Obstacle crossing mechanism of walking robot and walking robot

Abstract

The utility model relates to a kind of obstacle-surmounting mechanism of walking robot and walking robot, obstacle-surmounting mechanism includes two mechanical arms and with the one-to-one correspondence of mechanical arm suction assembly, one of the mechanical arm is located in the side of walking robot ontology, another the mechanical arm is located in the other side of walking robot ontology, the first end of the mechanical arm is fixed with or detachable connection with walking robot ontology, and the suction assembly is connected in the tail end of mechanical arm;The suction assembly includes at least one suction cup and at least one vacuum pump for vacuumizing suction cup.The utility model walking robot can flexibly, reliably and stably surmount obstacle.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to an obstacle-crossing mechanism for a walking robot and the walking robot itself. Background Technology

[0002] Walking robots used for cleaning glass curtain walls adhere to the glass surface. When they encounter barriers (obstacles) on the glass, they are hindered, affecting their movement and cleaning work. These robots use mobile suction cups to adhere to the glass. To overcome obstacles, the robot needs to lift the suction cups and wheels, suspending the robot in mid-air. At this point, the robot needs to develop the propulsion for obstacle crossing. After overcoming the obstacle, horizontal thrust is needed to reattach the robot to the glass, allowing the suction cups to re-adhere. Currently, walking robots use traction ropes to provide propulsion and fans to push them towards the glass. However, this method is problematic in high-altitude, windy, or turbulent areas. Wind force and direction can cause issues such as difficulty adhering to the glass, robot flipping (the suction surface no longer facing the glass), and impacts. Further improvements are needed. Utility Model Content

[0003] The purpose of this invention is to provide an obstacle-crossing mechanism for a walking robot and a walking robot in general, which can achieve flexible, reliable and stable obstacle crossing.

[0004] To achieve the above objectives, this utility model discloses an obstacle-crossing mechanism for a walking robot, which includes two robotic arms and adsorption components corresponding to each robotic arm. One robotic arm is located on one side of the walking robot body, and the other robotic arm is located on the other side of the walking robot body. The head end of the robotic arm is fixedly or detachably connected to the walking robot body, and the adsorption component is connected to the tail end of the robotic arm. The adsorption component includes at least one suction cup and at least one vacuum pump for evacuating the suction cup.

[0005] When the walking robot encounters an obstacle, the robotic arm first passes over or approaches the obstacle, causing the suction cups to adhere to the walking surface. A vacuum is created between the suction cups and the walking surface, resulting in negative pressure and ensuring reliable adhesion of the suction components. Then, the robot body is detached from the walking surface (if applicable), and the robotic arm moves to raise the robot body (away from the walking surface) and clear the obstacle. After the robot body has cleared the obstacle, it reattaches to the walking surface and adheres again (if applicable), releasing the suction components and lifting the robot, completing the obstacle clearing. This obstacle-clearing mechanism is adaptable to walking robots that walk on vertical surfaces, inclined surfaces, and flat surfaces. Adhesion to the walking surface via suction cups during obstacle clearing ensures overall stability and prevents the robot from tipping over. Furthermore, when the robot body also has suction capabilities, the obstacle-clearing mechanism ensures that the robot remains fully adhered to the walking surface throughout the obstacle clearing process, making it less susceptible to the effects of wind and other factors. Furthermore, by setting up a highly flexible robotic arm to control the movement of the suction cup, the choice of the suction cup landing point can be more flexible and the environmental adaptability is stronger.

[0006] Preferably, the adsorption assembly is connected to the robotic arm via a buffer. By providing a buffer between the robotic arm and the adsorption assembly, the angular relationship between the robotic arm and the adsorption assembly can be adjusted, thereby mitigating the force exerted by the robotic arm on the suction cup when it adsorbs the working surface, ensuring that the suction cup stably adsorbs the walking surface.

[0007] Preferably, the buffer is an elastic sheet, and the elastic sheet is arranged in an arch shape. This type of buffer has a simple structure.

[0008] Preferably, the proximal end of the robotic arm is connected to the middle of the side of the walking robot body. This arrangement ensures that the walking robot has good obstacle avoidance capabilities when moving forward or backward.

[0009] Preferably, the two robotic arms are symmetrically arranged on the walking robot body. This arrangement facilitates the balance of the walking robot. The type of robotic arm is selected according to the size of the obstacle and the specifications of the walking robot.

[0010] Preferably, the suction cup of the adsorption component can extend beyond the outer perimeter of the robot body, or the suction cup of the adsorption component can extend out of the robot body in at least two directions, front and rear. This arrangement allows for a wider range of suction cup landing points.

[0011] Preferably, the total suction force of the suction cups is greater than the total weight of the walking robot. This arrangement ensures the stability of the walking robot when crossing obstacles.

[0012] Preferably, the system further includes at least one rope-climbing machine and a corresponding traction rope. The rope-climbing machine is connected to the walking robot body, one end of the traction rope is connected to the rope-climbing machine, and the other end of the traction rope is detachably connected to the building; alternatively, one end of the traction rope is connected to the walking robot body, the other end of the traction rope is connected to the rope-climbing machine, and the rope-climbing machine is detachably connected to the building. By providing the rope-climbing machine and traction rope, the walking robot can be provided with auxiliary walking power and forward (backward) power when crossing obstacles, reducing the power burden on the robotic arm. This allows for the selection of a lower-cost and lighter robotic arm, facilitating transportation and high-altitude operations. Furthermore, it also serves as a safety feature.

[0013] Furthermore, this utility model also discloses a walking robot, which includes a walking robot body and the aforementioned obstacle-crossing mechanism. This utility model's walking robot can cross obstacles flexibly, reliably, and stably.

[0014] This utility model has the following beneficial effects: 1. When the robot is crossing obstacles, it adheres to the working surface throughout the process, unaffected by wind force and direction, thus achieving stable and reliable obstacle crossing.

[0015] 2. The robotic arm and the rope climbing machine work together in a complementary manner, ensuring safety and reliability when crossing obstacles.

[0016] 3. The specifications of the robotic arm can be flexibly selected according to the size of the obstacle, simplifying complex wall obstacle crossing. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the present invention.

[0018] Figure 2 This is a schematic diagram from another perspective of the present invention.

[0019] Figure 3 This is a schematic diagram showing the connection between the robotic arm and the adsorption assembly.

[0020] Figure 4 This is a schematic diagram of the usage state of this utility model.

[0021] Figure 5 This is a schematic diagram of the obstacle-crossing process of the walking robot of this utility model (one-time obstacle crossing).

[0022] Figure 6 This is a schematic diagram of the obstacle-crossing process of the walking robot of this utility model (step-by-step obstacle crossing).

[0023] Note: Figure 5 and Figure 6 The large circle represents the suction cup in the adsorption assembly, the small circle represents the suction cup in the moving suction cup assembly, the hollow circle represents the suction cup not adsorbed to the traveling surface, and the solid circle represents the suction cup adsorbed to the traveling surface.

[0024] Explanation of symbols for main components: Walking robot body 10, mobile suction cup assembly 11, walking wheel assembly 12; 21. Robotic arm; 22. Mounting base; 23. Suction cup; 24. Buffer; 25. Rope climbing machine; 26. Traction rope. Walking surface 30. Detailed Implementation

[0025] 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.

[0026] like Figure 1-4 As shown, this utility model discloses a walking robot capable of flexibly, reliably, and stably overcoming obstacles. The walking robot includes a robot body 10 and an obstacle-crossing mechanism. In this case, a walking robot suitable for walking on glass curtain walls is used as an example. The walking robot body 10 of this invention is equipped with a movable suction cup assembly 11 and a walking wheel assembly 12. The structure of the walking robot body 10 can be found in the invention patent with publication number CN107028547A, and will not be described in detail here.

[0027] The obstacle-crossing mechanism includes two robotic arms 21, two suction components, at least one rope-climbing machine 25, and at least one traction rope 26. The two robotic arms 21 are symmetrically arranged on the walking robot body 10. Specifically, one robotic arm 21 is located on one side of the walking robot body 10, and the other robotic arm 21 is located on the other side of the walking robot body 10. The head end of the robotic arm 21 is connected to the middle of the side of the walking robot body 10. The suction components correspond one-to-one with the robotic arms 21. The suction components (specifically, the connection location is the mounting base 22 of the suction components) are connected to the tail end of the robotic arm 21 through a buffer 24. Preferably, the buffer 24 is an elastic sheet, and the elastic sheet is arched. By setting the buffer 24 between the robotic arm 21 and the suction component, the angle relationship between the robotic arm 21 and the suction component can be adjusted, thereby mitigating the force of the robotic arm 21 on the suction cup 23 when the suction cup 23 adsorbs the working surface, ensuring that the suction cup 23 stably adsorbs the walking surface 30.

[0028] The adsorption assembly includes a mounting base 22, at least one suction cup 23, and at least one vacuum pump for evacuating the suction cup 23. The suction cup 23 and the vacuum pump are mounted on the mounting base 22, or the suction cup 23 and the vacuum pump are first integrated together and then mounted on the mounting base 22. In this embodiment, each adsorption assembly includes two suction cups 23 and two vacuum pumps. Furthermore, in this embodiment, the suction cup 23 corresponding to the adsorption assembly does not need to slide during adsorption; therefore, the suction cup 23 does not need to be configured as a movable suction cup 23, which facilitates structural simplification and cost reduction.

[0029] To ensure the obstacle-crossing capability of the walking robot, this design requires that the suction cups 23 extend beyond the outer perimeter of the walking robot body 10, or at least extend out of the walking robot body 10 in both the forward and backward directions. The forward direction represents the direction of movement of the walking robot, and the backward direction is the opposite direction. This configuration allows the suction cups 23 to have a wider range of landing points, making the landing point of the suction cups 23 more flexible when crossing obstacles. In addition, to ensure the stability of the walking robot when crossing obstacles and to avoid problems such as suction cup 23 failure due to factors such as gravity, the total suction force of all suction cups 23 (referring to all suction cups 23 corresponding to the obstacle-crossing mechanism) is required to be greater than the total weight of the walking robot.

[0030] In this case, a set of rope-climbing machines 25 is provided, with each rope-climbing machine 25 corresponding to a traction rope 26. The rope-climbing machine 25 is connected to the walking robot body 10, and one end of the traction rope 26 is connected to the rope-climbing machine 25, while the other end of the traction rope 26 is detachably connected (e.g., tied) to a building (such as the upper part of the walking surface 30). Alternatively, the rope-climbing machine 25 can be detachably connected to the building, with one end of the traction rope 26 connected to the walking robot body 10 and the other end connected to the rope-climbing machine 25. The rope-climbing machine 25 is prior art; for example, the rope-climbing machine 25 described in publication number CN220564190U can be used.

[0031] Taking the obstacle-crossing principle of the walking robot on a vertical surface as an example, the obstacle-crossing principle of this utility model is as follows: like Figure 5 As shown, it illustrates the operation process of a walking robot crossing an obstacle in one go. When the walking robot encounters an obstacle, the robotic arm 21 first crosses the obstacle and causes the suction cup 23 to attach to the walking surface 30. By drawing a vacuum on the suction cup 23, a negative pressure is formed between the suction cup 23 and the walking surface 30, so that the adsorption component can be reliably adsorbed on the walking surface 30.

[0032] After the suction cup 23 stabilizes, the suction cup assembly 11 on the walking robot body 10 is first disengaged from the walking surface 30. Then, the robotic arm moves to raise the walking robot body 10 (i.e., move it away from the walking surface 30). If the robotic arm 21 has sufficient strength, the walking robot body 10 can overcome obstacles simply by adjusting the posture of the robotic arm 21. In this case, the rope climbing machine 25 and the traction rope 26 are used as safety measures. Alternatively, the rope climbing machine 25 can be used to retract or release the traction rope 26 to assist the walking robot body in moving forward or backward to overcome obstacles. Or, the rope climbing machine 25 can be used as the obstacle-crossing power source, and the robotic arm 21 can only support the lifting of the walking robot body 10.

[0033] After the walking robot body 10 has crossed the obstacle, it reattaches to the walking surface 30 and is then attracted to the walking surface 30. The attraction component is then released and lifted, thus completing the obstacle crossing.

[0034] like Figure 6 As shown, it illustrates the operation process of the walking robot crossing obstacles in two steps. Specifically, when the walking robot encounters an obstacle, the robotic arm 21 moves to make the suction cup 23 approach the obstacle and attach to the walking surface 30. By drawing a vacuum on the suction cup 23, a negative pressure is formed between the suction cup 23 and the walking surface 30, and the adsorption component is reliably adsorbed on the walking surface 30.

[0035] After the suction cup 23 stabilizes, the movable suction cup assembly 11 on the walking robot body 10 is first disengaged from the walking surface 30. Then, the robotic arm 21 moves to raise the walking robot body 10 above the obstacle height (i.e., away from the walking surface). The walking robot body 10 moves by adjusting its posture through the robotic arm 21, or by pulling and releasing the traction rope 26 through the rope climbing machine 25, or by the robotic arm 21 and the rope climbing machine 25 working together, until the movable suction cup assembly 11 on the upper (lower) part of the walking robot body 10 passes the obstacle and stops. The robotic arm 21 moves to lower the robot body 10 until the movable suction cup assembly 11 is attached to and adsorbed on the walking surface 30. After that, the robotic arm 21 overcomes the obstacle on its own and places the suction cup 23 on the walking surface 30 above (lower) the obstacle and adsorbs on the walking surface 30 (the suction cup 23 overcomes the obstacle and adsorbs). The mobile suction cup 11 on the robot body 10 detaches from the walking surface 30. The robotic arm 21 moves, raising the robot body 10 above the obstacle height (i.e., away from the walking surface). The robot body 10 moves by adjusting its posture via the robotic arm 21, or by pulling and releasing the traction rope 26 via the rope climbing machine 25, or by the robotic arm 21 and the rope climbing machine 25 working together, until the entire robot body 10 has passed the obstacle and stops. The robotic arm 21 moves, lowering the robot body 10 until the mobile suction cup 11 attaches to the walking surface 30 and adheres to it. The robot body 10 then clears the obstacle, releases the suction components, and the robotic arm 21 lifts and retracts, completing the obstacle clearance.

[0036] When the walking robot is walking on a steep slope or upside down, the above steps can be followed. When the walking robot is walking or crossing obstacles on a flat surface or a relatively gentle slope, the suction cup assembly 11 on the walking robot body 10 can remain inactive. In this case, the obstacle crossing mechanism of this utility model is also compatible with the walking robot body 10 without the suction cup assembly 11.

[0037] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present utility model should be included within the protection scope of the present utility model.

Claims

1. An obstacle-crossing mechanism for a walking robot, characterized in that: The system includes two robotic arms and a corresponding adsorption assembly for each robotic arm. One robotic arm is located on one side of the walking robot body, and the other robotic arm is located on the other side of the walking robot body. The head end of each robotic arm is fixedly or detachably connected to the walking robot body, and the adsorption assembly is connected to the tail end of the robotic arm. The adsorption assembly includes at least one suction cup and at least one vacuum pump for evacuating the suction cup.

2. The obstacle-crossing mechanism of the walking robot according to claim 1, characterized in that: The adsorption assembly is connected to the robotic arm via a buffer.

3. The obstacle-crossing mechanism of the walking robot according to claim 2, characterized in that: The buffer is an elastic sheet, and the elastic sheet is arranged in an arch shape.

4. The obstacle-crossing mechanism of the walking robot according to claim 1, characterized in that: The head of the robotic arm is connected to the middle of the side of the walking robot body.

5. The obstacle-crossing mechanism of the walking robot according to claim 1, characterized in that: The two robotic arms are symmetrically arranged on the walking robot body.

6. The obstacle-crossing mechanism of the walking robot according to claim 1, characterized in that: The suction cup of the adsorption component may extend beyond the outer perimeter of the robot body, or the suction cup of the adsorption component may extend beyond the robot body in at least the front and rear directions.

7. The obstacle-crossing mechanism of the walking robot according to claim 1, characterized in that: The total suction force of the suction cups is greater than the total weight of the walking robot.

8. The obstacle-crossing mechanism of the walking robot according to claim 1, characterized in that: It also includes at least one rope-climbing machine and a traction rope corresponding to each rope-climbing machine. The rope-climbing machine is connected to the walking robot body, one end of the traction rope is connected to the rope-climbing machine, and the other end of the traction rope is detachably connected to the building; or, one end of the traction rope is connected to the walking robot body, the other end of the traction rope is connected to the rope-climbing machine, and the rope-climbing machine is detachably connected to the building.

9. A walking robot, characterized in that: It includes the walking robot body and the obstacle-crossing mechanism as described in any one of claims 1-8.

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