CN102765432B - Composite sucker capable of adapting to rough and dusty wall - Google Patents
Composite sucker capable of adapting to rough and dusty wall Download PDFInfo
- Publication number
- CN102765432B CN102765432B CN201210233764.6A CN201210233764A CN102765432B CN 102765432 B CN102765432 B CN 102765432B CN 201210233764 A CN201210233764 A CN 201210233764A CN 102765432 B CN102765432 B CN 102765432B
- Authority
- CN
- China
- Prior art keywords
- wall
- sucker
- flexible glue
- compound
- pressure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a composite sucker capable of adapting to a rough and dusty wall. The composite sucker comprises a vacuum sucker, a sucker fitting, an air sucking and blowing system, cone-shaped metal strain foils, adhesive flexible glue sealing skirts and a dust collecting soft hair brushes, wherein the vacuum sucker fitting is arranged at the upper end of the vacuum sucker; the upper ports of the cone-shaped metal strain foils are seamlessly welded along the periphery of a metal column at the bottom of the sucker fitting; the lower ports of the cone-shaped metal strain foils are embedded into the dust collecting soft hair brushes; the inner sides of the adhesive flexible glue sealing skirts are seamlessly adhered to the inner sides of the metal strain foils; and the outer sides of the adhesive flexible glue sealing skirts are corrugated and slightly lower than the lower port of the vacuum sucker. According to the composite sucker, an adsorption principle that dust is collected by the dust collecting soft hair brushes, the cone-shaped metal strain foil supports the adhesive flexible glue sealing skirts, the adhesive flexible glue sealing skirts are adsorbed to the rough wall and adapts to the rough wall, a sealing effect is achieved, the inner cavity of the composite sucker is vacuumed, and the composite sucker is adsorbed to the wall is adopted.
Description
Technical field
What the present invention relates to is a kind of climbing robot adsorption plant, particularly can adapt to the coarse compound sucker with there being dust wall, belongs to adsorption plant design field.
Background technology
Climbing robot is commonly used to carry out specific operation at unconventional wall severe, dangerous, the limit, as detection, welding, dedusting etc.Climbing robot adsorption plant is the important device that guarantees robot stabilized climbing and high-efficient homework, is more and more subject to people's attention.At present climbing robot adsorption technology mainly contain that magnetic is attached, negative-pressure adsorption, vacuum suction, stickiness absorption, biomimetic material absorption etc.
In actual applications, some wall pattern is complicated, and roughness changes greatly, and part has projection, crack and certain curvature and changes, and is subject to wind, rain, dust impact, as big-and-middle-sized blade of wind-driven generator surface.For the climbing robot in this class surface climbing operation, its absorption can change with the air gap between sucker and wall, causes the variation of adsorption affinity, and then affects stable absorption and the load-carrying capacity of climbing robot.As the crack of wall may make sucker, cannot vacuumize, cause absorption to be lost efficacy, climbing robot be glided and even topple.Therefore, for the sucker adsorbing on the unconventional wall of surperficial circumstance complication, when requiring it to there is steady load ability, good kinematic dexterity, also to there is the adaptive ability to certain curvature changes, roughness changes and have dust situation.
Through retrieval, find, existing climbing robot adsorption plant adopts passive type absorption principle more, with vacuum pump, makes sucker inner chamber produce negative pressure.But this principle is only applicable to comparatively level and smooth wall, the wall that roughness is larger often needs the power consumption that improves vacuum pump to meet absorption requirement.The applying date is " negative pressure absorbing device for robot " that patent documentation that October 29, application number in 2010 are 201020588544.1 relates to, be characterized in driving fan by high-speed electric expreess locomotive, extract sealing intracavity gas, thereby make annular seal space produce continuous negative pressure, be adsorbed on wall.But the effective adsorption area of this adsorption plant is little, and power consumption is high, and noise is large, if the wall that climbing robot moves has crack and projection simultaneously, annular seal space often cannot form reliable and stable negative pressure, and climbing robot cannot be stablized climbing and operation.
Sticky stuff adsorption plant is to utilize intermolecular force and Van der Waals force between sorbing material and wall that adsorption affinity is provided.The feature of the climbing robot adsorption plant made from stickiness flexible glue is that wall is adaptable, zero-power that noiselessness is pollution-free, and in certain scope, along with the increase of preload force, its adsorption affinity also can correspondingly increase.And because this material is elastic body flexible glue, can adapt to projection and the depression of wall.But along with the accumulation of sticky stuff surface dirt, its adsorption effect can corresponding reduction.
In sum, at least there is in the defect of the following aspects in existing climbing robot adsorption plant: (1) negative-pressure adsorption effects on surface pattern is complicated, roughness changes complicated wall bad adaptability greatly, typical in centrifuge negative pressure adsorption equipment, its power consumption is high, noise is large, and wall adaptive capacity is poor; (2) sticky stuff adsorption plant adapts to the plane of different roughness, and as polyurethane, glass, indoor wall, but load-carrying capacity is low, responsive to dust, only for Micro Wall-climbing Robot, and still in the laboratory investigation stage.
Summary of the invention
The object of the invention is for overcoming existing adsorption technology in the weak point of Combination property aspect these three of load-carrying capacitys, absorption leak tightness, complicated wall self adaptation, in conjunction with vacuum suction and sticky stuff absorption principle, design can adapt to the coarse compound sucker with there being dust wall, make it when thering is the load-carrying capacity of traditional vacuum sucker, low-power consumption, to coarse and have dust wall to there is good comformability, thereby problems of the prior art have been solved.
The invention provides and can adapt to the coarse compound sucker with there being dust wall, comprise vacuum cup, sucker gold utensil, conical metal strain plate, stickiness flexible glue sealed skirt, dedusting banister brush, gas pressure-vaccum system, described vacuum cup is individual layer silica gel vacuum cup, upper end air extractor vent is connected with sucker gold utensil, sucker gold utensil bottom side air extractor vent is connected with gas pressure-vaccum system, described conical metal strain plate upper port is along the peripheral seamless welding of sucker gold utensil bottom metal post, the nested dedusting banister brush of lower port, inside described stickiness flexible glue sealed skirt, seamless sticky is attached to inner side, conical metal strain plate lower end, outside is ripple type, and slightly lower than vacuum cup lower port, when compound sucker approaches wall, described gas pressure-vaccum system is blown, spraying high-pressure gas, removing is about to contact the dust on wall, described dedusting banister brush first contacts with wall, described stressed the expanding outwardly of conical metal strain plate, described dedusting banister brush is further removed wall dust, described viscosity flexible glue sealed skirt is close to wall, described gas pressure-vaccum system is air-breathing, extracts compound sucker inner chamber gas out, described vacuum cup contact wall, described gas pressure-vaccum system continues air-breathing, and compound sucker is adsorbed in wall, when compound sucker departs from wall, described gas pressure-vaccum system is blown, spraying high-pressure gas, compound sucker inner chamber vacuum failure, it is large that air pressure becomes, and described vacuum cup first departs from wall, described stickiness flexible glue sealed skirt is peeled off wall under the continuous action of inner chamber air pressure, and compound sucker departs from wall.
Compared to the prior art compound sucker of the present invention, has substantive distinguishing features and marked improvement:
(1) the compound sucker that adopts novel stickiness flexible glue and traditional vacuum sucker to combine, in the time of the effect of performance negative-pressure adsorption, because stickiness flexible glue sealed skirt is subject to the effect of negative pressure pressure, the adsorption of stickiness flexible glue is enhanced, and this stickiness flexible glue material is as climbing robot sorbing material zero-power, noiselessness, pollution-free.
(2) because dust is larger on the absorption property impact of stickiness flexible glue sealed skirt, thereby design gas pressure-vaccum system, when needs adsorb, compound sucker is near wall, gas pressure-vaccum system is blown, spraying high-pressure gas, preliminary removing is about to contact the dust on wall, dedusting banister brush first contacts with wall, the stressed expansion laterally of metal strain plate, further remove wall dust, after stickiness flexible glue sealed skirt and wall are close to, gas pressure-vaccum system is air-breathing, extract the gas in compound sucker chamber out, sealed skirt is further adsorbed in wall, after silicon rubber suction cup contact wall, under the effect of pressure, be also adsorbed in wall, while leaving wall, spraying high-pressure gas, negative pressure lost efficacy, stickiness flexible glue sealed skirt is peeled off wall under the continuous action of compound sucker inner chamber saturated pressure.This scheme efficiently solves the problem that stickiness sorbing material affects adsorption effect and departs from wall difficulty because dust accumulates.
(3) roughness of wall is larger on the impact of vacuum suction, the surface that roughness is large, between vacuum cup and wall, gap is larger, easily gas leakage, the present invention has stickiness flexible glue sealed skirt in vacuum cup periphery design, flexible glue can be inserted the recess of rough surface, and being equivalent to provides outer seal ring to vacuum cup, thereby has improved the adaptive capacity of vacuum suction to wall roughness.
Accompanying drawing explanation
Fig. 1 is this compound sucker structure schematic diagram;
Fig. 2 is the schematic cross-section at A place in Fig. 1;
Fig. 3 is the local enlarged diagram at B place in Fig. 2.
The specific embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
The present invention includes sucker gold utensil 1, gas pressure-vaccum system 2, vacuum cup 3, metal strain plate 4, dedusting banister brush 5, stickiness flexible glue sealed skirt 6.
Vacuum cup 3 is individual layer silica gel vacuum cup, upper end is provided with vacuum cup gold utensil 1, sucker gold utensil 1 bottom side air extractor vent connects gas pressure-vaccum system 2 by soft air pipe, gas pressure-vaccum system 2 can consist of the high-pressure pump with pressure-vaccum dual-use function, conical metal strain plate 4 upper port are along the peripheral seamless welding of sucker gold utensil 1 bottom metal post, the nested dedusting banister brush 5 of lower port, stickiness flexible glue sealed skirt 6 inner side seamless stickies are attached to conical metal strain plate 4 inner sides, outside is ripple type, and slightly lower than vacuum cup 3 lower port.
During absorption wall, compound sucker is near wall, and gas pressure-vaccum system 2 is blown, spraying high-pressure gas, removes and is about to contact the dust on wall, and dedusting banister brush 5 first contacts with wall, the stressed expansion laterally of metal strain plate 4, dedusting banister brush 5 is further removed wall dust, and stickiness flexible glue sealed skirt 6 is close to wall, and gas pressure-vaccum system 2 is air-breathing, extract compound sucker inner chamber gas out, vacuum cup 3 contact walls, continue air-breathingly, and compound sucker is adsorbed in wall.
While departing from wall, spraying high-pressure gas, compound sucker inner chamber vacuum failure, it is large that air pressure becomes, and vacuum cup 3 first departs from wall, and stickiness flexible glue sealed skirt 6 is peeled off wall under the continuous action of inner chamber air pressure, and compound sucker departs from wall.
The above; be the good specific embodiment of the present invention, but protection scope of the present invention is not limited to this, within the spirit and principles in the present invention all; any modification of making, be equal to exchange, improvement etc., within protection scope of the present invention all should be included in.
Claims (1)
1. can adapt to the coarse compound sucker with there being dust wall, it is characterized in that: described can adapt to coarse and have the compound sucker of dust wall to comprise sucker gold utensil (1), gas pressure-vaccum system (2), vacuum cup (3), conical metal strain plate (4), dedusting banister brush (5), viscosity flexible glue sealed skirt (6), described vacuum cup (3) is individual layer silica gel vacuum cup, upper end air extractor vent is connected with sucker gold utensil (1), sucker gold utensil (1) bottom side air extractor vent is connected with gas pressure-vaccum system (2), described conical metal strain plate (4) upper port is along the peripheral seamless welding of sucker gold utensil (1) bottom metal post, the nested dedusting banister brush of lower port (5), described viscosity flexible glue sealed skirt (6) inner side seamless sticky is attached to conical metal strain plate inner side, outside is ripple type, and slightly lower than vacuum cup (3) lower port, when compound sucker approaches wall, described gas pressure-vaccum system (2) is blown, spraying high-pressure gas, removing is about to contact the dust on wall, described dedusting banister brush (5) first contacts with wall, described stressed the expanding outwardly of conical metal strain plate (4), described dedusting banister brush (5) is further removed wall dust, described viscosity flexible glue sealed skirt (6) is close to wall, described gas pressure-vaccum system (2) is air-breathing, extract compound sucker inner chamber gas out, described vacuum cup (3) contact wall, described gas pressure-vaccum system (2) continues air-breathing, compound sucker is adsorbed in wall, when compound sucker departs from wall, described gas pressure-vaccum system (2) is blown, spraying high-pressure gas, compound sucker inner chamber vacuum failure, it is large that air pressure becomes, described vacuum cup (3) first departs from wall, and described viscosity flexible glue sealed skirt (6) is peeled off wall under the continuous action of inner chamber air pressure, and compound sucker departs from wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210233764.6A CN102765432B (en) | 2012-07-02 | 2012-07-02 | Composite sucker capable of adapting to rough and dusty wall |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210233764.6A CN102765432B (en) | 2012-07-02 | 2012-07-02 | Composite sucker capable of adapting to rough and dusty wall |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102765432A CN102765432A (en) | 2012-11-07 |
| CN102765432B true CN102765432B (en) | 2014-09-17 |
Family
ID=47093067
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210233764.6A Expired - Fee Related CN102765432B (en) | 2012-07-02 | 2012-07-02 | Composite sucker capable of adapting to rough and dusty wall |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102765432B (en) |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104071245B (en) * | 2014-05-15 | 2017-04-05 | 苏州工业园区职业技术学院 | For the sucker of climbing robot |
| CN105584428A (en) * | 2015-12-11 | 2016-05-18 | 李金秀 | Navigator mounting bracket |
| TWI581844B (en) * | 2016-01-27 | 2017-05-11 | Genius Toy Taiwan Co Ltd | Climbing wall toys |
| CN107096232B (en) * | 2016-02-19 | 2019-09-17 | 智高实业股份有限公司 | Climb wall toy |
| CN107626687B (en) * | 2017-10-30 | 2023-10-17 | 贵州维讯光电科技有限公司 | Automatic dust removing equipment for image processing chip |
| CN107986015A (en) * | 2017-12-18 | 2018-05-04 | 无锡优耐特能源科技有限公司 | A kind of sucker tool device |
| CN108482850A (en) * | 2018-04-17 | 2018-09-04 | 东莞新友智能科技有限公司 | PCBA anti-dropouts handling device and the method for carrying for using the handling device |
| CN108895996A (en) * | 2018-06-25 | 2018-11-27 | 长沙理工大学 | The mounting device of concrete surface strain gauge |
| CN109733873B (en) * | 2018-12-13 | 2020-03-31 | 西安交通大学 | Negative pressure assisted bionic dry adhesion pickup structure and preparation process |
| CN109533960B (en) * | 2018-12-13 | 2020-05-15 | 西安交通大学 | Vacuum adsorption structure based on gecko bionic structure assistance and manufacturing method |
| CN111267985B (en) * | 2020-02-16 | 2021-05-25 | 李昕格 | Robot sole structure with pre-cleaning function |
| CN111561510B (en) * | 2020-04-26 | 2021-06-29 | 浙江大学 | Vacuum chuck based on liquid seal and adsorption method thereof |
| CN112298393B (en) * | 2020-11-03 | 2021-11-26 | 无锡子可科技有限公司 | Intelligent robot for security patrol |
| CN114955532B (en) * | 2022-04-11 | 2023-02-14 | 广东冠星陶瓷企业有限公司 | Automatic change ceramic no trace adsorption equipment |
| CN117529079A (en) * | 2024-01-08 | 2024-02-06 | 江苏贺鸿电子有限公司 | Clamping device and process for chip components |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000130426A (en) * | 1998-10-23 | 2000-05-12 | Tatsuo Mitachi | Suction cup fixing internal/external thread |
| JP2000304027A (en) * | 1999-04-22 | 2000-10-31 | Kenjiro Teramoto | Mounting method for sucker and sucker |
| JP2004125080A (en) * | 2002-10-03 | 2004-04-22 | Takeji Yamaguchi | Double suction cup device |
| CN2921420Y (en) * | 2005-05-31 | 2007-07-11 | 金玉均 | Improved vacuum suction disc device |
| CN201155522Y (en) * | 2007-04-05 | 2008-11-26 | 艾尔菲克斯有限责任公司 | Vacuum adsorption device |
| CN202690706U (en) * | 2012-07-02 | 2013-01-23 | 中国计量学院 | Composite sucker capable of adapting to coarse and dusty wall surface |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001012444A (en) * | 1999-06-29 | 2001-01-16 | Masataka Taminato | Suction cup |
-
2012
- 2012-07-02 CN CN201210233764.6A patent/CN102765432B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000130426A (en) * | 1998-10-23 | 2000-05-12 | Tatsuo Mitachi | Suction cup fixing internal/external thread |
| JP2000304027A (en) * | 1999-04-22 | 2000-10-31 | Kenjiro Teramoto | Mounting method for sucker and sucker |
| JP2004125080A (en) * | 2002-10-03 | 2004-04-22 | Takeji Yamaguchi | Double suction cup device |
| CN2921420Y (en) * | 2005-05-31 | 2007-07-11 | 金玉均 | Improved vacuum suction disc device |
| CN201155522Y (en) * | 2007-04-05 | 2008-11-26 | 艾尔菲克斯有限责任公司 | Vacuum adsorption device |
| CN202690706U (en) * | 2012-07-02 | 2013-01-23 | 中国计量学院 | Composite sucker capable of adapting to coarse and dusty wall surface |
Non-Patent Citations (4)
| Title |
|---|
| JP特开2000-130426A 2000.05.12 |
| JP特开2000-304027A 2000.10.31 |
| JP特开2001-12444A 2001.01.16 |
| JP特开2004-125080A 2004.04.22 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102765432A (en) | 2012-11-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102765432B (en) | Composite sucker capable of adapting to rough and dusty wall | |
| EP2383204A1 (en) | Portable chargeable spraying bottle | |
| CN203665546U (en) | Passive general manipulator based on vacuum state conversion of small particulate matter | |
| CN202690706U (en) | Composite sucker capable of adapting to coarse and dusty wall surface | |
| CN107080487A (en) | Mechanical adsorbent equipment | |
| CN202401421U (en) | Road sweeper | |
| CN206764810U (en) | Vacuum chuck type manipulator end effector | |
| CN110534247A (en) | Composite cable | |
| CN203789844U (en) | Dust cleaner floor brush | |
| CN103705168B (en) | Sucker device and window cleaning device thereof | |
| CN205497517U (en) | Vacuum sucker | |
| CN207437767U (en) | A kind of obstacle detouring sealing mechanism for cleaning disk | |
| CN205466277U (en) | Vacuum sucker | |
| CN205226464U (en) | Poppet valve and contain tee bend poppet valve of said poppet valve | |
| CN208404371U (en) | A kind of Double-layer caterpillar | |
| CN208616921U (en) | A kind of manipulator for handling substrate | |
| CN203418514U (en) | Work table with dust removal tool | |
| CN210390390U (en) | Noise reduction device for laminating machine | |
| CN208601553U (en) | A kind of programming educational robot | |
| CN205585956U (en) | Dust cleaner floor brush | |
| CN210932974U (en) | Sealing structure for liquid storage bottle of plug-in sputum aspirator | |
| CN205658865U (en) | Household vacuum cleaner hose nipple anticreep device | |
| CN2906161Y (en) | Dust-collecting type hydraulic oil cylinder | |
| CN108272391A (en) | A kind of cleaning robot that the stair with dust absorbing structure clean | |
| CN211792312U (en) | SMT chip mounter |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140917 Termination date: 20200702 |