc structure (1) is arranged in a double-circumferential array on the shell (2) and is uniformly distributed on the surface of the shell (2).

4. The unidirectional-suction-pad-based spherical mobile robot according to claim 1, characterized by, The shell interior air bag (3) is a spherical flexible structure.

5. The unidirectional-suck-cup-based spherical mobile robot according to claim 1, wherein, The suction disc (4) is a one-way horn-shaped silica gel suction disc.

6. The unidirectional-suck-cup-based spherical mobile robot according to claim 1, wherein, The one-way board (5) is a plastic board with high rigidity, has an extremely thin cross structure in the middle and has a certain elasticity.

7. The unidirectional-suction-pad-based spherical mobile robot according to claim 1 or 2, characterized by, The hole position (7) is a disc and is uniformly distributed on the shell (2).

8. The unidirectional-suck-cup-based spherical mobile robot according to claim 1, wherein, The suction disc structure (1) has the following working modes: (1) Suction mode When suction, the pressure measured on the one-way board (5) becomes smaller, the lower side is connected to the atmosphere through the network rigid structure (6), an upward air pressure difference is generated, the suction disc structure (1) is lifted up, part of the air path of the suction disc (4) is connected, and part of the suction disc (4) starts to work. (2) Inflation mode When inflation, the pressure measured on the one-way board (5) becomes larger, the network rigid structure (6) supports the lower side so that the one-way board (5) cannot be deformed downward, the one-way board (5) is blocked from deflation, part of the air path of the suction disc (4) is closed, the upper cavity is inflated and expanded, the equivalent rigidity is higher, and the one-way board (5) is not easy to deform.

9. The unidirectional-suck-cup-based spherical mobile robot according to claim 1, wherein, When the suction disc structure (1) is not suctioned and deflated, the default state is soft, when the shell interior air bag (3) is inflated, the inner space (12) is expanded, part of the suction disc structure (1) is inflated, and part of the suction disc structure (1) is suctioned, the suction disc structure (1) protrudes laterally when suctioned, the suction disc (4) works and is adsorbed to the surface of the external environment, when the shell interior air bag (3) is deflated, the suction disc structure (1) is retracted from the protruding state, the suction disc (4) is adsorbed to the plane, and the spherical robot structure as a whole moves to the adsorption side.

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