CN101439735B - Adsorption mechanism using square wave vibration - Google Patents
Adsorption mechanism using square wave vibration Download PDFInfo
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- CN101439735B CN101439735B CN2008102409012A CN200810240901A CN101439735B CN 101439735 B CN101439735 B CN 101439735B CN 2008102409012 A CN2008102409012 A CN 2008102409012A CN 200810240901 A CN200810240901 A CN 200810240901A CN 101439735 B CN101439735 B CN 101439735B
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Abstract
The invention discloses an absorbing mechanism which adopts square wave vibration and is suitable for a wall-climbing robot. The absorbing mechanism adopting square wave vibration consists of a power component, a bracket component and an exhaust component; the exhaust component is arranged under the bracket component, and the power component is arranged on the bracket component. The mechanism adopts a steering engine to open or close a gas circuit; an electric motor drives two plane shafts and six cams on the plane shafts drive six suction cups for vibration adsorption, thus realizing the square wave vibration of the mechanism. The cams are arranged by adopting the assembling mode with 120-degree phase, and every two cams are in one group; four suction cups generate adsorption force with the wall surface at the same time in the same period of time; in addition, the other two suction cups generate bearing reaction force with the wall surface; the pair of bearing reaction forces is formed in central symmetry based on the intersection of the diagonal line of a rectangular, so that the pulling force and the pressure force that are generated when the mechanism is absorbed on the wall surface are distributed in balance.
Description
Technical field
The present invention relates to a kind of square wave vibration adsorbing mechanism that is applicable to climbing robot.
Background technology
Sucker absorption is to make it attached to the method on the wall by produce high vacuum state in rubber suction cups.The most frequently used suction disc vacuum pumping device is pneumatic vacuum generator, and it is used Venturi effect and produces vacuum, therefore adopts the robot of this mode to need the very long tracheae of traction to insert pressurized air from ground usually.Making the vacuum advantage of sucker with vacuum generator is that degree of vacuum height, adsorption affinity are big, but that shortcoming is a vacuum cup is higher to the requirements for quality of absorption surface, and impurity on the wall and defective cause the sucker vacuum breaking easily; Pneumatic line and device complexity are unfavorable for robot miniaturization and lightweight in addition.The method that another kind makes sucker produce high vacuum is to use vacuum pump, but the general industry vacuum pump is owing to reasons such as volume, weight are seldom used on climbing robot.
Summary of the invention
The purpose of this invention is to provide a kind of adsorbing mechanism that adopts square wave vibration, this mechanism is made up of Power Component (1), bracket component (2), gas deflation assembly (3), gas deflation assembly (3) is installed in the below of bracket component (2), and Power Component (1) is installed on the bracket component (2).In gas deflation assembly (3), adopt a steering wheel to carry out opening/closing of gas circuit; In Power Component (1), adopt two optical axises of a motor-driven, and make six suckers of six cam drivens on the optical axis vibrate absorption, thereby realize the square wave vibration of mechanism of the present invention.Install the fit that has adopted 120 degree phase places at cam, and making per two cams is one group, in the same period, have four suckers to produce adsorption affinity with wall simultaneously, two other sucker produces the support reaction with wall, this makes the pulling force and the equalization of pressure that produce when mechanism of the present invention adsorbs on wall distribute to the diagonal line intersection point center symmetry of support reaction with rectangle.
The present invention adopts the advantage of the adsorbing mechanism of square wave vibration to be: (1) adopts the mode of vibration of acceleration/accel sudden change, gives full play to the degree of utilization of sucker finite volume.(2) in the same period, there are four suckers simultaneously and wall absorption simultaneously, two suckers produce the support reaction with wall, and are maximum dilatation amount, have increased reliability.(3) the venting driven unit of employing steering wheel and piston in combination makes the venting effect more reliable and more stable.(4) this adsorbing mechanism integrated level height, space availability ratio is big, can be used as the adsorbing mechanism of climbing robot.
Description of drawings
Fig. 1 is the constructional drawing of vibration and suction mechanism of the present invention.
Figure 1A be the unassembled loam cake of vibration and suction mechanism of the present invention constructional drawing.
Fig. 2 is the constructional drawing of bracket component of the present invention.
Fig. 2 A is the constructional drawing of the bracket component of the unassembled loam cake of the present invention.
Fig. 2 B is the face upwarding assumption diagram of bracket component of the present invention.
Fig. 3 is the constructional drawing of Power Component of the present invention.
Fig. 4 is the constructional drawing of gas deflation assembly of the present invention.
Fig. 4 A is the exploded drawings of steering wheel of the present invention and piston.
Fig. 5 is the rectangular layout that six suckers of the present invention constitute.
Fig. 5 A is the adsorbed states of six suckers of the present invention on the same period.
Among the figure: 1. Power Component 1A.A optical axis 1B.B optical axis 101.A gear
102.B gear 103.C gear 104. DC machine 111.A cam 112.B cams
113.C cam 114.D cam 115.E cam 116.F cam 2. bracket components
21. loam cake 21a. lightening hole 22. base plate 201.A bearing seat 202.B bearing seats
203.C bearing seat 204.D bearing seat 211.A bearing 212.B bearing 213.C bearing
214.D bearing 215.E bearing 216.F bearing 217.G bearing 218.H bearing
219.I bearing 220.J bearing 221.A boss 222.B boss 223.C boss
224.D boss 225.E boss 226.F boss 23. motor mounting plate 231.A through holes
232.A elongate slots 233.B elongate slots 3. gas deflation assemblies 301. adapter plates 302. steering wheels
The plate 305. air-flow seat 311.E bearing seat 312.B bearing seats 303. eccentric wheel 304. is calmed the anger
313.K bearing 314.L bearing 315. piston 316.B end 317.A end
318. plunger shaft 11.A sucker 12.B sucker 13.C sucker 14.D sucker
15.E sucker 16.F sucker 31.A catch 32.B catch 33.C catch
34.D catch 35.E catch 36.F catch 41.A air guide post 42.B air guide post
43.C air guide post 44.D air guide post 45.E air guide post 46.F air guide post 51.A spring
52.B spring 53.C spring 54.D spring 55.E spring 56.F spring
The specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
Shown in Fig. 1, Figure 1A, the present invention is a kind of adsorbing mechanism that is applicable to the employing square wave vibration of climbing robot, the adsorbing mechanism of this square wave vibration is made up of Power Component 1, bracket component 2, gas deflation assembly 3, gas deflation assembly 3 is installed in the below of bracket component 2, and Power Component 1 is installed on the bracket component 2.
Shown in Fig. 5, Fig. 5 A, the adsorbing mechanism of a kind of square wave vibration of design-calculated of the present invention, the layout of six suckers (A sucker 11, B sucker 12, C sucker 13, D sucker 14, E sucker 15 and F sucker 16) constitutes a rectangle (as shown in Figure 5).A sucker 11 is laterally parallel with B sucker 12 on rectangular layout, and C sucker 13 is laterally parallel with D sucker 14, and E sucker 15 is laterally parallel with F sucker 16; A sucker 11, C sucker 13 and E sucker 15 parallel longitudinals; B sucker 12, D sucker 14 and F sucker 16 parallel longitudinals.A sucker 11 is identical with the vibration of F sucker 16 on the vibration layout; B sucker 12 is identical with the vibration of E sucker 15; C sucker 13 is identical with the vibration of D sucker 14.Under the driving of DC machine 104, the first period t
1, the second period t
2With the 3rd period t
3Constitute a rotation period (be that A optical axis 1A rotates a week with B gear 102, B optical axis 1B rotates a week with C gear 103) of optical axis.Therefore at the second period t
2With the adsorption affinity that has four suckers (A sucker 11 and F sucker 16, B sucker 12 and E sucker 15) generation with wall simultaneously, two other sucker (C sucker 13, D sucker 14) produces the support reaction (shown in Fig. 5 A) with wall, this makes the pulling force and the equalization of pressure that produce when mechanism of the present invention adsorbs on wall distribute to the diagonal line intersection point O center symmetry of support reaction with rectangle.Because there is the phase difference of 120 degree in three cams installing on the optical axis, so sucker vibrational waveform in time is a square wave.
Referring to Fig. 1, Figure 1A, shown in Figure 3, Power Component 1 includes DC machine 104, A gear 101, B gear 102, C gear 103, A optical axis 1A, B optical axis 1B and six cams (A cam 111, B cam 112, C cam 113, D cam 114, E cam 115, F cam 116);
The end of A optical axis 1A passes C bearing 213 (C bearing 213 is installed on the C bearing seat 203) in turn, A bearing 211 (A bearing 211 is installed on the A bearing seat 201) back is connected with B gear 102;
The end of B optical axis 1B passes D bearing 214 (D bearing 214 is installed on the D bearing seat 204) in turn, B bearing 212 (B bearing 212 is installed on the B bearing seat 202) back is connected with C gear 103;
The center of A gear 101, B gear 102 and C gear 103 is on same horizon, and B gear 102 and C gear 103 are with A gear 101 center symmetries; Be A gear 101 between B gear 102 and the C gear 103, the tooth engagement of the tooth of A gear 101 and B gear 102 and C gear 103; If DC machine 104 clockwise rotates, then A gear 101 is also for clockwise rotating; B gear 102, C gear 103 are for rotating counterclockwise when A gear 101 clockwise rotates; Thereby the rotation that makes B gear 102 drives three cams (A cam 111, C cam 113, E cam 115) that A optical axis 1A and bonding be installed on the A optical axis 1A and rotates, and the motion of three cams cooperates with three catch respectively, causes three suckers to interlock and presses down and lift; Three cams (B cam 112, D cam 114, F cam 116) that the rotation drive B optical axis 1B of C gear 103 and bonding are installed on the B optical axis 1B rotate, and the motion of three cams cooperates with three catch respectively, cause three suckers to interlock and press down and lift.
In the present invention, six cams are installed in respectively on two optical axises (two optical axises rotate in the same way), and promptly A cam 111, C cam 113 and E cam 115 are installed on the A optical axis 1A in turn, and B cam 112, D cam 114 and F cam 116 are installed on the B optical axis 1B in turn.A cam 111 is laterally parallel with B cam 112, and C cam 113 is laterally parallel with D cam 114, and E cam 115 is laterally parallel with F cam 116, A cam 111, C cam 113 and E cam 115 parallel longitudinals, B cam 112, D cam 114 and F cam 116 parallel longitudinals.These six cams are installed the fit that has adopted 120 degree phase places, and to make per two cams be one group.Be that A cam 111 is installed with 120 degree phase differences on A optical axis 1A with C cam 113, C cam 113 is installed with 120 degree phase differences on A optical axis 1A with E cam 115; B cam 112 is installed with 120 degree phase differences on B optical axis 1B with D cam 114, and D cam 114 is installed with 120 degree phase differences on B optical axis 1B with F cam 116; And A cam 111 is identical with the installation phase place of F cam 116, and B cam 112 is identical with the installation phase place of E cam 115, and C cam 113 is identical with the installation phase place of D cam 114.
Shown in Fig. 2, Fig. 2 A, Fig. 2 B, bracket component 2 includes loam cake 21, base plate 22, motor mounting plate 23, the both sides of loam cake 21 respectively with the fixed installation of the dual-side of base plate 22, motor mounting plate 23 is fixedly mounted on the center of the upper face of base plate 22, and DC machine 104 is installed on the motor mounting plate 23.
Loam cake 21 is the U-shaped structure, has lightening hole 21a on the loam cake 21.
The upper face of base plate 22 is provided with four bearing seats (A bearing seat 201, B bearing seat 202, C bearing seat 203, D bearing seat 204), in the axis hole of each bearing seat bearing is installed, promptly is equipped with in the axis hole on the A bearing seat 201 in the axis hole that is equipped with in the axis hole that is equipped with in the axis hole on A bearing 211, the B bearing seat 202 on B bearing 212, the C bearing seat 203 on C bearing 213, the D bearing seat 204 D bearing 214 is installed; The lower face of base plate 22 is provided with six boss (A boss 221, B boss 222, C boss 223, D boss 224, E boss 225, F boss 226), in the circular hole of each boss bearing is installed, be in the circular hole of A boss 221 E bearing 215 to be installed, F bearing 216 is installed in the circular hole of B boss 222, G bearing 217 is installed in the circular hole of C boss 223, H bearing 218 is installed in the circular hole of D boss 224, I bearing 219 is installed in the circular hole of E boss 225, J bearing 220 is installed in the circular hole of F boss 226.
Motor mounting plate 23 is L shaped structure; The front top plate face of motor mounting plate 23 is provided with A through hole 231, and the output shaft that this A through hole 231 is used for motor 104 passes through; Be provided with A elongate slots 232, B elongate slots 233 on the base plate face of motor mounting plate 23 relatively, A elongate slots 232, B elongate slots 233 are used for screw and pass through.
Shown in Fig. 1, Figure 1A, Fig. 4, Fig. 4 A, gas deflation assembly 3 includes steering wheel 302, eccentric wheel 303, piston 315, the plate 304 of calming the anger, air-flow seat 305, six catch, six springs, six air guide posts and six suckers;
Six catch are meant A catch 31, B catch 32, C catch 33, D catch 34, E catch 35 and F catch 36.
Six springs are meant A spring 51, B spring 52, C spring 53, D spring 54, E spring 55 and F spring 56.
Six air guide posts are meant A air guide post 41, B air guide post 42, C air guide post 43, D air guide post 44, E air guide post 45 and F air guide post 46.
Six suckers are meant A sucker 11, B sucker 12, C sucker 13, D sucker 14, E sucker 15 and F sucker 16.
One end of air guide post is installed on the sucker, and socket upper spring rear thread connected upper stop piece after the other end of air guide post passed the bearing that is installed in base plate 22 convex platforms; Be without loss of generality, referring to Fig. 2 A, Fig. 2 B and shown in Figure 4.
One end of A air guide post 41 is installed on the A sucker 11, and the other end of A air guide post 41 passes and is installed in the E bearing 215 in the A boss 221 on the base plate 22, cover connects A spring 51 rear threads and connects upward A catch 31.A catch 31 contacts with A cam 111.
One end of B air guide post 42 is installed on the B sucker 12, and the other end of B air guide post 42 passes and is installed in the F bearing 216 in the B boss 222 on the base plate 22, cover connects B spring 52 rear threads and connects upward B catch 32.B catch 32 contacts with B cam 112.
One end of C air guide post 43 is installed on the C sucker 13, and the other end of C air guide post 43 passes and is installed in the G bearing 217 in the C boss 223 on the base plate 22, cover connects C spring 53 rear threads and connects upward C catch 33.C catch 33 contacts with C cam 113.
One end of D air guide post 44 is installed on the D sucker 14, and the other end of D air guide post 44 passes and is installed in the H bearing 218 in the D boss 224 on the base plate 22, cover connects D spring 54 rear threads and connects upward D catch 34.D catch 34 contacts with D cam 114.
One end of E air guide post 45 is installed on the E sucker 15, and the other end of E air guide post 45 passes and is installed in the I bearing 219 in the E boss 225 on the base plate 22, cover connects E spring 55 rear threads and connects upward E catch 35.E catch 35 contacts with E cam 115.
One end of F air guide post 46 is installed on the F sucker 16, and the other end of F air guide post 46 passes and is installed in the J bearing 220 in the F boss 226 on the base plate 22, cover connects F spring 56 rear threads and connects upward F catch 36.F catch 36 contacts with F cam 116.
In the present invention, six catch, six springs, six air guide posts and six suckers drive A gear 101 in DC machine 104 and rotate, and B gear 102 and C gear 103 are with under the A gear 101 Fu conditions, driving A optical axis 1A and B optical axis 1B rotates in the same way, making six cams be one group in twos contacts with six catch respectively, realize that six suckers are one group in twos and staggered press down and lift, realized that design-calculated of the present invention adopts the adsorbing mechanism of square wave vibration and the absorption of wall.
Shown in Fig. 4 A, adapter plate 301 is installed in the back of base plate 22, and E bearing seat 311, F bearing seat 312 and steering wheel 302 are installed on the adapter plate 301, and K bearing 313 is installed in the through hole of E bearing seat 311, and L bearing 314 is installed in the through hole of F bearing seat 312; Be connected with eccentric wheel 303 on the output shaft of steering wheel 302, eccentric wheel 303 is positioned in the plunger shaft 318 of piston 315, the A end 317 of piston 315 is installed on the K bearing 313, the B end 316 of piston 315 passes L bearing 314 backs and is connected with the plate 304 of calming the anger, the calm the anger back of plate 304 contacts with air-flow seat 305, air-flow seat 305 is provided with a plurality of tracheae jacks, in each tracheae jack the ventilation flue is installed, and ventilation flue's the other end is connected with sucker after passing through hole on the air guide post.
The present invention is a kind of adsorbing mechanism that is applicable to the employing square wave vibration of climbing robot, under the driving of DC machine 104, A gear 101 (A gear 101 is connected with the output shaft of DC machine) drives B gear 102 and C gear 103 moves in the same way, make the A cam 111, C cam 113 and the E cam 115 that are installed on the A optical axis 1A, the B cam 112, D cam 114 and the F cam 116 that are installed on the B optical axis 1B also rotate in the same way, six cams alternately contact with six catch respectively, cause six suckers also replace pressing down and lifting, thereby realized square wave vibration absorption.Drive eccentric wheel 303 rotations by steering wheel 302, make piston 315 drive crank motion on plate 304 longitudinal directions of calming the anger, thereby realize opening/closing of gas circuit.
Claims (6)
1. adsorbing mechanism that is applicable to the employing square wave vibration of climbing robot, it is characterized in that: the adsorbing mechanism of this square wave vibration is made up of Power Component (1), bracket component (2), gas deflation assembly (3), gas deflation assembly (3) is installed in the below of bracket component (2), and Power Component (1) is installed on the bracket component (2);
Power Component (1) includes DC machine (104), A gear (101), B gear (102), C gear (103), A optical axis (1A), B optical axis (1B), A cam (111), B cam (112), C cam (113), D cam (114), E cam (115) and F cam (116); DC machine (104) is installed on the motor mount (23), and the output shaft of DC machine (104) passes A through hole (231) back and is connected with A gear (101); One end of A optical axis (1A) passes C bearing (213) in turn, A bearing (211) back is connected with B gear (102); One end of B optical axis (1B) passes D bearing (214) in turn, B bearing (212) back is connected with C gear (103); Between B gear (102) and the C gear (103) A gear (101) is arranged, and the engagement of the tooth of the tooth of A gear (101) and B gear (102) and C gear (103); A cam (111), C cam (113) and E cam (115) are installed on the A optical axis (1A) in turn, and B cam (112), D cam (114) and F cam (116) are installed on the B optical axis (1B) in turn; A cam (111) is gone up with 120 degree phase differences at A optical axis (1A) with C cam (113) and is installed, and C cam (113) is gone up with 120 degree phase differences at A optical axis (1A) with E cam (115) and installed; B cam (112) is gone up with 120 degree phase differences at B optical axis (1B) with D cam (114) and is installed, and D cam (114) is gone up with 120 degree phase differences at B optical axis (1B) with F cam (116) and installed;
Bracket component (2) includes loam cake (21), base plate (22), motor mounting plate (23), the both sides of loam cake (21) respectively with the fixed installation of the dual-side of base plate (22), motor mounting plate (23) is fixedly mounted on the center of the upper face of base plate (22), and DC machine (104) is installed on the motor mounting plate (23); Loam cake (21) is the U-shaped structure, has lightening hole (21a) on the loam cake (21); The upper face of base plate (22) is provided with A bearing seat (201), B bearing seat (202), C bearing seat (203), D bearing seat (204), is equipped with in the axis hole on the A bearing seat (201) in the axis hole that is equipped with in the axis hole that is equipped with in the axis hole on A bearing (211), the B bearing seat (202) on B bearing (212), the C bearing seat (203) on C bearing (213), the D bearing seat (204) D bearing (214) is installed; The lower face of base plate (22) is provided with A boss (221), B boss (222), C boss (223), D boss (224), E boss (225), F boss (226), E bearing (215) is installed in the circular hole of A boss (221), F bearing (216) is installed in the circular hole of B boss (222), G bearing (217) is installed in the circular hole of C boss (223), H bearing (218) is installed in the circular hole of D boss (224), I bearing (219) is installed, the circular hole of F boss (226) in the circular hole of E boss (225)
Adapter plate (301) is installed in the back of base plate (22), E bearing seat (311), F bearing seat (312) and steering wheel (302) are installed on the adapter plate (301), K bearing (313) is installed in the through hole of E bearing seat (311), L bearing (314) is installed in the through hole of F bearing seat (312); Be connected with eccentric wheel (303) on the output shaft of steering wheel (302), eccentric wheel (303) is positioned in the plunger shaft (318) of piston (315), the A end (317) of piston (315) is installed on the K bearing (313), the B end (316) of piston (315) passes L bearing (314) back and is connected with the plate of calming the anger (304), the calm the anger back of plate (304) contacts with air-flow seat (305), air-flow seat (305) is provided with a plurality of tracheae jacks, in each tracheae jack the ventilation flue is installed, ventilation flue's the other end is connected with sucker after passing through hole on the air guide post.
2. the adsorbing mechanism that is applicable to the employing square wave vibration of climbing robot according to claim 1 is characterized in that: the layout of A sucker (11), B sucker (12), C sucker (13), D sucker (14), E sucker (15) and F sucker (16) constitutes a rectangle.
3. the adsorbing mechanism that is applicable to the employing square wave vibration of climbing robot according to claim 1, it is characterized in that: the center of A gear (101), B gear (102) and C gear (103) is on same horizon, and B gear (102) and C gear (103) are with A gear (101) center symmetry.
4. the adsorbing mechanism that is applicable to the employing square wave vibration of climbing robot according to claim 1, it is characterized in that: DC machine (104) drives A gear (101) and rotates, and B gear (102) and C gear (103) be with under A gear (101) the Fu condition, then drives A optical axis (1A) and B optical axis (1B) rotates in the same way.
5. the adsorbing mechanism that is applicable to the employing square wave vibration of climbing robot according to claim 1 is characterized in that: A sucker (11) is identical with the vibration of F sucker (16) on the vibration layout; B sucker (12) is identical with the vibration of E sucker (15); C sucker (13) is identical with the vibration of D sucker (14).
6. the adsorbing mechanism that is applicable to the employing square wave vibration of climbing robot according to claim 1 is characterized in that: sucker vibrational waveform in time is a square wave.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102409012A CN101439735B (en) | 2008-12-22 | 2008-12-22 | Adsorption mechanism using square wave vibration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102409012A CN101439735B (en) | 2008-12-22 | 2008-12-22 | Adsorption mechanism using square wave vibration |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101439735A CN101439735A (en) | 2009-05-27 |
| CN101439735B true CN101439735B (en) | 2010-12-22 |
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ID=40724384
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008102409012A Expired - Fee Related CN101439735B (en) | 2008-12-22 | 2008-12-22 | Adsorption mechanism using square wave vibration |
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| CN (1) | CN101439735B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102107685B (en) * | 2011-01-12 | 2012-09-26 | 西南大学 | Six-foot robot with eccentric wheel legs |
| CN105460100B (en) * | 2015-12-29 | 2017-09-26 | 同济大学 | A kind of climbing robot Acetabula device for being adapted to complex surface |
| CN109010020B (en) * | 2018-09-12 | 2020-02-04 | 燕山大学 | Double-cam self-locking type foot bottom massager |
| CN112498480B (en) * | 2020-11-27 | 2021-09-24 | 广州大学 | Intelligent trolley adaptive to road surface |
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2008
- 2008-12-22 CN CN2008102409012A patent/CN101439735B/en not_active Expired - Fee Related
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| CN101439735A (en) | 2009-05-27 |
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Granted publication date: 20101222 Termination date: 20111222 |