Adherent Robot

Abstract

A robot capable of moving against gravity uses at least one vacuum cup assembly having means for applying a lubricant on the working surface so the cup may slide on the surface as the robot is maneuvered with the aid of powered wheels. The wheels and vacuum cup assemblies are coordinated to move on varied surfaces. The robot module may be equipped with various task-performing assemblies, and may be employed in caravans, trains, or separately in swarms. The vacuum cup assemblies include a pair of springs working against each other to provide stability and flexibility at the point of attachment to the body of the robot.

1 . A vacuum cup assembly including a vacuum cup comprising a stem member and a flexible, substantially conical body, a port in said body for a vacuum source, at least two annular ridges projecting downwardly from said body for intimately contacting a base surface, and at least one port for introducing lubricant to an interface of at least one of said ridges and the base surface.  
     
     
         2 . A vacuum cup assembly of    claim 1    including a filter in said vacuum source port.  
     
     
         3 . A vacuum cup assembly of    claim 1    wherein said flexible body has at least three annular ridges, said annular ridges being substantially concentric.  
     
     
         4 . A vacuum cup assembly of    claim 1    mounted on a chassis including means for attaching a task-performing device to said chassis.  
     
     
         5 . A vacuum cup assembly of    claim 4    including powered wheels for moving said chassis.  
     
     
         6 . A vacuum cup assembly of    claim 5    wherein said wheels are powered by motors on said vehicle and are capable of being independently steered.  
     
     
         7 . Method of manipulating a robot on a working surface comprising drawing a vacuum on at least one vacuum cup having a flexible surface for adhering to a working surface, feeding a lubricant to said flexible surface to form a film between said flexible surface and said working surface, and activating a locomotion means to propel said robot in a desired direction.  
     
     
         8 . Method of    claim 7    wherein said locomotion means are wheels.  
     
     
         9 . Method of    claim 7    wherein the reaction force R SC  of said vacuum cup is determined at least partly by the relationship  
         R   SC   =p   a ( A   o )− N−p   v ( A   I )  
       where R SC  is the reaction force, p v  is the vacuum pressure applied to the suction cup, p a  is the atmospheric pressure acting on the outside of the suction cup, A o  is the outside area of the suction cup, A I  is the inside area of the suction cup, and N is the normal force acting or load applied to the suction cup, usually the vehicle weight.  
     
     
         10 . A robot comprising at least one robot module comprising (a) a locomotion section comprising locomotion means for moving said module on a work surface, and (b) a slidable adherence section for adhering said module to a work surface while said module is moving thereon.  
     
     
         11 . A robot of    claim 10    wherein said locomotion section comprises at least one wheel, a motor therefor, and means for steering said wheel.  
     
     
         12 . A robot of    claim 10    wherein said slidable adherence section comprises a vacuum cup having a top side and an underside, a lubricant port therein, and a duct for delivering lubricant through said duct to the underside of said vacuum cup.  
     
     
         13 . A robot of    claim 10    wherein said slidable adherence section comprises a vacuum cup having a stem member, a flexible, substantially conical body, a port in said body for a vacuum source, at least two substantially concentric annular ridges projecting downwardly therefrom for intimately contacting a base surface, and at least one port for introducing lubricant to the interface of at least one of said ridges and the base surface.  
     
     
         14 . A robot of    claim 10    including at least one spring for urging said wheel toward said work surface.  
     
     
         15 . A robot of    claim 10    including a berth for a specific task-performing device.  
     
     
         16 . A robot of    claim 10    including an antenna for receiving control signals.  
     
     
         17 . A robot of    claim 10    including a flexible tube for connection to a remote source of vacuum.  
     
     
         18 . A robot of    claim 10    including a flexible wire for connection to a remote source of electric power.  
     
     
         19 . A robot of    claim 10    including a flexible tube for connection to a remote source of lubricant.  
     
     
         20 . A robot of    claim 10    including a microprocessor for controlling at least one function on said robot.  
     
     
         21 . A robot comprising at least one robot module comprising (a) a locomotion section comprising locomotion means for moving said module on a work surface, (b) a robot body, and (c) a slidable adherence section for adhering said module to a work surface while said module is moving thereon, said slidable adherence section including a pair of opposing springs for flexibly stabilizing the distance of said robot body from a working surface.  
     
     
         22 . A robot of    claim 21    wherein said opposing springs are on opposite sides of said robot body.  
     
     
         23 . A robot of    claim 21    wherein said slidable adherence section comprises at least one vacuum cup.  
     
     
         24 . A robot of    claim 21    wherein said slidable adherence section comprises at least two vacuum cups.  
     
     
         25 . A robot of    claim 22    including a stem on said vacuum cup for holding a passage for a source of vacuum to said vacuum cup, said springs are coil springs, and said stem passes through said opposing springs.  
     
     
         26 . A robot of    claim 21    wherein said locomotion section comprises at least one wheel turned by an electric motor.  
     
     
         27 . A robot of    claim 23    wherein said vacuum cup comprises a stem member and a flexible, substantially conical body, a port in said body for a vacuum source, at least two annular ridges projecting downwardly from said body for intimately contacting a workpiece surface, and at least one port for introducing lubricant to an interface of at least one of said ridges and said workpiece surface.  
     
     
         28 . A robot of    claim 23    wherein said stem member defines a vacuum passage for providing vacuum to said vacuum cup.  
     
     
         29 . A vacuum cup assembly for a robot having a robot body, comprising a vacuum cup, a stem member thereon, said stem member passing through at least a portion of said robot body, a lower stem housing below said robot body portion, an upper stem housing above said robot body portion, and springs within said upper and lower stem housings for flexibly stabilizing said vacuum cup assembly with respect to said robot body.  
     
     
         30 . A vacuum cup assembly of    claim 29    wherein said stem member defines a passage from a source of vacuum to said vacuum cup.  
     
     
         31 . A vacuum cup assembly of    claim 29    wherein said vacuum cup includes a port for feeding lubricant to said vacuum cup.  
     
     
         32 . A vacuum cup assembly of    claim 30    including a filter in said passage.  
     
     
         33 . A vacuum cup assembly of    claim 29    wherein said springs are coil springs and said stem passes through said springs.