Anti-falling mechanism for wall-climbing robot

Abstract

The anti-falling mechanism for the wall-climbing robot comprises a robot body, at least one adsorption unit and a control unit, the adsorption unit comprises a suction cup piece and an air exhaust piece, the suction cup piece and the air exhaust piece are both installed on the robot body, the suction cup piece is provided with an adsorption end, and the adsorption end can be close to or away from the walking face of the robot body. The air exhaust part communicates with the suction cup part and can exhaust air from the suction cup part; the control unit comprises a processor and an inertia measurement module, the processor and the inertia measurement module are both installed on the robot body, and the processor is electrically connected with the inertia measurement module, the suction cup part and the air exhaust part. The problem that in the prior art, when a robot works on the high wall face, the robot is prone to falling from the high position is solved.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a fall prevention mechanism for a wall-climbing robot. Background Technology

[0002] A wall-climbing robot is an automated robot that can climb and complete tasks on inclined walls; it is also known as a wall-moving robot. With the widespread application of wall-climbing robots in industries, construction and other fields, their safety issues are receiving increasing attention.

[0003] For example, the existing patent document with patent number CN212172484U discloses a wall-climbing robot, which specifically includes: a walking mechanism mounted on a frame; a visual sampling mechanism including a sampling camera mounted on the frame, the sampling camera being able to collect the motion state information of the frame in real time; and a controller mounted on the frame and electrically connected to the walking mechanism and the sampling camera respectively, the controller being able to receive the motion state information sent from the sampling camera and correct the motion path of the walking mechanism in real time according to the motion state information.

[0004] With the above solution, the wall-climbing robot can walk and operate on inclined walls. When the wall inclination angle is large or the operating environment is complex, it will be difficult for the wall-climbing robot to walk. It is very easy for it to slip on the wall and fall off the wall, causing damage to the wall-climbing robot and reducing its service life. Utility Model Content

[0005] The purpose of this invention is to overcome the above-mentioned technical deficiencies and provide a fall prevention mechanism for wall-climbing robots, thereby solving the problem that robots are prone to falling from heights when working on high walls in the prior art.

[0006] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution:

[0007] This utility model provides a fall prevention mechanism for a wall-climbing robot, comprising:

[0008] The robot itself;

[0009] At least one adsorption unit includes a suction cup and an air extraction component, both mounted on the robot body. The suction cup has an adsorption end that can approach or move away from the walking surface of the robot body. The air extraction component is connected to the suction cup and can extract air from the suction cup.

[0010] The control unit includes a processor and an inertial measurement module, both of which are mounted on the robot body. The processor is electrically connected to the inertial measurement module, the suction cup, and the air extraction device, respectively.

[0011] In one embodiment, the suction cup component includes a drive unit, a guide rod, and a suction cup. The drive unit is mounted on the robot body. One end of the guide rod is connected to the output end of the drive unit, and the other end of the guide rod is connected to the suction cup. The guide rod has an air guiding cavity, and the suction cup is connected to the air outlet of the air guiding cavity. The air extraction component is connected to the air inlet of the air guiding cavity.

[0012] In one embodiment, the drive unit includes an electromagnetic catapult module and a connector. The electromagnetic catapult module is mounted on the robot body, and the connector is slidably connected to the electromagnetic catapult module, with a groove provided on the connector. The suction cup also includes a spring. One end of the guide rod is fixedly provided with a ring block, which slides through the groove. The spring is sleeved on the guide rod, with one end of the spring abutting against the ring block and the other end of the spring abutting against the robot body.

[0013] In one embodiment, the electromagnetic catapult module includes a mounting base and a magnetic coil. The mounting base is fixed to the robot body, and the magnetic coil is fixed inside the mounting base. The magnetic coil is connected to a power source inside the robot body and is also electrically connected to the processor. The mounting base has a through hole corresponding to the magnetic channel of the magnetic coil, and the connector passes through the through hole into the magnetic channel of the magnetic coil.

[0014] In one embodiment, the connector is a metal connector or a magnetic connector.

[0015] In one embodiment, the magnetic coil is provided with an energizing switch, which is electrically connected to the processor.

[0016] In one embodiment, the air extraction component is a vacuum pump.

[0017] In one embodiment, the robot body is also equipped with a camera unit.

[0018] In one embodiment, the robot body is also equipped with multiple cooling fans.

[0019] In one embodiment, the robot body is also equipped with an ultrasonic sensor.

[0020] Compared with the prior art, the present invention provides a fall prevention mechanism for a wall-climbing robot. Both a suction cup and an air extraction component are mounted on the robot body. The suction cup has an adsorption end that can be close to or away from the robot's walking surface. The air extraction component is connected to the suction cup. A processor and an inertial measurement module are both mounted on the robot body, and the processor is electrically connected to the inertial measurement module, the suction cup, and the air extraction component. When the inertial measurement module detects a sudden increase in the linear acceleration of the robot body, it transmits the acceleration signal to the processor. The processor then controls the adsorption end of the suction cup to contact the wall surface, and simultaneously controls the air extraction component to extract air from the suction cup. This effectively fixes the robot body to the wall, preventing it from falling from a height. Attached Figure Description

[0021] Figure 1 This is a structural schematic diagram of a fall prevention mechanism for a wall-climbing robot provided by this utility model;

[0022] Figure 2 This is a front view of a fall prevention mechanism for a wall-climbing robot provided by this utility model;

[0023] Figure 3 This is a partial structural schematic diagram of an anti-fall mechanism for a wall-climbing robot provided by this utility model;

[0024] Figure 4 This is a schematic diagram of the internal structure of a fall prevention mechanism for a wall-climbing robot provided by this utility model;

[0025] Figure 5 This is a schematic diagram of the adsorption unit provided by this utility model. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this utility model and are not intended to limit this utility model.

[0027] To address the issue of robots easily falling from heights when working on high walls in existing technologies...

[0028] To address the technical issue, this utility model provides a fall prevention mechanism for a wall-climbing robot. In the instant the robot falls from a height, the suction cup component reacts rapidly, allowing the robot to adhere to the wall surface and prevent it from falling.

[0029] Please see Figures 1-5 , Figures 1-5This utility model discloses a fall prevention mechanism for a wall-climbing robot, comprising a robot body 1, at least one adsorption unit 2, and a control unit 3. The adsorption unit 2 includes a suction cup 21 and an air extraction component 22, both of which are mounted on the robot body 1. The suction cup 21 has an adsorption end that can approach or move away from the walking surface of the robot body 1. The air extraction component 22 is connected to the suction cup 21 and can extract air from the suction cup 21. The control unit 3 includes a processor 31 and an inertial measurement module 32, both of which are mounted on the robot body 1. The processor 31 is electrically connected to the inertial measurement module 32, the suction cup 21, and the air extraction component 22, respectively.

[0030] In actual use, when the robot body 1 walks on an inclined wall (such as a roof), when a fall is detected, the inertial measurement module 32 can detect the instantaneous increase in the linear acceleration of the robot body 1. The inertial measurement module 32 transmits the acceleration signal to the processor 31. After receiving the acceleration signal, the processor 31 controls the suction end of the suction cup 21 to contact the wall surface, and at the same time controls the air extraction component 22 to extract air from the suction cup 21, which can effectively fix the robot body to the wall surface.

[0031] It should be noted that, in one embodiment, the suction cup component 21 includes a drive unit 211, a guide rod 212, and a suction cup 213. The drive unit 211 is mounted on the robot body 1. One end of the guide rod 212 is connected to the output end of the drive unit 211, and the other end of the guide rod 212 is connected to the suction cup 213. The guide rod 212 has an air guiding chamber, and the suction cup 213 is connected to the air outlet of the air guiding chamber. The air extraction component 22 is connected to the air inlet of the air guiding chamber.

[0032] It should be noted that the driving part 211 is not limited to a specific structure. As long as it can drive the guide rod 212 to move so that the suction cup 213 can contact or separate from the wall, no further details will be provided here.

[0033] In one embodiment, the drive unit 211 includes an electromagnetic ejection module 2111 and a connector 2112. The electromagnetic ejection module 2111 is mounted on the robot body 1, and the connector 2112 is slidably connected to the electromagnetic ejection module 2111, and the connector 2112 is provided with a groove. The suction cup component 21 also includes a spring 214. One end of the guide rod 212 is fixedly provided with a ring block, and the ring block is slidably inserted into the groove. The spring 214 is sleeved on the guide rod 212, one end of the spring 214 abuts against the ring block, and the other end of the spring 214 abuts against the robot body 1.

[0034] Specifically, the electromagnetic catapult module 2111 includes a mounting base and a magnetic coil. The mounting base is fixed on the robot body 1, and the magnetic coil is fixed inside the mounting base. The magnetic coil is connected to a power source inside the robot body 1 and is also electrically connected to the processor 31. The mounting base has a through hole corresponding to the magnetic channel of the magnetic coil, and the connector 2112 passes through the through hole into the magnetic channel of the magnetic coil.

[0035] Specifically, the magnetic coil is equipped with an energizing switch, which is electrically connected to the processor 31.

[0036] Understandably, when the inertial measurement module 32 detects an instantaneous increase in the linear acceleration of the robot body 1, the processor 31 can control the energizing switch on the magnetic coil to turn on. After the magnetic coil is energized, the connector 2112 can be ejected along the axial direction of the magnetic channel. The connector 2112 strikes the guide rod 212 and pushes the guide rod 212 to slide, so that the suction cup 213 contacts the wall surface. At the same time, the processor 31 controls the air extraction component 22 to extract air from the air guide cavity, so that a negative pressure is generated at the contact surface between the suction cup 213 and the wall surface, and the suction cup 213 can be stably adsorbed on the wall surface.

[0037] Furthermore, by closing the suction device 22, the negative pressure generated at the contact surface between the suction cup 213 and the wall is eliminated, the adsorption force between the suction cup 213 and the wall is weakened, and under the elastic force of the spring 214, the guide rod 212 can be pushed to slide, so that the suction cup 213 is separated from the wall, and at the same time, one end of the connector 2112 is re-inserted into the magnetic channel of the magnetic coil.

[0038] It should be noted that, in one embodiment, the connector 2112 is an iron connector. Of course, in other embodiments, the connector 2112 can also be a magnetic connector. The processor 31 is a processor commonly used in the prior art, such as the processor with model number AI8051U-34K64-QFP48.

[0039] In one embodiment, the robot body 1 is also provided with a camera unit 11, which can monitor the position and environment of the robot body 1. In addition, the robot body 1 is also provided with an ultrasonic sensor or a distance sensor, which can be used for obstacle avoidance during the robot body 1's movement.

[0040] It should be noted that the air extraction component 22 is a vacuum pump, which is connected to the power supply on the robot body 1.

[0041] The specific embodiments of this utility model described above do not constitute a limitation on the scope of protection of this utility model. Any other corresponding changes and modifications made based on the technical concept of this utility model should be included within the scope of protection of the claims of this utility model.

Claims

1. A fall protection mechanism for a wall-climbing robot, characterized in that, include: The robot itself; At least one adsorption unit includes a suction cup and an air extraction component, both mounted on the robot body. The suction cup has an adsorption end that can approach or move away from the walking surface of the robot body. The air extraction component is connected to the suction cup and can extract air from the suction cup. The control unit includes a processor and an inertial measurement module, both of which are mounted on the robot body. The processor is electrically connected to the inertial measurement module, the suction cup, and the air extraction device, respectively.

2. The fall prevention mechanism for a wall-climbing robot according to claim 1, characterized in that, The suction cup component includes a drive unit, a guide rod, and a suction cup. The drive unit is mounted on the robot body. One end of the guide rod is connected to the output end of the drive unit, and the other end of the guide rod is connected to the suction cup. An air guide cavity is provided inside the guide rod, and the suction cup is connected to the air outlet of the air guide cavity. The air extraction component is connected to the air inlet of the air guide cavity.

3. The fall prevention mechanism for a wall-climbing robot according to claim 2, characterized in that, The drive unit includes an electromagnetic catapult module and a connector. The electromagnetic catapult module is mounted on the robot body, and the connector is slidably connected to the electromagnetic catapult module. The connector is provided with a groove. The suction cup component also includes a spring. One end of the guide rod is fixedly provided with a ring block, and the ring block slides through the groove. The spring is sleeved on the guide rod, one end of the spring abuts against the ring block, and the other end of the spring abuts against the robot body.

4. The fall protection mechanism for a wall-climbing robot according to claim 3, characterized in that, The electromagnetic catapult module includes a mounting base and a magnetic coil. The mounting base is fixed on the robot body, and the magnetic coil is fixed inside the mounting base. The magnetic coil is connected to a power source inside the robot body and is also electrically connected to the processor. The mounting base has a through hole corresponding to the magnetic channel of the magnetic coil, and the connector passes through the through hole into the magnetic channel of the magnetic coil.

5. The fall protection mechanism for a wall-climbing robot according to claim 4, characterized in that, The connector is either an iron connector or a magnetic connector.

6. The fall protection mechanism for a wall-climbing robot according to claim 4, characterized in that, The magnetic coil is equipped with an energizing switch, which is electrically connected to the processor.

7. The fall protection mechanism for a wall-climbing robot according to claim 1, characterized in that, The extraction component is a vacuum pump.

8. The fall protection mechanism for a wall-climbing robot according to claim 1, characterized in that, The robot body is also equipped with a camera unit.

9. A fall protection mechanism for a wall-climbing robot according to claim 1, characterized in that, The robot body is also equipped with multiple cooling fans.

10. A fall protection mechanism for a wall-climbing robot according to claim 1, characterized in that, The robot body is also equipped with ultrasonic sensors.

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