Sucker type adsorption moving platform

Abstract

The invention discloses a suction cup type adsorption moving platform, and relates to the technical field of miniature vehicle platforms. Comprising a platform body; each suction cup assembly comprises two suction cup bodies, and the flexible suction cup face of each suction cup body is obliquely arranged at the same inclined included angle relative to the suction plane; the inclined directions of the two suction cup bodies in the same group are the same or opposite; the driving mechanism comprises at least two driving motors which are independently controlled and respectively drive the suction cup bodies to rotate around the axes of the suction cup bodies; the air pump is in rotary sealing communication with each suction cup body through an air path and is used for maintaining a continuous negative pressure state in the suction cup body; the control module is used for enabling the platform main body to stop and move by adjusting the rotating speed of each driving motor; and the platform main body rotates by adjusting the rotating speed difference or the rotating direction of each driving motor. The device is higher in integration level and more compact in structure; the operation is smoother, and the adsorption firmness is better.

Description

Technical Field

[0001] This invention relates to the field of micro vehicle platform technology, and in particular to a suction cup-type adsorption mobile platform that can be used to carry a physiotherapy module and move on human skin. Background Technology

[0002] Robots that crawl on walls and glass using the principle of negative pressure adsorption are now technologically advanced and widely applied. A negative pressure fan can be used to create negative pressure between the moving platform and the adsorption surface, allowing movement via wheels or tracks. Alternatively, suction cup legs can be used for alternating movement.

[0003] Currently, there is no suitable mobile platform for adsorption and movement on human skin. Such a mobile platform could be equipped with a phototherapy module to achieve adsorption and movement on human skin. Negative pressure fans are quite noisy, and while the alternating movement of suction cups can achieve this function with lower noise, the alternating operation of suction cups requires repeated release and adsorption of suction cups to repeatedly build up negative pressure, which is time-consuming. Moreover, it requires the control and coordination of air circuit solenoid valves and drive mechanisms, making the structure complex.

[0004] For suction cup-type mobile platforms, one can refer to Chinese patent CN117446045A, which discloses a typical omnidirectional climbing six-legged robot, or CN117184267A, which discloses a vacuum suction six-legged wall-climbing robot.

[0005] The present invention aims to create a new type of mobile platform that is easy to control and moves smoothly by using suction cup adsorption. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a suction cup adsorption mobile platform with higher integration, more compact structure, smoother operation, and better adsorption firmness.

[0007] The technical solution adopted in this invention is: a suction cup-type adsorption mobile platform comprising: Platform entity; At least one set of suction cup assemblies, each set of suction cup assemblies includes two suction cup bodies, and the flexible suction cup surface of each suction cup body is inclined at the same angle relative to the adsorption plane; the two suction cup bodies in the same set are inclined in the same direction or opposite directions. The drive mechanism includes at least two independently controlled drive motors, each driving the suction cup body to rotate around its axis. An air pump is connected to each suction cup body via an air passage and a rotary seal, used to maintain a continuous negative pressure state inside the suction cup body; The control module enables the platform body to stop or move by adjusting the rotational speed of each drive motor; and enables the platform body to rotate by adjusting the speed difference or rotation direction of each drive motor. The suction cup assembly, drive mechanism, air pump, and control module are all integrated and installed on the platform body.

[0008] To further optimize this technical solution, each suction cup body is linked to a corresponding drive motor via a transmission tube; one end of the transmission tube is connected to the suction cup cavity of the suction cup body; the other end of the transmission tube is sealed and fixedly connected to the power output shaft of the corresponding drive motor; a through hole is provided on the side wall of the transmission tube; a sealing gasket is provided in the air passage at the upper and lower positions along the axial direction of the transmission tube at the through hole; the sealing gasket is rotatably sealed with the transmission tube.

[0009] To further optimize this technical solution, the suction cup assembly is provided in two sets; the two sets of suction cup assemblies are arranged in parallel, and the four suction cup bodies are respectively arranged around the platform body.

[0010] To further optimize this technical solution, a module installation compartment is provided at the bottom of the main platform body.

[0011] To further optimize this technical solution, the inner wall of the flexible suction cup surface of each suction cup body is coated with a Teflon coating.

[0012] To further optimize this technical solution, the flexible suction cup surface of each suction cup body is made of self-lubricating silicone material.

[0013] To further optimize this technical solution, the diameter of the through hole is between 0.2mm and 0.5mm.

[0014] The moving principle of a suction cup-type adsorption mobile platform: The suction cup body is inclined to the adsorption plane. When the suction cup body is adsorbed onto the adsorption plane, the flexible suction cup surface forms an angle θ with the adsorption plane. When the suction cup body rotates, the frictional force of the portion of the flexible suction cup surface inside the angle of inclination on the adsorption plane is greater than the frictional force of the portion outside the angle of inclination on the adsorption plane. Therefore, the suction cup body will move on the adsorption plane. When the two suction cup bodies rotate at the same speed, the platform body will move forward or backward along the direction perpendicular to the line connecting the two suction cup bodies; when there is a difference in the rotational speed of the two suction cup bodies, the platform body will turn.

[0015] This invention utilizes the tilted arrangement of the suction cup body and the adsorption plane to achieve movement and turning. During movement and turning, the suction cup body always maintains adsorption contact with the adsorption plane, eliminating the need for alternating adsorption and transmission of suction cup-based moving platforms; eliminating the need for pneumatic solenoid valves, resulting in higher integration and a more compact structure; smoother operation and better adsorption stability.

[0016] Other technical effects of the present invention will gradually become clear as the embodiments are described. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 for Figure 1 An explosion diagram after part of the drive motor obstruction was removed; Figure 3 for Figure 2 A schematic diagram of the structure from another direction.

[0018] In the diagram, 1. Platform body; 1-2. Module installation compartment; 2. Suction cup assembly; 2-1. Suction cup body; 2-2. Transmission tube; 2-3. Through hole; 2-4. Sealing gasket; 2-5. Flexible suction cup surface; 3. Drive motor; 4. Air pump; 4-1. Air passage encapsulation shell; 4-2. Suction interface; 5. Adsorption plane. Detailed Implementation

[0019] The following is in conjunction with the appendix Figure 1-3 The present invention will be further described in detail below with reference to specific embodiments.

[0020] like Figure 1 , Figure 2 As shown, a suction cup-type adsorption mobile platform includes: Platform Entity 1; At least one set of suction cup components 2, each set of suction cup components 2 includes two suction cup bodies 2-1, and the flexible suction cup surface 2-5 of each suction cup body 2-1 is inclined at the same angle relative to the adsorption plane 5; the two suction cup bodies 2-1 in the same set are inclined in the same or opposite directions. The drive mechanism includes at least two independently controlled drive motors 3, which drive each suction cup body 2-1 to rotate around its axis. The air pump 4 is connected to the rotating seal of each suction cup body 2-1 through the air passage, and is used to maintain a continuous negative pressure state inside the suction cup body 2-1. The control module enables the platform body 1 to stop or move by adjusting the rotational speed of each drive motor 3; and enables the platform body 1 to rotate by adjusting the speed difference or rotational direction of each drive motor 3. The suction cup assembly 2, drive mechanism, air pump 4, and control module are all integrated and installed on the platform body 1.

[0021] The flexible suction cup surface 2-5 of the suction cup body 2-1 is made of a flexible material, such as TPU or silicone. The flexible suction cup surface 2-5 has good sealing properties and can adapt to the tilt angle of the adsorption plane 5. The adsorption plane 5 in this invention is a pre-defined imaginary plane, and the lines connecting all the suction cup bodies 2-1 of the suction cup components 2 are parallel. In actual operation, the surface to be adsorbed by the suction cup body 2-1 can be a flat surface or a curved surface of human skin.

[0022] The angle between the flexible suction cup surface 2-5 and the adsorption plane 5 depends on the maximum elastic deformation of the flexible suction cup surface 2-5 in the adsorption state. In this embodiment, the recommended range of the angle is 3°≤θ≤20°. Within the range of maximum elastic deformation, the larger the angle is set, the greater the rotation speed of the suction cup body 2-1 and the greater the movement speed relative to the adsorption plane 5, and vice versa. Figure 1 The two suction cup bodies 2-1 in the same group are tilted in opposite directions, that is, they are mirror-symmetrical about the central vertical plane of the platform body 1.

[0023] The air pump 4 is rotary sealed to the suction cup body 2-1. This rotary sealing connection can be set after the transmission between the suction cup body 2-1 and the drive motor 3, that is, after the transmission shaft tube of the suction cup body 2-1 is poweredly coupled to the drive motor 3 and then rotary sealed to the air path; or it can be set before the transmission between the suction cup body 2-1 and the drive motor 3, that is, before the transmission shaft tube of the suction cup body 2-1 is poweredly coupled to the drive motor 3 and then rotary sealed to the air path.

[0024] Regarding the number of drive motors 3, when a set of suction cup assemblies 2 is provided, each suction cup body 2-1 is provided with a drive motor 3 for independent driving; when multiple sets of suction cup assemblies 2 are provided, multiple suction cup bodies 2-1 located on the same side can be driven by one drive motor 3, or each suction cup body 2-1 can be provided with a drive motor 3.

[0025] Regarding the control logic of the control module: If the rotational speed and direction of each drive motor 3 are the same, then the rotational speed of each suction cup body 2-1 will be the same, allowing the platform body 1 to move at a stable speed. If there is a speed difference between the drive motor 3 on one side and the drive motor 3 on the other side, then the platform body 1 will turn towards the side with the slower rotation direction. Alternatively, if the drive motors 3 on both sides rotate in opposite directions but at the same speed, then the platform body 1 will rotate in place. This logic can be implemented using existing vehicle control technology.

[0026] like Figure 2As shown, in a further optimized embodiment, each suction cup body 2-1 is linked to the corresponding drive motor 3 via a transmission tube 2-2; one end of the transmission tube 2-2 is connected to the suction cup cavity of the suction cup body 2-1; the other end of the transmission tube 2-2 is sealed and fixedly connected to the power output shaft of the corresponding drive motor 3; a through hole 2-3 is provided on the side wall of the transmission tube 2-2; a sealing gasket 2-4 is provided in the air passage at the upper and lower positions along the axial direction of the transmission tube 2-2 in the through hole 2-3; the sealing gasket 2-4 is rotatably sealed with the transmission tube 2-2.

[0027] The function of the transmission tube 2-2 is to transmit power between the suction cup body 2-1 and the drive motor 3, and to establish an air guide channel between the suction cup cavity and the air pump 4; the transmission tube 2-2 and the sealing gasket 2-4 are rotated and sealed together, and the sealing gasket 2-4 can be made of self-lubricating silicone material to improve lubricity and dynamic sealing.

[0028] To further optimize this embodiment, the suction cup assembly 2 is provided in two sets; the two sets of suction cup assemblies 2 are arranged in parallel, and the four suction cup bodies 2-1 are respectively arranged around the platform body 1.

[0029] When a set of suction cup components 2 is used, the platform body 1 maintains its posture by utilizing the adhesion between the suction cup body 2-1 and the suction surface 5, as well as the elastic support of the flexible suction cup surface 2-5. While a set of suction cup components 2 provides better passability, posture maintenance relies on the elastic support of the flexible suction cup surface 2-5. When the platform body 1, equipped with a therapy module, generates a reaction force with human skin, such as with a scratching module, the stability of the platform body 1 deteriorates.

[0030] like Figure 1 As shown, the suction cup assembly 2 is set in two groups, with four suction cup bodies 2-1 distributed around the platform body 1. This can improve the stability of the platform body 1 and increase the adsorption force with the adsorption plane 5.

[0031] To further optimize this embodiment, a module installation compartment 1-2 is provided at the bottom of the platform body 1.

[0032] like Figure 3 As shown, the module installation compartments 1-2 can be used to install phototherapy modules, or scraping modules, itching modules, and power supply batteries.

[0033] To further optimize this embodiment, the inner wall of the flexible suction cup surface 2-5 of each suction cup body 2-1 is coated with a Teflon coating.

[0034] Since the rotational speed of the suction cup body 2-1 is different from its moving speed on the adsorption plane 5, and the rotational speed is greater than the moving speed, the frictional work done on the outer part of the inclined angle is useless; the Teflon coating can reduce the friction and reduce the energy consumption of the drive motor 3.

[0035] In a further optimization of this embodiment, the flexible suction cup surface 2-5 of each suction cup body 2-1 is made of self-lubricating silicone material.

[0036] Lubricating silicone is a type of silicone material that has self-lubricating properties, low surface energy, and a coefficient of friction that can be reduced to below 0.15 by adding low-viscosity synthetic oil (10%-50%) or specially designed structure. It can achieve low-wear operation without the need for external lubricants.

[0037] In a further optimization of this embodiment, the diameter of the through holes 2-3 is between 0.2mm and 0.5mm.

[0038] The design principles for the diameter of through holes 2-3 are as follows: 1. Leakage suppression: Limits the amount of air entering the system when a single suction cup leaks, ensuring that the remaining suction cup flow can still maintain the negative pressure of the system.

[0039] 2. Adsorption efficiency guarantee: Ensures the airflow required for suction cup adsorption during normal operation.

[0040] 3. System response speed: Avoid excessive load on the vacuum pump or response delay due to too small an orifice diameter.

[0041] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0042] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

Claims

1. A suction cup-type adsorption mobile platform, characterized in that: include Platform entity; At least one set of suction cup assemblies, each set of suction cup assemblies includes two suction cup bodies, and the flexible suction cup surface of each suction cup body is inclined at the same angle relative to the adsorption plane; the two suction cup bodies in the same set are inclined in the same direction or opposite directions. The drive mechanism includes at least two independently controlled drive motors, each driving the suction cup body to rotate around its axis. An air pump is connected to each suction cup body via an air passage and a rotary seal, used to maintain a continuous negative pressure state inside the suction cup body; The control module enables the platform body to stop or move by adjusting the rotational speed of each drive motor; and enables the platform body to rotate by adjusting the speed difference or rotation direction of each drive motor. The suction cup assembly, drive mechanism, air pump, and control module are all integrated and installed on the platform body.

2. The suction cup adsorption mobile platform according to claim 1, characterized in that: Each suction cup body is linked to a corresponding drive motor via a transmission tube; one end of the transmission tube is connected to the suction cup cavity of the suction cup body; the other end of the transmission tube is sealed and fixedly connected to the power output shaft of the corresponding drive motor; a through hole is provided on the side wall of the transmission tube; a sealing gasket is provided in the air passage at the upper and lower positions along the axial direction of the transmission tube at the through hole; the sealing gasket is rotatably sealed with the transmission tube.

3. The suction cup adsorption mobile platform according to claim 1, characterized in that: The suction cup assembly consists of two sets; the two sets of suction cup assemblies are arranged in parallel, and the four suction cup bodies are respectively arranged around the platform body.

4. The suction cup adsorption mobile platform according to claim 1, characterized in that: At the bottom of the main body of the platform, there is a module installation compartment.

5. The suction cup adsorption mobile platform according to claim 1, characterized in that: The inner wall of the flexible suction cup surface of each suction cup body is coated with a Teflon coating.

6. The suction cup adsorption mobile platform according to claim 1, characterized in that: The flexible suction cup surface of each suction cup body is made of self-lubricating silicone material.

7. The suction cup adsorption mobile platform according to claim 2, characterized in that: The diameter of the through hole is between 0.2mm and 0.5mm.

Images