CN101486186A - Single-piston cylinder smooth wall surface creeping apparatus driven by fluid - Google Patents
Single-piston cylinder smooth wall surface creeping apparatus driven by fluid Download PDFInfo
- Publication number
- CN101486186A CN101486186A CNA2009100958683A CN200910095868A CN101486186A CN 101486186 A CN101486186 A CN 101486186A CN A2009100958683 A CNA2009100958683 A CN A2009100958683A CN 200910095868 A CN200910095868 A CN 200910095868A CN 101486186 A CN101486186 A CN 101486186A
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- connecting rod
- axis hole
- rotating shaft
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- vacuum cup
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Abstract
The invention discloses a fluid-driven single-piston cylinder smooth wall surface crawling device. The device is connected with four vacuum suckers through a linkage mechanism, a sliding block and a fixed bedplate and realizes straight movement, turning and stop on a smooth wall surface through the coordination with the suction and release of the four suckers by using fluid to drive a piston cylinder to perform telescopic motion and using the linkage mechanism to transmit and convert the motion. Compared with the prior device, the device adopts the mechanism which is simpler, lighter and smarter, favorable for smooth wall surface suction, capable of reducing the manufacturing cost of the crawling device and improving the reliability of the whole device.
Description
Technical field
The present invention relates to the wall crawling device, relate in particular to the fluid-operated single-piston cylinder hydraulically smooth surface of a kind of use crawling device.
Background technology
Because the needs that the high building outer wall cleans, increasing hydraulically smooth surface crawling device is designed to high building external wall cleaning machine device people.At present existing several hydraulically smooth surface crawling devices, use a plurality of piston cylinders or motor to link to each other with vacuum cup with associated mechanisms, realize craspedodrome, the turning and static of crawling device on hydraulically smooth surface, whole mechanism complexity, heaviness, overweight quality is unfavorable for its absorption on hydraulically smooth surface, complicated mechanism has also increased the crawling device manufacturing cost, has reduced the reliability of whole device.
Summary of the invention
The object of the present invention is to provide the fluid-operated single-piston cylinder hydraulically smooth surface of a kind of use crawling device.
The technical solution adopted for the present invention to solve the technical problems is:
The present invention links to each other by first, second vacuum cup rotating shaft first, second vacuum cup respectively with the whippletree two ends axis hole separately of a T shape long connecting rod, the 3rd, the 4th vacuum cup links to each other with the whippletree two ends axis hole separately of the 2nd T shape long connecting rod by the 3rd, the 4th vacuum cup rotating shaft respectively; The hole of the end of the perpendicular thick stick of the one T shape long connecting rod links to each other with the axis hole of first rotating shaft with the first in-line short connecting rod, one end, the axis hole of the first in-line short connecting rod other end links to each other with the axis hole of second rotating shaft with square slider one end, the hole of the end of the perpendicular thick stick of the 2nd T shape long connecting rod links to each other with the axis hole of the 3rd rotating shaft with the second in-line short connecting rod, one end, and the axis hole of the second in-line short connecting rod other end links to each other with the axis hole of the 4th rotating shaft with the square slider other end; The one T shape long connecting rod whippletree links to each other by the axis hole of the 5th rotating shaft with fixed base plate one end with the axis hole at the perpendicular thick stick place of linking, and the 2nd T shape long connecting rod whippletree links to each other by the axis hole of the 6th rotating shaft with the fixed base plate other end with the axis hole at the perpendicular thick stick place of linking; Square slider matches with the fixed base plate chute, and piston cylinder outer wall and fixed base plate connect firmly, and the center of square slider links to each other with the piston rod of piston, and whole device distributes axisymmetricly along the axis of piston cylinder, and each axis hole all can rotate around rotating shaft separately.
The present invention compares the beneficial effect that has with background technology:
Use a piston cylinder and attached linkage to be implemented in craspedodrome, turning and static crawling device on the hydraulically smooth surface, than existing apparatus, mechanism is more simple, light and handy, help the absorption on hydraulically smooth surface, reduce the crawling device manufacturing cost, improved the reliability of whole device.
Description of drawings
Accompanying drawing is a structural principle schematic diagram of the present invention.
In the accompanying drawing: 1, fixed base plate, 2, vacuum cup, 3, the vacuum cup rotating shaft, 4, T shape long connecting rod, 5, rotating shaft, 6, the vacuum cup rotating shaft, 7, vacuum cup, 8, rotating shaft, 9, the in-line short connecting rod, 10, rotating shaft, 11, the fixed base plate chute, 12, square slider, 13, rotating shaft, 14, the in-line short connecting rod, 15, rotating shaft, 16, vacuum cup, 17, the vacuum cup rotating shaft, 18, rotating shaft, 19, T shape long connecting rod, 20, the vacuum cup rotating shaft, 21, vacuum cup, 22, piston cylinder fluid inlet and outlet, 23, piston, 24, the piston cylinder fluid inlet and outlet, 25, piston cylinder.
The specific embodiment
The invention will be further described below in conjunction with drawings and Examples.
As shown in drawings, the present invention links to each other by first, second vacuum cup rotating shaft 3,7 first, second vacuum cup 2,7 respectively with the whippletree two ends axis hole separately of a T shape long connecting rod 4, the 3rd, the 4th vacuum cup 21,16 links to each other with the whippletree two ends axis hole separately of the 2nd T shape long connecting rod 19 by the 3rd, the 4th vacuum cup rotating shaft 20,17 respectively; The hole of the end of the perpendicular thick stick of the one T shape long connecting rod 4 links to each other with the axis hole of first rotating shaft 8 with the first in-line short connecting rod, 9 one ends, the axis hole of the first in-line short connecting rod, 9 other ends links to each other with the axis hole of second rotating shaft 10 with square slider 12 1 ends, the hole of the end of the perpendicular thick stick of the 2nd T shape long connecting rod 19 links to each other with the axis hole of the 3rd rotating shaft 15 with the second in-line short connecting rod, 14 1 ends, and the axis hole of the second in-line short connecting rod, 14 other ends links to each other with the axis hole of the 4th rotating shaft 13 with square slider 12 other ends; The one T shape long connecting rod 4 whippletrees link to each other by the axis hole of the 5th rotating shaft 5 with fixed base plate 1 one ends with the axis hole at the perpendicular thick stick place of linking, and the 2nd T shape long connecting rod 19 whippletrees link to each other by the axis hole of the 6th rotating shaft 18 with fixed base plate 1 other end with the axis hole at the perpendicular thick stick place of linking; Square slider 12 matches with fixed base plate chute 11, piston cylinder outer wall and fixed base plate 1 connect firmly, the center of square slider 12 links to each other with the piston rod of piston 23, and whole device distributes axisymmetricly along the axis of piston cylinder, and each axis hole all can rotate around rotating shaft separately.
Operation principle of the present invention is as follows:
When first vacuum cup 2 that distributes along diagonal and 16 absorption of the 4th vacuum cup, second vacuum cup 7 and the 3rd vacuum cup 21 that distribute along another diagonal unclamp, fluid flows into piston cylinder 25 by piston cylinder fluid inlet and outlet 24, flow out stream piston cylinder 25 by piston cylinder fluid inlet and outlet 22, promoting piston 23 moves right, thereby the square slider 12 that links to each other with piston rod level in fixed base plate chute 11 moves right, thereby drive the first in-line short connecting rod 9,14 motions of the second in-line short connecting rod, then these two in-line short connecting rods drive a T shape long connecting rod 4 respectively and rotate counterclockwise around adsorbing the first fixing vacuum cup rotating shaft 3, the 2nd T shape long connecting rod 19 clockwise rotates around adsorbing the 4th fixing vacuum cup rotating shaft 17, thereby drives second vacuum cup 7 that has unclamped in addition respectively, the 3rd vacuum cup 21 moves upward; In like manner, when second vacuum cup 7 that distributes along diagonal and 21 absorption of the 3rd vacuum cup, first vacuum cup 2 and the 4th vacuum cup 16 that distribute along another diagonal unclamp, fluid flows into piston cylinder 25 by first piston cylinder fluid inlet and outlet 22, flow out stream piston cylinder 25 by the second piston cylinder fluid inlet and outlet 24, promote piston 23 to left movement, thereby the square slider 12 that links to each other with piston rod level in fixed base plate chute 11 is moved to the left, thereby drive the first in-line short connecting rod 9,4 motions of the first in-line short connecting rod, then this two in-line short connecting rods 9, driving a T shape long connecting rod 4 respectively clockwise rotates around adsorbing the second fixing vacuum cup rotating shaft 6, the 2nd T shape long connecting rod 19 rotates counterclockwise around adsorbing the 3rd fixing vacuum cup rotating shaft 20, thereby driving the vacuum cup 2 and the 4th vacuum cup 16 that have unclamped in addition respectively moves upward, a circulation like this has realized the craspedodrome of whole device by the stretching motion of piston.
When second vacuum cup 2, second vacuum cup 7, the 3rd vacuum cup 21 and the 4th vacuum cup 16 all are adsorbed on the hydraulically smooth surface, first piston cylinder fluid inlet and outlet 24, the second piston cylinder fluid inlet and outlet 22 do not have fluid to flow into, flow out, the piston rod stop motion, so, realize that whole device is static on wall.
Claims (1)
1. one kind is used fluid-operated single-piston cylinder hydraulically smooth surface crawling device, it is characterized in that: first, second vacuum cup (2,7) links to each other with the whippletree two ends axis hole separately of a T shape long connecting rod (4) by first, second vacuum cup rotating shaft (3,7) respectively, and the 3rd, the 4th vacuum cup (21,16) links to each other with the whippletree two ends axis hole separately of the 2nd T shape long connecting rod (19) by the 3rd, the 4th vacuum cup rotating shaft (20,17) respectively; The hole of the end of the perpendicular thick stick of the one T shape long connecting rod (4) links to each other with the axis hole of first rotating shaft (8) with the first in-line short connecting rod (9) one ends, the axis hole of first in-line short connecting rod (9) other end links to each other with the axis hole of second rotating shaft (10) with square slider (12) one ends, the hole of the end of the perpendicular thick stick of the 2nd T shape long connecting rod (19) links to each other with the axis hole of the 3rd rotating shaft (15) with the second in-line short connecting rod (14) one ends, and the axis hole of second in-line short connecting rod (14) other end links to each other with the axis hole of the 4th rotating shaft (13) with square slider (12) other end; The one T shape long connecting rod (4) whippletree links to each other by the axis hole of the 5th rotating shaft (5) with fixed base plate (1) one end with the axis hole at the perpendicular thick stick place of linking, and the 2nd T shape long connecting rod (19) whippletree links to each other by the axis hole of the 6th rotating shaft (18) with fixed base plate (1) other end with the axis hole at the perpendicular thick stick place of linking; Square slider (12) matches with fixed base plate chute (11), piston cylinder (25) outer wall and fixed base plate (1) connect firmly, the center of square slider (12) links to each other with the piston rod of piston (23), whole device distributes axisymmetricly along the axis of piston cylinder (25), and each axis hole all can rotate around rotating shaft separately.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100958683A CN101486186B (en) | 2009-02-16 | 2009-02-16 | Single-piston cylinder smooth wall surface creeping apparatus driven by fluid |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100958683A CN101486186B (en) | 2009-02-16 | 2009-02-16 | Single-piston cylinder smooth wall surface creeping apparatus driven by fluid |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101486186A true CN101486186A (en) | 2009-07-22 |
| CN101486186B CN101486186B (en) | 2010-08-18 |
Family
ID=40889323
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100958683A Expired - Fee Related CN101486186B (en) | 2009-02-16 | 2009-02-16 | Single-piston cylinder smooth wall surface creeping apparatus driven by fluid |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101486186B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102601254A (en) * | 2012-04-09 | 2012-07-25 | 河北工业大学 | Stamping multi-station synchronous pneumatic manipulator |
| CN104827477A (en) * | 2015-05-16 | 2015-08-12 | 佛山市三水区希望火炬教育科技有限公司 | Special naval vessel outer rail vertical hanging type vessel body washing robot for teenager national defense scientific literacy educational training |
| CN105397815A (en) * | 2014-09-13 | 2016-03-16 | 天太·郭元焜 | Circular supporting wall climbing machine |
-
2009
- 2009-02-16 CN CN2009100958683A patent/CN101486186B/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102601254A (en) * | 2012-04-09 | 2012-07-25 | 河北工业大学 | Stamping multi-station synchronous pneumatic manipulator |
| CN105397815A (en) * | 2014-09-13 | 2016-03-16 | 天太·郭元焜 | Circular supporting wall climbing machine |
| CN104827477A (en) * | 2015-05-16 | 2015-08-12 | 佛山市三水区希望火炬教育科技有限公司 | Special naval vessel outer rail vertical hanging type vessel body washing robot for teenager national defense scientific literacy educational training |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101486186B (en) | 2010-08-18 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100818 Termination date: 20130216 |