CN101402379A - Self-determination gas escape type wall climbing robot vibration adsorption foot section - Google Patents
Self-determination gas escape type wall climbing robot vibration adsorption foot section Download PDFInfo
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- CN101402379A CN101402379A CNA2008102253023A CN200810225302A CN101402379A CN 101402379 A CN101402379 A CN 101402379A CN A2008102253023 A CNA2008102253023 A CN A2008102253023A CN 200810225302 A CN200810225302 A CN 200810225302A CN 101402379 A CN101402379 A CN 101402379A
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- lower plate
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- wheel frame
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Abstract
The invention relates to a self-blowdown vibration-absorbing foot for a wall-climbing robot, which is characterized in that the device consists of an upper plate component, a lower plate component, a blowdown mechanism, a driving cam, a lathe dog bearing, a cam sleeve, an upper and lower plate connecting piece, a stabilizing ring, a fastening spring, a retaining nut and a blowdown mechanism fastening bolt, wherein the driving cam drives the cam sleeve and the upper and lower plate connecting piece to reciprocate along a guide bar through the lathe dog bearing; air absorption and discharge control of the absorption device is completed through positive and negative rotation of a motor by utilization of an eccentric unilateral bearing; and the stabilizing ring ensures that the overall stability of the robot can not be influenced by self vibration when the absorption device is used as the foot of the robot. The absorption device can be normally operated on the indoor painted metope; and when the absorption device is operated on the ceramic tile wall surface, the positive tensile load can reach 120 newtons, the power consumption is only 2 watts, the deadweight is 300 grams, and the occupied space is phi 120X50. Compared with the prior absorption device, the performance of the absorption device is obviously better.
Description
Technical field:
The present invention relates to a kind of self-determination gas escape type wall climbing robot vibration adsorption foot section, a kind of low-power consumption specifically, can be than the stable absorption of rough surface, and can realize the autonomous venting control of inhaling, externally have the adsorption plant of mounting interface.The adsorption plant that belongs to climbing robot.
Background technology:
At present, the adsorption device of passive type can only adsorb on quite smooth surface, then needs the very high vacuum pump of power consumption to guarantee degree of vacuum in the sucker on more coarse surface.
In the research in the climbing robot field of autonomous type, in order to improve the comformability of robot, must the high vacuum pump sucker of reliability of service when the adsorption plant of design robot.Because the volume of vacuum pump is big, power consumption is big, it is autonomous completely to cause robot to be difficult to realization, thereby has limited the development of climbing robot technology.
Summary of the invention:
The object of the present invention is to provide a kind of self-determination gas escape type wall climbing robot vibration adsorption foot section, to overcome limitation such as the volume increase of using vacuum pump to cause, power consumption increase.
Technical scheme of the present invention is: self-determination gas escape type wall climbing robot vibration adsorption foot section of the present invention specifically comprises: go up board component, following board component, air-release mechanism, driving cam, the clip bearing, cam cover, upper and lower plates attaching parts, stabilizing ring, firm spring, captive nut, the air-release mechanism bolt of rear end plate:
Last board component comprises the motor fixed cover, motor, motor mounting plate, upper plate sucker joint, vacuum cup, upper plate, pilot bar; Vacuum cup is connected with the head of upper plate sucker joint, and upper plate sucker joint is installed on the upper plate; Motor is installed on the end face of motor mounting plate, and the motor fixed cover is enclosed within on the outside face of motor, motor fixed cover and motor mounting plate by bolted connection in the tapped bore of upper plate; Pilot bar is installed in the tapped bore of upper plate;
Following board component comprises linear bearing, lower plate sucker joint, vacuum cup, lower plate; Sucker is installed in the head of lower plate sucker joint, and lower plate sucker joint is installed in the tapped bore of lower plate, and linear bearing is installed in the bearing hole of lower plate;
Air-release mechanism comprises orienting lug, retracing spring, eccentric wheel frame, sheet rubber, six-way valve, eccentric unilateral bearing; Eccentric unilateral bearing partly cooperates with the square frame of eccentric wheel frame, and eccentric wheel frame right-hand member cooperates with the centre hole of six-way valve, and eccentric wheel frame left end cooperates with the centre hole of orienting lug, and eccentric wheel frame right side is bonded with sheet rubber;
The endoporus of eccentric unilateral bearing cooperates with the barrel portion of driving cam end;
Driving cam links to each other with the output shaft of motor by the D shape hole on it, and the inside face of clip bearing cooperates with the outside face of driving cam, and its outside face cooperates with the inside face of cam cover, and the cam cover is connected with the upper and lower plates attaching parts, and the upper and lower plates attaching parts links to each other with lower plate;
Stabilizing ring links to each other with the lower plate sucker joint of following board component with captive nut by firm spring.
Wherein, between the bearing hole of described linear bearing and lower plate be flush fit.
Wherein, described eccentric unilateral bearing partly cooperates for higher pair with the square frame of eccentric wheel frame.
Advantage of the present invention and effect are: this device not only can be realized stable absorption and venting at more coarse surface (as indoor wall), and have that volume is little, power consumption is little, the advantage of modular design, and and the cooresponding control response speed of vacuum pump sucker.
Description of drawings:
Fig. 1 is a 3-D view of the present invention
Fig. 2 is a structure exploded view of the present invention
Fig. 3 is the board component exploded view of going up of the present invention
Fig. 4 is a board component exploded view down of the present invention
Fig. 5 is an air-release mechanism exploded view of the present invention
Fig. 6 is a stabilizing ring of the present invention
Fig. 7 is sucker structure figure of the present invention
Fig. 8 is a upper plate sucker joint design of the present invention
Fig. 9 is a lower plate sucker joint design of the present invention
Figure 10 A is that driving cam Figure 10 B of the present invention is the right elevation of driving cam
Figure 11 is a clip bearing of the present invention
Figure 12 is a cam cover of the present invention
Figure 13 is a upper and lower plates attaching parts of the present invention
Figure 14 is a upper plate of the present invention
Figure 15 is a lower plate of the present invention
Figure 16 is an eccentric unilateral bearing of the present invention
Figure 17 is an eccentric wheel frame of the present invention
Figure 18 is a six-way valve of the present invention
Figure 19 is an orienting lug of the present invention
Concrete label is as follows among the figure:
Board component C-air-release mechanism under the last board component B-of A-
1, motor fixed cover 2, motor 3, motor mounting plate
4, upper plate sucker joint 5,10, vacuum cup 6, upper plate
7, pilot bar 8, linear bearing 9, lower plate sucker joint
11, lower plate 12, orienting lug 13, retracing spring
14, eccentric wheel frame 15, sheet rubber 16, six-way valve
17, eccentric unilateral bearing 18, driving cam 19, clip bearing
20, cam cover 21, upper and lower plates attaching parts 22, stabilizing ring
23, firm spring 24, captive nut 25, air-release mechanism bolt of rear end plate
The specific embodiment:
Below in conjunction with accompanying drawing, technical scheme of the present invention is further specified.
Shown in Fig. 1,2,6,10,11,12,13, the present invention is by last board component A, following board component B, air-release mechanism C, driving cam 18, clip bearing 19, cam cover 20, upper and lower plates attaching parts 21, stabilizing ring 22, firm spring 23, captive nut 24, air-release mechanism bolt of rear end plate 25 is formed.
Shown in Fig. 3,7,8,14, last board component A comprises motor fixed cover 1, motor 2, motor mounting plate 3, upper plate sucker joint 4, vacuum cup 5, upper plate 6, pilot bar 7.Vacuum cup 5 is installed in the head of upper plate sucker joint 4, and the screw thread of upper plate sucker joint 4 by its afterbody is installed in the tapped bore on the upper plate 6.Motor 2 is installed on the end face of motor mounting plate 3, is connected by screw between motor fixed cover 1 and motor mounting plate, realizes fixing to motor 2.The bolt of pilot bar 7 by its afterbody is installed in the tapped bore on the upper plate 6.
Shown in Fig. 4,9,15, following board component B comprises linear bearing 8, lower plate sucker joint 9, vacuum cup 10, lower plate 11.Sucker 10 is installed in the head of lower plate sucker joint 9, and the screw thread of lower plate sucker joint 9 by its afterbody is installed in the tapped bore on the lower plate 11.Linear bearing is installed in the bearing hole on the lower plate 11 by flush fit.
Shown in Fig. 5,17,18,19, air-release mechanism C comprises orienting lug 12, retracing spring 13, eccentric wheel frame 14, sheet rubber 15, six-way valve 16, eccentric unilateral bearing 17.Eccentric unilateral bearing 17 partly constitutes higher pair with the square frame of eccentric wheel frame 14 and cooperates, the cylinder of eccentric wheel frame 14 right-hand members cooperates with centre hole on the six-way valve 16, the cylinder of eccentric wheel frame 14 left ends cooperates with centre hole on the orienting lug 12, realization is bonded with sheet rubber 15 to the guiding of eccentric wheel frame 14 on the projected square part on eccentric wheel frame 14 right sides.
The endoporus of eccentric unilateral bearing 17 cooperates (as shown in Figure 8) with the barrel portion of driving cam 18 ends, when rotating counterclockwise, (just changes) driving cam 18, eccentric unilateral bearing 17 effects are the same with plain bearing, when driving cam 18 clockwise rotates (counter-rotating), eccentric unilateral bearing 17 will move with driving cam, moving through eccentric unilateral bearing 17 cooperates promotion eccentric wheel frame to left movement with the higher pair of eccentric wheel frame, the valve face of sheet rubber and six-way valve 16 is thrown off, make ventilation flue and atmosphere UNICOM, realize venting adsorption plant.When driving cam 18 is just changeing once more, the eccentric wheel frame will move right under the effect of retracing spring 13, and sheet rubber will be again fitted with valve face, and the predetermincd tension by retracing spring 13 realizes the sealing to adsorption plant.
Driving cam 18 (shown in Figure 10 A, 10B) links to each other with the output shaft of motor 2 by the D shape hole on it, the inside face of clip bearing 19 cooperates with the outside face of driving cam, its outside face cooperates with the inside face of cam cover 20, cam cover 20 passes through bolted connection with upper and lower plates attaching parts 21, upper and lower plates attaching parts 21 and lower plate 11 link to each other by screw, when motor 2 drive driving cams 18 were just changeing, last board component A and the last two groups of suckers of following board component B just can be done alternately vibration like this.
Stabilizing ring 22 links to each other with lower plate sucker joint 9 on the following board component B by firm spring 23 and captive nut 24, on the stabilizing ring 22 connecting interface is arranged.
By said structure is fitted together, and add that driving circuit promptly forms the adsorption plant with modular nature.This adsorption plant can be in the metope normal operation of interior painting, and the positive drag load on the ceramic tile wall can reach 120N, and power consumption has only 2W, and conducting oneself with dignity is 300g, and take up space is Φ 120 * 50.Its performance has been compared remarkable advantages with present traditional adsorption plant.
Claims (3)
1, a kind of self-determination gas escape type wall climbing robot vibration adsorption foot section is characterized in that: this device is by last board component, following board component, air-release mechanism, driving cam, clip bearing, cam cover, upper and lower plates attaching parts, stabilizing ring, firm spring, captive nut, the air-release mechanism bolt of rear end plate is formed:
Last board component comprises the motor fixed cover, motor, motor mounting plate, upper plate sucker joint, vacuum cup, upper plate, pilot bar; Vacuum cup is connected with the head of upper plate sucker joint, and upper plate sucker joint is installed on the upper plate; Motor is installed on the end face of motor mounting plate, and the motor fixed cover is enclosed within on the outside face of motor, motor fixed cover and motor mounting plate by bolted connection in the tapped bore of upper plate; Pilot bar is installed in the tapped bore of upper plate;
Following board component comprises linear bearing, lower plate sucker joint, vacuum cup, lower plate; Sucker is installed in the head of lower plate sucker joint, and lower plate sucker joint is installed in the tapped bore of lower plate, and linear bearing is installed in the bearing hole of lower plate;
Air-release mechanism comprises orienting lug, retracing spring, eccentric wheel frame, sheet rubber, six-way valve, eccentric unilateral bearing; Eccentric unilateral bearing partly cooperates with the square frame of eccentric wheel frame, and eccentric wheel frame right-hand member cooperates with the centre hole of six-way valve, and eccentric wheel frame left end cooperates with the centre hole of orienting lug, and eccentric wheel frame right side is bonded with sheet rubber;
The endoporus of eccentric unilateral bearing cooperates with the barrel portion of driving cam end;
Driving cam links to each other with the output shaft of motor by the D shape hole on it, and the inside face of clip bearing cooperates with the outside face of driving cam, and its outside face cooperates with the inside face of cam cover, and the cam cover is connected with the upper and lower plates attaching parts, and the upper and lower plates attaching parts links to each other with lower plate;
Stabilizing ring links to each other with the lower plate sucker joint of following board component with captive nut by firm spring.
2, self-determination gas escape type wall climbing robot vibration adsorption foot section according to claim 1 is characterized in that: be flush fit between the bearing hole of described linear bearing and lower plate.
3, self-determination gas escape type wall climbing robot vibration adsorption foot section according to claim 1 is characterized in that: described eccentric unilateral bearing partly cooperates for higher pair with the square frame of eccentric wheel frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102253023A CN101402379B (en) | 2008-10-29 | 2008-10-29 | Self-determined gas escape type wall climbing robot vibration adsorption foot section |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102253023A CN101402379B (en) | 2008-10-29 | 2008-10-29 | Self-determined gas escape type wall climbing robot vibration adsorption foot section |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101402379A true CN101402379A (en) | 2009-04-08 |
| CN101402379B CN101402379B (en) | 2010-07-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008102253023A Expired - Fee Related CN101402379B (en) | 2008-10-29 | 2008-10-29 | Self-determined gas escape type wall climbing robot vibration adsorption foot section |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102001370A (en) * | 2010-11-10 | 2011-04-06 | 哈尔滨工业大学 | Foot mechanism of torobot |
| CN102107685A (en) * | 2011-01-12 | 2011-06-29 | 西南大学 | Six-foot robot with eccentric wheel legs |
| WO2015139614A1 (en) * | 2014-03-17 | 2015-09-24 | 科沃斯机器人有限公司 | Air-releasing valve for use in suction apparatus and suction robot having the air-releasing valve |
| CN105571628A (en) * | 2015-12-15 | 2016-05-11 | 重庆大学 | Vibration adsorption experiment platform used in water and air |
-
2008
- 2008-10-29 CN CN2008102253023A patent/CN101402379B/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102001370A (en) * | 2010-11-10 | 2011-04-06 | 哈尔滨工业大学 | Foot mechanism of torobot |
| CN102001370B (en) * | 2010-11-10 | 2013-03-27 | 哈尔滨工业大学 | Foot mechanism of torobot |
| CN102107685A (en) * | 2011-01-12 | 2011-06-29 | 西南大学 | Six-foot robot with eccentric wheel legs |
| CN102107685B (en) * | 2011-01-12 | 2012-09-26 | 西南大学 | Six-foot robot with eccentric wheel legs |
| WO2015139614A1 (en) * | 2014-03-17 | 2015-09-24 | 科沃斯机器人有限公司 | Air-releasing valve for use in suction apparatus and suction robot having the air-releasing valve |
| US10016103B2 (en) | 2014-03-17 | 2018-07-10 | Ecovacs Robotics Co., Ltd. | Air-releasing valve for use in suction apparatus and suction robot having the air-releasing valve |
| CN105571628A (en) * | 2015-12-15 | 2016-05-11 | 重庆大学 | Vibration adsorption experiment platform used in water and air |
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| Publication number | Publication date |
|---|---|
| CN101402379B (en) | 2010-07-07 |
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Granted publication date: 20100707 Termination date: 20111029 |