Crawling operation robot and operation method

Abstract

The invention belongs to the technical field of robots, and discloses a crawling operation robot and an operation method.The robot comprises a body, the body comprises a plurality of motor driving mechanisms connected in series, and the motor driving mechanisms are connected through connecting pieces; an adsorption mechanism and an operation mechanism are arranged at the two ends of the body respectively. According to the working method, the multiple motor driving mechanisms of the body are combined for driving, the adsorption mechanisms at the two ends are driven to alternately adsorb to achieve crawling movement, and the working mechanisms are driven to alternately work. The climbing robot can realize climbing operation on a vertical face or an inverted vertical face in a space.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a crawling robot and its operation method. Background Technology

[0002] Existing automated equipment or robots cannot move stably and flexibly across the work surface when working on facades or inverted surfaces in a space, thus affecting the work area. A typical example is the cleaning of building facades and inverted surfaces. Summary of the Invention

[0003] To address the problems existing in the above-mentioned background technology, the present invention provides a crawling robot and a method for performing operations.

[0004] The specific technical solution adopted by the present invention is as follows: The first aspect of the present invention provides a crawling robot, including a body, the body including a plurality of motor drive mechanisms connected in series, the motor drive mechanisms being connected by connectors; an adsorption mechanism and a working mechanism are respectively provided at both ends of the body.

[0005] Preferably, the motor drive mechanism is selected from at least one of the following: direct motor drive, robot joint module drive, and motor drive transmission component; the transmission component is selected from at least one of the following: gear transmission and pulley transmission.

[0006] Preferably, the adsorption mechanism is selected from at least one of the following: vacuum chuck, pneumatic chuck, electromagnetic chuck, and magnetic chuck.

[0007] A second aspect of the present invention provides a crawling operation method applied to the above-mentioned robot, comprising the following steps: S1, The first end adsorption mechanism adsorbs and fixes the object; S2. Release the second-end adsorption mechanism; S3. The combination of multiple motor drive mechanisms of the main body drives the second end adsorption mechanism and the second end working mechanism to move to the designated working area to start working until the work is completed. S4, the second-end adsorption mechanism adsorbs and fixes the sample; S5. Release the first end adsorption mechanism; S6. The combination of multiple motor drive mechanisms of the main body drives the first end adsorption mechanism and the first end working mechanism to move to the designated working area to start working until the work is completed. S7. Repeat S1 to S6 above to achieve crawling movement and operation.

[0008] The present invention has the following beneficial effects: by combining multiple motor drive mechanisms in series, the adsorption mechanisms at both ends of the body can alternately adsorb and crawl on the vertical or inverted surface in space, and the working mechanism can work alternately. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of the 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 only some embodiments of the invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This is a schematic diagram of an embodiment of a crawling robot according to the present invention.

[0011] Figure label: 100: Motor-1; 101: Connecting rod-1; 102: Motor-2; 103: Linkage-2; 104: Motor-3; 105: Linkage-3; 106: Motor -4; 107: Connecting rod -4; 108: Motor -5; 109: Linkage -5; 110: Motor -6; 111: Linkage -6; 112: Motor-7; 113: Connecting rod-7; 114: Motor-8; 200: First end adsorption mechanism connecting frame; 201: First end suction cup; 202: Second end adsorption mechanism connecting frame; 203: Second end suction cup; 300: First end working mechanism; 301: Second end working mechanism; 400: Working surface. Detailed Implementation

[0012] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments; it should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0013] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0014] The first aspect of this embodiment provides a crawling robot, including: a body, the body including a plurality of drive mechanisms (100, 102, 104, 106, 108, 110, 112, 114) connected in series, the drive mechanisms being connected by connectors (101, 103, 105, 107, 109, 111, 113); a first end of the body is provided with an adsorption mechanism (200, 201) and a working mechanism (300), and a second end of the body is provided with an adsorption mechanism (202, 203) and a working mechanism (301).

[0015] The second aspect of this embodiment provides a crawling operation method, which applies the above-mentioned robot and includes the following steps: S1. The suction cup (201) of the first end adsorption mechanism is adsorbed and fixed to the working surface (400). S2. Release the suction cup (203) of the second end adsorption mechanism. S3. The combined drive of multiple motor drive mechanisms (104, 106, 108, 110, 112, 114) of the main body drives the second end adsorption mechanism (202, 203) and the second end working mechanism (301) to move to the designated working area to start working until the work is completed. S4. The suction cup (203) of the second end adsorption mechanism is adsorbed and fixed to the working surface (400). S5. Release the suction cup (201) of the first end adsorption mechanism. S6. The combined drive of multiple motor drive mechanisms (100, 102, 104, 106, 108, 110) of the main body drives the first end adsorption mechanism (200, 201) and the first end working mechanism (300) to move to the designated working area to start working until the work is completed. S7. Repeat S1 to S6 above to achieve crawling movement and operation.

[0016] This embodiment has the following beneficial effects: by combining multiple motor drive mechanisms in series, the adsorption mechanisms at both ends of the body can alternately adsorb and crawl on the vertical or inverted surface in space, and the working mechanism can work alternately.

[0017] The above embodiments are only for illustrating the present invention. The structure, connection method and manufacturing process of each component can be changed. All equivalent changes and improvements made on the basis of this technical solution should not be excluded from the scope of protection.

Claims

1. A crawling robot, characterized in that, The device includes a main body, which comprises multiple motor drive mechanisms connected in series and linked together by connectors; an adsorption mechanism and a working mechanism are respectively provided at both ends of the main body.

2. The crawling robot according to claim 1, characterized in that, The motor drive mechanism is selected from at least one of the following: direct motor drive, robot joint module drive, and motor drive transmission component drive.

3. The crawling robot according to claim 2, characterized in that, The transmission component is selected from at least one of the following: gear transmission and belt transmission.

4. The crawling robot according to claim 1, characterized in that, The adsorption mechanism is selected from at least one of the following: vacuum chuck, pneumatic chuck, electromagnetic chuck, and magnetic chuck.

5. A crawling operation method, applied to the robot described in any one of claims 1 to 4, characterized in that, Includes the following steps: S1, The first end adsorption mechanism adsorbs and fixes the object; S2. Release the second-end adsorption mechanism; S3. The combination of multiple motor drive mechanisms of the main body drives the second end adsorption mechanism and the second end working mechanism to move to the designated working area to start working until the work is completed. S4, the second-end adsorption mechanism adsorbs and fixes the sample; S5. Release the first end adsorption mechanism; S6. The combination of multiple motor drive mechanisms of the main body drives the first end adsorption mechanism and the first end working mechanism to move to the designated working area to start working until the work is completed. S7. Repeat S1 to S6 above to achieve crawling movement and operation.

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