Rolling robot based on combination of suction cup and air bag and working method of rolling robot

Abstract

The invention belongs to the technical field of robot engineering, and discloses a rolling robot based on combination of a suction cup and an air bag and a working method.The rolling robot comprises three annular deformation structures and a triangular prism structure, the triangular prism structure is located in the middle of the three annular deformation structures, and the lower ends of the three annular deformation structures are connected to the three side faces of the triangular prism structure correspondingly; two rows of air bags are arranged at the upper end, the left end and the right end of the annular deformation structure, a plurality of grooves are formed in the outer sides of the air bags and divide the air bags into a plurality of air chambers with the bottoms communicated, each air chamber comprises an air chamber inner cavity, a left side wall, a right side wall, an upper side wall, a lower side wall, a front side wall and a rear side wall, suction cups are arranged on the portions, corresponding to the air bags, of the outer sides of the air chambers, and inflation openings are formed in the tail ends of the air bags; by controlling one annular deformation structure, the robot can be switched between the mode that the two annular deformation structures make contact with the ground and the mode that one annular deformation structure makes contact with the ground, and overturning of the robot is achieved. The robot can be stably attached in a bending or narrow slit environment and is high in adaptability.

Description

Technical Field

[0001] This application belongs to the field of robotics engineering technology, specifically relating to a rolling robot based on a combination of suction cups and airbags and its working method. Background Technology

[0002] Existing technologies rely on wall-climbing robots based on vacuum suction cups and flexible pneumatic airbag actuators. These technologies typically achieve surface adhesion and movement through negative pressure adsorption or pneumatic deformation, but they have certain limitations. The main technical problems are as follows:

[0003] (1) The adsorption mechanism is poorly adaptable to surface types and is difficult to adhere stably in curved or narrow slit environments.

[0004] (2) The deformation control is simple and cannot achieve a smooth rolling transition, resulting in insufficient mobility.

[0005] (3) High energy consumption, requiring continuous vacuum pumps or multiple gas sources, which limits its long-term application in complex terrain.

[0006] Therefore, a new method is urgently needed to achieve a near-rolling movement of a robot by individually controlling a set of annular deformable structures. Summary of the Invention

[0007] To address the aforementioned technical problems in the existing technology, the purpose of this invention is to enable climbing from flat ground to vertical walls and even narrow gaps exceeding 90°, thereby improving mobility. The technical solution is as follows:

[0008] A rolling robot based on a combination of suction cups and airbags includes: three sets of annular deformable structures and a triangular prism structure. The triangular prism structure is located in the middle of the three sets of annular deformable structures. The lower ends of the three sets of annular deformable structures are respectively connected to the three sides of the triangular prism structure and are distributed in a circumferentially equidistant manner. Two rows of airbags are provided at the upper end and the left and right ends of the annular deformable structures. The airbags are arranged at equal intervals. Multiple grooves are provided on the outer side of the airbags, dividing the airbags into multiple air chambers with interconnected bottoms. Each air chamber includes an inner cavity, a left side wall, a right side wall, an upper side wall, a lower side wall, a front side wall, and a rear side wall. A suction cup is placed on the corresponding airbag part outside the air chamber, and an inflation port is provided at the end of the airbag.

[0009] Furthermore, the annular deformable structure is generally in the shape of a circular groove and is made of flexible silicone.

[0010] Furthermore, the air chambers in the airbag are fan-shaped at the arcs of the circular groove rings at both ends of the annular deformable structure, and the corresponding airbag portions on the outer side have no suction cups; the air chambers near the upper end of the annular deformable structure are square in shape, and the corresponding airbag portions on the outer side have suction cups.

[0011] Furthermore, the suction cup axis and the front sidewall of the air chamber of the airbag form a 120° angle.

[0012] Furthermore, the thickness of the left side wall, right side wall, front side wall, and rear side wall of the air chamber is less than the thickness of the upper side wall and lower side wall of the air chamber.

[0013] Furthermore, the triangular prism structure is a solid structure and is made of ABS acrylonitrile-butadiene-styrene plastic.

[0014] Furthermore, the airbag has two operating modes:

[0015] ① Inflate and deflate one airbag separately.

[0016] When one side of the airbag is inflated, the left, right, front and rear walls of the air chambers in the airbag expand and enlarge. The air chambers in the airbag compress each other, causing one side of the airbag to lengthen while the other side remains unchanged. The annular deformation structure bends to the other side. When the airbag is deflated, the annular deformation structure returns to its initial state.

[0017] ② Inflate and deflate both airbags simultaneously.

[0018] When both airbags are inflated simultaneously, the airbags expand as a whole, and the annular deformable structure becomes larger. When the airbags are deflated, the annular deformable structure returns to its initial state.

[0019] A method for operating a rolling robot based on a suction cup and airbag combination includes the following steps:

[0020] ① In the initial state, the two suction cups of the two sets of annular deformable structures in contact with the ground begin to pump air.

[0021] ② Inflate the right airbag of the first set of annular deformation structures that are attached to the ground. The right airbag becomes longer, while the left airbag remains unchanged. The annular deformation structure bends toward the left airbag, while the suction cup remains in working condition.

[0022] ③ The suction cups of the second group of annular deformable structures stop working, the adsorption force disappears, the airbag on the right side of the first group of annular deformable structures is deflated, the right airbag returns to its original shape, and the first group of annular deformable structures returns to its initial state.

[0023] ④ The suction cup on the right side of the first group of annular deformable structures starts working, sticking to the ground and inflating the airbag on the left side of the first group of annular deformable structures. The left airbag becomes longer while the right airbag remains unchanged. The first group of annular deformable structures bends to the right, causing the entire rolling robot to flip to the right.

[0024] ⑤ The suction cup on the left side of the third group of annular deformable structures in contact with the ground starts to work, sticking to the ground and deflating the airbag on the left side of the first group of annular deformable structures. The left airbag returns to its original shape, and the first group of annular deformable structures returns to its initial state. The operation is repeated to achieve the rolling action.

[0025] Beneficial effects: (1) Enables climbing through narrow gaps, from flat ground to vertical walls and even more than 90°. (2) Low energy consumption, allowing for long-term application in complex terrain without the need for a continuous vacuum pump or multiple air sources. Attached Figure Description

[0026] Figure 1a This is a front view of the overall structure of the rolling robot based on suction cup and airbag combination according to the present invention;

[0027] Figure 1b This is a left view of the overall structure of the rolling robot based on suction cup and airbag combination according to the present invention;

[0028] Figure 1c This is a top view of the overall structure of the rolling robot based on the combination of suction cups and airbags according to the present invention;

[0029] Figure 1d This is an axonometric view of the overall structure of the rolling robot based on the combination of suction cups and airbags according to the present invention;

[0030] Figure 2 This is a schematic diagram of the rolling robot of the present invention.

[0031] Figure 3a This is a partial cross-sectional view of the single-group annular deformation structure of the present invention;

[0032] Figure 3b This is a left view of the single-group annular deformation structure of the present invention;

[0033] Figure 3c This is a top view of the single-group annular deformable structure of the present invention;

[0034] Figure 3d This is an axonometric view of the single-group annular deformable structure of the present invention.

[0035] The meanings of the labels in the attached figures are as follows: 1-ring-shaped deformable structure, 2-triangular prism structure, 3-airbag, 4-suction cup, 5-air chamber, 6-inner cavity of air chamber, 7-upper side wall, 8-lower side wall, 9-inflation port, 10-left side wall, 11-right side wall, 12-groove, 13-front side wall, 14-rear side wall. Detailed Implementation

[0036] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0037] like Figures 1a-1d As shown, a rolling robot based on a suction cup and airbag combination includes: three sets of annular deformable structures 1 and a triangular prism structure 2. The triangular prism structure 2 is a solid structure made of ABS acrylonitrile-butadiene-styrene plastic and is located in the middle of the three sets of annular deformable structures 1. The three sets of annular deformable structures 1 are generally circular groove rings made of flexible silicone, and their lower ends are respectively connected to the three sides of the triangular prism structure 2, and are distributed equidistantly around the circumference. Figures 3a-3d As shown, the annular deformable structure 1 has two rows of airbags 3 at its upper end and left and right ends. The airbags 3 are arranged at equal intervals. Multiple grooves 12 are provided on the outer side of each airbag 3, dividing it into multiple interconnected air chambers 5. Each air chamber 5 includes an inner cavity 6, a left side wall 10, a right side wall 11, an upper side wall 7, a lower side wall 8, a front side wall 13, and a rear side wall 14. The thickness of the left side wall 10, right side wall 11, front side wall 13, and rear side wall 14 is less than the thickness of the upper side wall 7 and lower side wall 8. The outer airbag 3 is equipped with a suction cup 4. (The air chamber 5 in the airbag 3 is fan-shaped near the arc of the circular groove ring at both ends of the annular deformable structure 1, and the outer airbag 3 has no suction cup 4; the air chamber 5 near the upper end of the annular deformable structure 1 is square, and the outer airbag 3 is equipped with a suction cup 4). The axis of the suction cup 4 forms a 120° angle with the front wall 13 of the air chamber 5 of the airbag 3. An inflation port 9 is provided at the end of the airbag 3. The airbag 3 has the following two working modes:

[0038] ① Inflate and deflate one side of the airbag 3 individually.

[0039] When one side of the airbag 3 is inflated, the left side wall 10, right side wall 11, front side wall 13 and rear side wall 14 of the air chamber 5 in the airbag 3 expand and become larger. The air chambers 5 in the airbag 3 compress each other, causing one side of the airbag 3 to become longer while the other side remains unchanged. The annular deformation structure 1 bends towards the other side. When the airbag 3 is deflated, the annular deformation structure 1 returns to its initial state.

[0040] ② Inflate and deflate both airbags 3 simultaneously.

[0041] When both airbags 3 are inflated simultaneously, the airbags 3 expand as a whole, and the annular deformable structure 1 becomes larger. When the airbags 3 are deflated, the annular deformable structure 1 returns to its initial state.

[0042] like Figure 2As shown, the deformation process of the rolling robot based on the combination of suction cups 4 and airbags 3 of the present invention is as follows: In the initial state, the two suction cups 4 of the two sets of annular deformation structures 1 in contact with the ground begin to work by pumping air; the right airbag 3 of the first set of annular deformation structures 1 that is attached to the ground is inflated, the right airbag 3 becomes longer, the left airbag 3 remains unchanged, the annular deformation structure 1 bends towards the left airbag 3, and the suction cups 4 remain in working state; the suction cups 4 of the second set of annular deformation structures 1 stop working, the suction force disappears, the right airbag 3 of the first set of annular deformation structures 1 is deflated, the right airbag 3 returns to its original shape, and the first set of annular deformation structures 1 returns to the initial state. The suction cup 4 on the right side of the first group of annular deformable structures 1 activates, gripping the ground and inflating the left airbag 3. The left airbag 3 lengthens while the right airbag 3 remains unchanged, causing the first group of annular deformable structures 1 to bend to the right, thus rotating the entire rolling robot to the right. The suction cup 4 on the left side of the third group of annular deformable structures 1 in contact with the ground activates, gripping the ground and deflating the left airbag 3. The left airbag 3 returns to its original shape, and the first group of annular deformable structures 1 returns to its initial state. This process is repeated to achieve the robot's rolling motion.

Claims

1. A rolling robot based on a combination of suction cups and airbags, comprising: The three sets of annular deformable structures (1) and triangular prism structures (2) are characterized in that the triangular prism structure (2) is located in the middle of the three sets of annular deformable structures (1), the lower ends of the three sets of annular deformable structures (1) are respectively connected to the three sides of the triangular prism structure (2) and are distributed in a circular equidistant manner. The upper end and the left and right ends of the annular deformable structures (1) are provided with two rows of airbags (3), the airbags (3) are arranged equidistantly, and the outer side of the airbags (3) is provided with multiple grooves (12) to divide the airbags (3) into multiple air chambers (5) with interconnected bottoms. Each air chamber (5) includes an inner cavity (6), a left side wall (10), a right side wall (11), an upper side wall (7), a lower side wall (8), a front side wall (13) and a rear side wall (14). The airbag (3) part corresponding to the outer side of the air chamber (5) is provided with a suction cup (4), and the end of the airbag (3) is provided with an inflation port (9).

2. The rolling robot based on a suction cup and airbag combination according to claim 1, characterized in that, The annular deformable structure (1) is in the shape of a circular groove and is made of flexible silicone.

3. The rolling robot based on a suction cup and airbag combination according to claim 1, characterized in that, The air chamber (5) in the airbag (3) is fan-shaped at the arc of the circular groove ring at both ends of the annular deformable structure (1), and the corresponding airbag (3) part on the outside has no suction cup (4); the air chamber (5) near the upper end of the annular deformable structure (1) is square, and the corresponding airbag (3) part on the outside has a suction cup (4).

4. The rolling robot based on a suction cup and airbag combination according to claim 1, characterized in that, The axis of the suction cup (4) and the front side wall (13) of the air chamber (5) of the airbag (3) form a 120° angle.

5. A rolling robot based on a suction cup and airbag combination according to claim 1, characterized in that, The thickness of the left side wall (10), right side wall (11), front side wall (13) and rear side wall (14) of the air chamber (5) is less than the thickness of the upper side wall (7) and lower side wall (8) of the air chamber (5).

6. The rolling robot based on a suction cup and airbag combination according to claim 1, characterized in that, The triangular prism structure (2) is a solid structure and is made of ABS acrylonitrile-butadiene-styrene plastic.

7. The rolling robot based on a suction cup and airbag combination according to claim 1, characterized in that, The airbag (3) has two working modes: ① Inflate and deflate one side of the airbag (3) separately. When one side of the airbag (3) is inflated, the left side wall (10), right side wall (11), front side wall (13) and rear side wall (14) of the air chamber (5) in the airbag (3) expand and become larger. The air chambers (5) in the airbag (3) compress each other, causing one side of the airbag (3) to become longer while the other side remains unchanged. The annular deformation structure (1) bends toward the other side. When the airbag (3) is deflated, the annular deformation structure (1) returns to its initial state. ② Inflate and deflate both airbags (3) simultaneously. When both airbags (3) are inflated simultaneously, the airbags (3) expand as a whole, and the annular deformation structure (1) becomes larger. When the airbags (3) are deflated, the annular deformation structure (1) returns to its initial state.

8. A method for operating a rolling robot based on a combination of suction cups and airbags, characterized in that, Includes the following steps: ① In the initial state, the two suction cups (4) of the two sets of annular deformation structures (1) in contact with the ground begin to pump air; ② Inflate the right airbag (3) of the first set of annular deformation structures (1) that are attached to the ground. The right airbag (3) becomes longer, while the left airbag (3) remains unchanged. The annular deformation structure (1) bends toward the left airbag (3), while the suction cup (4) remains in working condition. ③ The suction cup (4) of the second group of annular deformation structure (1) stops working, the adsorption force disappears, the airbag (3) on the right side of the first group of annular deformation structure (1) is deflated, the right airbag (3) returns to its original state, and the first group of annular deformation structure (1) becomes the initial state. ④ The suction cup (4) on the right side of the first group of annular deformable structures (1) starts to work, sticks to the ground, inflates the airbag (3) on the left side of the first group of annular deformable structures (1), the left airbag (3) becomes longer, the right airbag (3) remains unchanged, the first group of annular deformable structures (1) bends to the right, causing the entire rolling robot to flip to the right. ⑤ The suction cup (4) on the left side of the third group of annular deformation structure (1) in contact with the ground starts to work, sucks the ground, and releases the airbag (3) on the left side of the first group of annular deformation structure (1). The left airbag (3) returns to its original state, and the first group of annular deformation structure (1) returns to its initial state. The operation is repeated to achieve the rolling action.

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