CN104071244A - Sucking disk pneumatic circuit for wall climbing robot - Google Patents
Sucking disk pneumatic circuit for wall climbing robot Download PDFInfo
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- CN104071244A CN104071244A CN201410204904.6A CN201410204904A CN104071244A CN 104071244 A CN104071244 A CN 104071244A CN 201410204904 A CN201410204904 A CN 201410204904A CN 104071244 A CN104071244 A CN 104071244A
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- climbing robot
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Abstract
The invention discloses a sucking disk pneumatic circuit for a wall climbing robot. The pneumatic circuit is connected with gas distribution interfaces of the wall climbing robot and comprises a vacuum generator, a vacuum supply valve, a vacuum break valve, a throttle valve, a vacuum switch and a vacuum filter, wherein the vacuum generator is connected with the vacuum supply valve and the vacuum filter; the vacuum break valve is connected with the vacuum supply valve and the vacuum switch; the throttle valve is mounted at the lower end of the vacuum break valve; the lower end of the vacuum filter is connected with the gas distribution interfaces. Through the manner, when a sucking disk needs to generate vacuum, the vacuum supply valve is powered on; when the vacuum releasing wall surface of the sucking disk needs to be destroyed, the vacuum supply valve is powered off, and the vacuum break valve is powered on; under the action of atmospheric pressure, the sucking disk is sucked to the wall surface, and the pneumatic circuit is used for completing gas distribution to the gas distribution interfaces; after gas enters the sucking disk, the gas is divorced from the wall surface, so that the conditions that the wall climbing robot slips down and rolls over from a vertical wall surface are prevented from being generated.
Description
Technical field
The present invention relates to the field of cable external member, particularly relate to a kind of sucker pneumatic circuit for climbing robot.
Background technology
Along with scientific and technological progress, industrial robot has obtained using widely in every field.Wherein, with it, the outstanding advantages in industries such as nuke industry, building, fire-fightings more and more receives people's concern to climbing robot.
The application of climbing robot (claiming again " wall-climbing machine ") on clean high-rise building wall surface, can find out the development along with control and mechanical & electrical technology, this can instead of manual the appearance of wall surface cleaning robot of work people is freed from heavy, dangerous high building cleaning, reduce the cleaning cost of skyscraper, enhance productivity, also promote the development of cleaning industry, bring suitable social benefit, economic benefit simultaneously.But this is only an application of climbing robot, in recent years, along with widespread use and the development of multi-form robot in every field, climbing robot is as the robot that can carry out operation on steep slope, the good characteristic that can become a kind of robot apparatus of high-altitude limit operation with it, is more and more subject to people's attention.Sum up, climbing robot mainly can be applied to following field:
(1) can be applicable to spray huge metope, installation ceramic tile, wall flaw detection, wall reparation lift face, wall cleaning, cleaning glass window wall etc. at construction trade;
(2) can be applicable to carry fire-fighting equipment at fire department, transmit relief goods, carry out height rescue work;
(3) can be used for nuclear waste storage tank to carry out the dangerous work such as sight control, thickness measuring and seam inspection at nuke industry;
(4) the inside and outside wall that can be used for vertical metal can or spherical tank in petroleum chemical enterprise checks or sand blasting, spray paint anticorrosion;
(5) ship building industry can be used for spraying the inside and outside wall of hull, to the inside and outside wall of hull check, hull inside and outside wall is clean etc.;
(6) in rescue and relief work, can be applicable to transport escape apparatus, transmit food water provisions etc. to high-altitude trapped personnel;
(7), in aerospace, can be used for space probation, Aerospace Satellite maintenance etc.
As can be seen here, the application of climbing robot relates generally to the people's livelihood, nuke industry, shipbuilding industry etc., and in these fields, is serving as very important work, can promote the raising of productive force, the life that improves the people and service conditions.The research and development of climbing robot structural principle can be the manufacturing of wall robot and the progressive effect of playing guidance and promoting of upgrading; In addition, the research scientific findings of climbing robot correlation technique can directly apply to or drive the progress of relevant chain industry, promotes on the whole the development of productive force, improves the people's quality of life.
In a word, active research and development climbing robot technology, making great efforts exploitation and manufacture and design the needs that the climbing robot that can be converted into reality potential productivity is productive force development, is that people's living standard and service conditions are improved and the needs that improve, and Ye Shi China rejuvenates China by applying scientific and technological advances, the needs of technological advance.
Sucker is the important assembly of crawler belt sucker type wall climbing robot, and its serviceability will directly affect the normal work that wall machine is made angry of climbing.Robot, in the time of work, has two kinds of dangerous situations to occur: a kind of situation is its landing from metope in the time that it moves on glass wall; Another kind of situation be sucker due to the top contact owing to being subject to the too large disengaging metope of tilting moment, cause tumbling of robot.
Summary of the invention
The technical matters that the present invention mainly solves is to provide a kind of sucker pneumatic circuit for climbing robot, and pneumatic circuit is connected with the distribution interface of climbing robot, in the time that needs sucker produces vacuum, and the energising of vacuum feed valve; In the time that needs destroy sucker vacuum relieving wall, the power-off of vacuum feed valve, vacuum breaker valve energising, sucker is adsorbed in wall under the effect of bar pressure, complete the distribution to orchestration interface by pneumatic circuit, gas enters sucker and departs from wall, has avoided the generation of climbing robot in vertical wall landing and the two kinds of situations of tumbling.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: a kind of sucker pneumatic circuit for climbing robot is provided, described pneumatic circuit is connected with the distribution interface of climbing robot, comprise vacuum generator, vacuum feed valve, vacuum breaker valve, flow regulating valve, vac switch and vacuum filter, described vacuum generator is connected with vacuum filter with vacuum feed valve respectively, described vacuum breaker valve is connected with vac switch with vacuum feed valve respectively, described flow regulating valve is arranged on the lower end of vacuum breaker valve, the lower end of described vacuum filter is connected to distribution interface.
In a preferred embodiment of the present invention, the quantity of described distribution interface is one or two.
In a preferred embodiment of the present invention, when the quantity of described distribution interface is two, described pneumatic circuit also comprises solenoid directional control valve, and described solenoid directional control valve is arranged on the top between vacuum feed valve and vacuum breaker valve.
In a preferred embodiment of the present invention, described solenoid directional control valve adopts the solenoid directional control valve of two four-ways.
In a preferred embodiment of the present invention, described solenoid directional control valve, vacuum feed valve and vacuum breaker valve are controlled work by PLC.
The invention has the beneficial effects as follows: the present invention is for the sucker pneumatic circuit of climbing robot, and pneumatic circuit is connected with the distribution interface of climbing robot, in the time that needs sucker produces vacuum, the energising of vacuum feed valve; In the time that needs destroy sucker vacuum relieving wall, the power-off of vacuum feed valve, vacuum breaker valve energising, sucker is adsorbed in wall under the effect of bar pressure, complete the distribution to orchestration interface by pneumatic circuit, gas enters sucker and departs from wall, has avoided the generation of climbing robot in vertical wall landing and the two kinds of situations of tumbling.
Brief description of the drawings
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing of required use during embodiment is described is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing, wherein:
Fig. 1 is the structural representation of the present invention for sucker pneumatic circuit one preferred embodiment of climbing robot;
In accompanying drawing, the mark of each parts is as follows: 1, vacuum generator, 2, vacuum feed valve, 3, vacuum breaker valve, 4, flow regulating valve, 5, vac switch, 6 vacuum filters, 7, distribution interface, 8, solenoid directional control valve.
Detailed description of the invention
To the technical scheme in the embodiment of the present invention be clearly and completely described below, obviously, described embodiment is only a part of embodiment of the present invention, instead of whole embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art, not making all other embodiment that obtain under creative work prerequisite, belong to the scope of protection of the invention.
Climbing robot is walked and is completed clean and transmission rescue material work in the vertical walls of skyscraper, in order to prevent robot landing vertical walls, climbing robot must and wall between keep enough adsorption affinity, and thering is certain resistance to capsizing, the climbing robot of crawler belt sucked type can provide larger adsorption affinity.
As shown in Figure 1, the embodiment of the present invention comprises:
A kind of sucker pneumatic circuit for climbing robot, described pneumatic circuit is connected with the distribution interface 7 of climbing robot, comprise vacuum generator 1, vacuum feed valve 2, vacuum breaker valve 3, flow regulating valve 4, vac switch 5 and vacuum filter 6, described vacuum generator 1 is connected with vacuum filter 3 with vacuum feed valve 2 respectively, described vacuum breaker valve 3 is connected with vac switch 5 with vacuum feed valve 2 respectively, described flow regulating valve 4 is arranged on the lower end of vacuum breaker valve 3, and the lower end of described vacuum filter 6 is connected to distribution interface 7.Wherein, the quantity of described distribution interface 7 is one or two.
In the time that needs sucker produces vacuum, vacuum feed valve 2 is switched on; In the time that needs destroy sucker vacuum relieving wall, 2 power-off of vacuum feed valve, vacuum breaker valve 3 are switched on.The vacuum control loop that vacuum generator 1, vacuum feed valve 2, vacuum breaker valve 3, flow regulating valve 4, vac switch 5 and vacuum filter 6 form, can form one, forms a vacuum generator assembly.
An above-mentioned vacuum generator assembly can only be connected with a distribution interface, needs the such equipment of two covers in order to complete distribution to two distribution interfaces.But, need to produce vacuum at the sucker of an orchestration interface of actual wall-climbing device man-hour, another one need to be destroyed vacuum just.
Further, when the quantity of described distribution interface 7 is two, for simplified structure and the cost-saving solenoid directional control valve 8 of can also connecting in pneumatic circuit, described solenoid directional control valve 8 is arranged on the top between vacuum feed valve 2 and vacuum breaker valve 3.Wherein, described solenoid directional control valve 8 adopts the solenoid directional control valve of two four-ways.
Further, described solenoid directional control valve 8, vacuum feed valve 2 and vacuum breaker valve 3 controlled work by PLC, worked in coordination with the distribution to two orchestration interfaces 7, gas enters sucker and departs from wall, has avoided the generation of climbing robot in vertical wall landing and the two kinds of situations of tumbling.
The sucker pneumatic circuit for climbing robot that the present invention discloses, pneumatic circuit is connected with the distribution interface 7 of climbing robot, and in the time that needs sucker produces vacuum, vacuum feed valve 2 is switched on; In the time that needs destroy sucker vacuum relieving wall, 2 power-off of vacuum feed valve, vacuum breaker valve 3 is switched on, sucker is adsorbed in wall under the effect of bar pressure, complete the distribution to orchestration interface by pneumatic circuit, gas enters sucker and departs from wall, has avoided the generation of climbing robot in vertical wall landing and the two kinds of situations of tumbling.
The foregoing is only embodiments of the invention; not thereby limit the scope of the claims of the present invention; every equivalent structure or conversion of equivalent flow process that utilizes description of the present invention to do; or be directly or indirectly used in other relevant technical field, be all in like manner included in scope of patent protection of the present invention.
Claims (5)
1. the sucker pneumatic circuit for climbing robot, described pneumatic circuit is connected with the distribution interface of climbing robot, it is characterized in that, comprise vacuum generator, vacuum feed valve, vacuum breaker valve, flow regulating valve, vac switch and vacuum filter, described vacuum generator is connected with vacuum filter with vacuum feed valve respectively, described vacuum breaker valve is connected with vac switch with vacuum feed valve respectively, described flow regulating valve is arranged on the lower end of vacuum breaker valve, and the lower end of described vacuum filter is connected to distribution interface.
2. the sucker pneumatic circuit for climbing robot according to claim 1, is characterized in that, the quantity of described distribution interface is one or two.
3. the sucker pneumatic circuit for climbing robot according to claim 2, it is characterized in that, when the quantity of described distribution interface is two, described pneumatic circuit also comprises solenoid directional control valve, and described solenoid directional control valve is arranged on the top between vacuum feed valve and vacuum breaker valve.
4. the sucker pneumatic circuit for climbing robot according to claim 3, is characterized in that, described solenoid directional control valve adopts the solenoid directional control valve of two four-ways.
5. the sucker pneumatic circuit for climbing robot according to claim 3, is characterized in that, described solenoid directional control valve, vacuum feed valve and vacuum breaker valve are controlled work by PLC.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410204904.6A CN104071244A (en) | 2014-05-15 | 2014-05-15 | Sucking disk pneumatic circuit for wall climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410204904.6A CN104071244A (en) | 2014-05-15 | 2014-05-15 | Sucking disk pneumatic circuit for wall climbing robot |
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| CN104071244A true CN104071244A (en) | 2014-10-01 |
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| CN201410204904.6A Pending CN104071244A (en) | 2014-05-15 | 2014-05-15 | Sucking disk pneumatic circuit for wall climbing robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106043486A (en) * | 2016-07-06 | 2016-10-26 | 重庆交通大学 | Crawling robot used for concrete cable bent tower apparent crack detection |
| CN107600374A (en) * | 2017-09-15 | 2018-01-19 | 大连海事大学 | A kind of deep-sea is remotely controlled strong adsorption device |
| CN109647976A (en) * | 2018-12-17 | 2019-04-19 | 山东时风（集团）有限责任公司 | Small size auto parts stamping line and the method for processing part with the production line |
| CN109647975A (en) * | 2018-12-17 | 2019-04-19 | 山东时风（集团）有限责任公司 | The full-automatic stamping line of auto parts and the method for processing part with the production line |
| CN114889717A (en) * | 2022-04-12 | 2022-08-12 | 安徽工程大学 | High-altitude crawler-type adsorption wall-climbing robot |
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| JPS6441457A (en) * | 1987-08-07 | 1989-02-13 | Automax Kk | Wall surface traveling device |
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| CN203345756U (en) * | 2013-06-20 | 2013-12-18 | 四川长虹电器股份有限公司 | Power-failure anti-falling vacuum absorption system |
| CN203439166U (en) * | 2013-07-08 | 2014-02-19 | 西安理工大学 | Electrical control device for wall-climbing robot |
| CN203937754U (en) * | 2014-05-15 | 2014-11-12 | 苏州工业园区职业技术学院 | Sucker pneumatic circuit for climbing robot |
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2014
- 2014-05-15 CN CN201410204904.6A patent/CN104071244A/en active Pending
Patent Citations (6)
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| JPS6441457A (en) * | 1987-08-07 | 1989-02-13 | Automax Kk | Wall surface traveling device |
| CN201211095Y (en) * | 2008-06-19 | 2009-03-25 | 奇菱科技股份有限公司 | Sucker |
| CN103016424A (en) * | 2012-11-22 | 2013-04-03 | 温州阿尔贝斯气动有限公司 | Integrated vacuum generator |
| CN203345756U (en) * | 2013-06-20 | 2013-12-18 | 四川长虹电器股份有限公司 | Power-failure anti-falling vacuum absorption system |
| CN203439166U (en) * | 2013-07-08 | 2014-02-19 | 西安理工大学 | Electrical control device for wall-climbing robot |
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| 闫军涛: "壁面清洗机器人的运动控制系统设计", 《中国优秀硕士学位论文全文数据库信息科技辑》, 15 November 2007 (2007-11-15) * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106043486A (en) * | 2016-07-06 | 2016-10-26 | 重庆交通大学 | Crawling robot used for concrete cable bent tower apparent crack detection |
| CN107600374A (en) * | 2017-09-15 | 2018-01-19 | 大连海事大学 | A kind of deep-sea is remotely controlled strong adsorption device |
| CN109647976A (en) * | 2018-12-17 | 2019-04-19 | 山东时风（集团）有限责任公司 | Small size auto parts stamping line and the method for processing part with the production line |
| CN109647975A (en) * | 2018-12-17 | 2019-04-19 | 山东时风（集团）有限责任公司 | The full-automatic stamping line of auto parts and the method for processing part with the production line |
| CN109647975B (en) * | 2018-12-17 | 2020-05-22 | 山东时风（集团）有限责任公司 | Full-automatic stamping production line for automobile parts and method for machining parts by using same |
| CN114889717A (en) * | 2022-04-12 | 2022-08-12 | 安徽工程大学 | High-altitude crawler-type adsorption wall-climbing robot |
| CN114889717B (en) * | 2022-04-12 | 2023-08-18 | 安徽工程大学 | High-altitude crawler-type adsorption wall climbing robot |
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Application publication date: 20141001 |