CN106049272B - A kind of negative pressure adsorption equipment for detecting robot - Google Patents
A kind of negative pressure adsorption equipment for detecting robot Download PDFInfo
- Publication number
- CN106049272B CN106049272B CN201610621101.XA CN201610621101A CN106049272B CN 106049272 B CN106049272 B CN 106049272B CN 201610621101 A CN201610621101 A CN 201610621101A CN 106049272 B CN106049272 B CN 106049272B
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- housing
- negative pressure
- intake section
- exhaust column
- adsorption equipment
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 37
- 238000001514 detection method Methods 0.000 claims abstract description 55
- 241000252254 Catostomidae Species 0.000 claims abstract description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 11
- 239000010959 steel Substances 0.000 claims description 11
- 238000007789 sealing Methods 0.000 claims description 9
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 238000003466 welding Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 2
- 230000005489 elastic deformation Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 239000003463 adsorbent Substances 0.000 description 1
- 238000013475 authorization Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000013536 elastomeric material Substances 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
- E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B47/00—Suction cups for attaching purposes; Equivalent means using adhesives
Abstract
The invention provides a kind of negative pressure adsorption equipment for detecting robot, belong to field of mechanical technique.It solves the problems, such as that the existing detection robot accuracy of detection based on negative-pressure adsorption is bad.In the negative pressure adsorption equipment of this detection robot, detection robot includes housing, negative pressure adsorption equipment includes two suckers located at housing bottom and the air exhauster outside housing, exhaust column is fixed with housing, exhaust column both ends are respectively blind end and open end, there is the intake section of tubular protrusion in exhaust column side wall, intake section has two, intake section stretches out housing and is inserted in sucker, intake section and suction cup sealed are fixed, openend connects with air exhauster air inlet, pressure ring and block rubber are cased with openend, block rubber is sandwiched between pressure ring and housing, pressure ring is mutually fixed with housing, air exhauster is fixed on pressure ring on the end face away from block rubber, being provided with openend makes the one-way mechanism of exhaust column one-way conduction.This negative pressure adsorption equipment has the advantages of improving accuracy of detection.
Description
Technical field
The invention belongs to field of mechanical technique, is related to a kind of detection robot, particularly a kind of negative pressure for detecting robot
Adsorbent equipment.
Background technology
If bridge bottom break detection group is by manually being detected at present, but bridge bottom can not manually reach,
So using high-power telescope can only detect either by setting up scaffold detection platform, high-power telescope detection
Micro-cracks are easily missed, and detection platform, which is set up, to be needed to put into a large amount of manpower and materials, and putting up platform job site is complicated, construction
Difficulty is high, and detection workload is big, and operating efficiency is low, manually potential safety hazard be present in detection platform walking.
For it is above-mentioned the problem of, it has been realized that deficiency, and improved, as disclosed in Chinese patent storehouse one
Detection robot [application number of the kind based on negative-pressure adsorption：201520372944.1；Authorization Notice No.：The U of CN 204641938] bag
Include robot shells, propulsion system, left adjustment system, positive pressure system, detecting system, absorption sucker, right adjustment system, control system
Unite, positive pressure system is provided with above the robot shells, left adjustment system is respectively arranged with left and right sides of the robot shells
System and right adjustment system, the robot shells rear side are provided with propulsion system, and the robot shells front end is provided with detection
System, the robot shells lower end are provided with absorption sucker；Robot shells are provided with inner chamber, and the inner chamber top is provided with
Negative pressure centrifugal blower, the negative pressure centrifugal blower are connected by wire with control system, and the control system is arranged on robot
Bottom of shell inner cavity.
In above-mentioned detection robot, will detect robot and bridge bottom by using negative pressure and be bonded, by promoting and
Left and right adjustment system can be that robot is moved in any angle, have operational efficiency height, improve the operating efficiency of detection
The advantages of.But the detection robot still has a problem that：Negative pressure vacuumizes shell by negative-pressure air fan to be formed, but
Negative-pressure air fan can produce certain vibration when working, and the vibration can not only influence the accuracy of detection of detecting system, and can influence
The firm degree of sucker suction.
The content of the invention
The purpose of the present invention is above mentioned problem be present for existing technology, it is proposed that a kind of negative pressure for detecting robot is inhaled
Adsorption device, the technical problem of solution are how to improve the accuracy of detection of detection robot.
The purpose of the present invention can be realized by following technical proposal：A kind of negative pressure adsorption equipment for detecting robot, inspection
Surveying robot includes housing, and this negative pressure adsorption equipment is included located at housing bottom and tubular two suckers and located at shell
The air exhauster of external side, it is characterised in that the exhaust column in straight tube-like, the both ends of exhaust column are laterally fixed with described housing
Respectively blind end and open end, has outwardly and tubular intake section in the side wall of exhaust column, and intake section has two
And connected with the inner chamber of exhaust column, the intake section described in two stretches out housing and is respectively inserted in two suckers, intake section and suction
Disk sealing is fixed, and described openend is stretched out housing and connected with the air inlet of air exhauster, and pressure ring is cased with described openend
With block rubber annular in shape, and lateral wall of the both ends of the surface of block rubber respectively with pressure ring and housing reclines, and described pressure ring passes through
Some screws are mutually fixed with housing, and described air exhauster is fixed on pressure ring on the end face away from block rubber, described opening
Being provided with end makes the one-way mechanism of exhaust column one-way conduction, and one-way mechanism turns on from blind end to opening extreme direction.
Detection robot also includes the electric power system and control system being equipped with housing, and electric power system and control system
It is connected；During installation, air exhauster is connected by electric wire with control system so that control system controls air exhauster and electric power system
Break-make.
It is supported in use, being first moved to the position specified by whole detection robot and being passed to sucker, then
Air exhauster work suctions out the air in sucker, suction cup interior is produced vacuum, now, sucker will be in the effect of external pressure
Under securely hold bridge, to ensure the job stability of inspection machine people；After air exhauster is stopped, in one-way mechanism
Under effect, by the closed at both ends of exhaust column, to extend the time that suction cup interior keeps vacuum state, to extend detected machine
People is by the time of stable position.During actual use, baroceptor can be set in sucker, and baroceptor passes through electric wire
Be connected with control system, when the pressure in sucker is more than setting value, baroceptor can be signaled to control system so that
Air exhauster work vacuumizes to sucker, so that detection robot is in by the state of stable position all the time.
By clamping block rubber in pressure ring and housing, rubber is set to absorb air exhauster by the elastic deformation of itself soon
Vibrated caused by work, so as to effectively reduce the amount that vibration is delivered on housing, so can not only reduce the shadow to sucker
Ring, to extend detection robot by the time of stable position, and vibration can be reduced again to the instrument in detection robot
Influence, so as to effectively improve the accuracy of detection of detection robot.
In the negative pressure adsorption equipment of above-mentioned detection robot, described sucker includes tubular connecting portion and in cone
The adsorption section of shape, and connecting portion, between adsorption section and housing, described intake section is inserted in connecting portion and both sealings are solid
It is fixed.
Using above-mentioned structure, the assembling of exhaust column and sucker is facilitated.
In the negative pressure adsorption equipment of above-mentioned detection robot, by cohesive between described connecting portion and intake section
Mode is mutually fixed, and the lateral wall of intake section is provided with annular groove, is provided with 0 shape circle in annular groove, and the outer peripheral face of 0 shape circle and
The madial wall of described connecting portion offsets.
Reliable sealing is formed in the presence of 0 shape circle, between connecting portion and intake section, so not only makes vacuum
It is stable swimmingly to carry out, and again extraneous air can be avoided to enter suction cup interior by the junction of intake section and connecting portion
Vacuum state is destroyed, so that it is guaranteed that the stability that detection robot is positioned, then improves the accuracy of detection for detecting robot.
Alternatively, in the negative pressure adsorption equipment of above-mentioned detection robot, described intake section passes through tight
The mode of cooperation is mutually fixed with connecting portion.
I.e. now, the lateral wall of intake section and the madial wall of connecting portion seal closely against formation；Using above-mentioned structure,
With the advantages of easy to assembly, simple in construction.
In the negative pressure adsorption equipment of above-mentioned detection robot, described one-way mechanism including being on the madial wall of openend
Shoulder block, the air exhaust loop being screwed onto in openend and the steel ball and spring being respectively positioned between shoulder block and air exhaust loop of ring-type protrusion,
The both ends of described spring offset with steel ball and air exhaust loop respectively, and under the action of the spring, steel ball have with shoulder block offset by
Shoulder block inner chamber and the trend of air exhaust loop inner chamber cut-off.
When vacuumizing, air exhauster works so that steel ball overcomes spring force movement to connect shoulder block inner chamber and air exhaust loop inner chamber
Logical, now, the gas in sucker just passes sequentially through exhaust column and air exhauster discharge.Using above-mentioned design, there is structure
Simply, the advantages of good operating stability.
Alternatively, in the negative pressure adsorption equipment of above-mentioned detection robot, described one-way mechanism includes
Check valve, check valve includes valve body, and valve body is fixed in exhaust column by helicitic texture.
In the negative pressure adsorption equipment of above-mentioned detection robot, on the end face that is mutually reclined with housing on described block rubber
Conquassation groove annular in shape is offered, conquassation groove has multiple and concentric distribution.
By opening up conquassation groove on block rubber, it can make block rubber faster and elastic deformation more occurs, with faster
And absorb vibrated caused by air exhauster work more over the ground, so as to further improve the accuracy of detection of detection robot.
Compared with prior art, the negative pressure adsorption equipment of this detection robot has advantages below：
1st, by clamping block rubber in pressure ring and housing, rubber is made to absorb exhausting by the elastic deformation of itself soon
Vibrate caused by machine work, so as to effectively reduce the amount that vibration is delivered on housing, so can not only reduce to sucker
Influence, to extend detection robot by the time of stable position, and vibration can be reduced again to the instrument in detection robot
Influence, so as to effectively improve detection robot accuracy of detection.
2nd, reliable sealing is formed in the presence of 0 shape circle, between connecting portion and intake section, so not only makes to vacuumize
Cheng Wending is swimmingly carried out, and again extraneous air can be avoided to be entered by the junction of intake section and connecting portion in sucker
Portion destroys vacuum state, so that it is guaranteed that the stability that detection robot is positioned, then improves the accuracy of detection for detecting robot.
Brief description of the drawings
Fig. 1 is the structural representation of the negative pressure adsorption equipment of this detection robot.
Fig. 2 is the mplifying structure schematic diagram at A in Fig. 1.
Fig. 3 is the mplifying structure schematic diagram at B in Fig. 1.
In figure, 1, housing；2nd, electric power system；3rd, control system；4th, sucker；4a, connecting portion；4b, adsorption section；5th, exhausting
Machine；6th, pressure ring；7th, block rubber；7a, conquassation groove；8th, exhaust column；8a, blind end；8b, openend；8c, intake section；8d, shoulder block；
9th, 0 shape circle；10th, air exhaust loop；11st, steel ball；12nd, spring.
Embodiment
It is the specific embodiment of the present invention and with reference to accompanying drawing below, technical scheme is further described,
But the present invention is not limited to these embodiments.
Embodiment one
As shown in figure 1, in the negative pressure adsorption equipment of this detection robot, detection robot includes housing 1 and is located at
Electric power system 2 and control system 3 in housing 1, and electric power system 2 is connected with control system 3.This negative pressure adsorption equipment is by sucker
4th, air exhauster 5, pressure ring 6, block rubber 7, exhaust column 8 etc. form.Wherein, block rubber 7 is made up of elastomeric material.
Specifically, exhaust column 8 in straight tube-like and is horizontally installed in housing 1.In the present embodiment, exhaust column 8 passes through
The mode of welding is fixed with the phase of housing 1.As shown in figure 1, the left and right ends of exhaust column 8 are respectively blind end 8a and openend 8b,
And there is outwardly tubular intake section 8c in the side wall of exhaust column 8.Wherein, intake section 8c has two and along exhaust column 8
Axially distribution.Inner chamber of each intake section 8c inner chamber with exhaust column 8 connects.
Sucker 4 has two and is located at the bottom of housing 1, now, the positions of two suckers 4 respectively with two intake section 8c just
It is right.Two suckers 4 are cylindrical in shape, and each intake section 8c stretches out housing 1 and is inserted in corresponding sucker 4, and intake section 8c is with inhaling
The sealing of disk 4 is fixed.Specifically, as shown in figure 1, sucker 4 includes tubular connecting portion 4a and tapered adsorption section 4b, even
Socket part 4a is between adsorption section 4b and housing 1, and connecting portion 4a and adsorption section 4b is integral type structure.Intake section 8c is inserted in company
In socket part 4a and both sealings are fixed.In the present embodiment, it is mutually solid by cohesive mode between connecting portion 4a and intake section 8c
It is fixed；As shown in Fig. 2 intake section 8c lateral wall is provided with annular groove, 0 shape circle 9 is provided with annular groove, and 0 shape circle 9 is outer
The madial wall of side face and connecting portion 4a offsets, so as to form reliable sealing between intake section 8c and connecting portion 4a.Naturally, using
" intake section 8c is fixed by way of tight fit with connecting portion 4a phases " this technical scheme is same can realize intake section 8c and
Connecting portion 4a sealings are fixed.
Air exhauster 5 is located at the outside of housing 1, and positioned at the right side of exhaust column 8.Specifically, as shown in figure 1, exhaust column 8
Openend 8b stretch out and housing 1 and connected with the air inlet of air exhauster 5.Pressure ring 6 and rubber annular in shape are cased with the 8b of openend
Block 7, wherein, pressure ring 6 is fixed by some screws and the phase of housing 1；Block rubber 7 is between pressure ring 6 and housing 1, and block rubber 7
Both ends of the surface mutually reclined with the lateral wall of pressure ring 6 and housing 1 respectively.Air exhauster 5 is fixed on the right side of pressure ring 6.Further
Illustrate, as shown in figure 3, offering conquassation groove 7a annular in shape on the left side of block rubber 7, conquassation groove 7a has multiple and divided with one heart
Cloth, so that elastic deformation can rapidly occur for block rubber 7, worked caused vibration to absorb air exhauster 5 faster and more.
As shown in figures 1 and 3, being provided with the 8b of openend makes the one-way mechanism of the one-way conduction of exhaust column 8, and one-way mechanism from
Blind end 8a turns on to openend 8b directions.In the present embodiment, one-way mechanism includes annular in shape convex on the 8b madial walls of openend
The shoulder block 8d gone out, the air exhaust loop 10 being screwed onto in the 8b of openend and the and of steel ball 11 being respectively positioned between shoulder block 8d and air exhaust loop 10
Spring 12.Wherein, the both ends of spring 12 offset with steel ball 11 and air exhaust loop 10 respectively, and in the presence of spring 12, steel ball 11
With with shoulder block 8d offset by shoulder block 8d inner chambers and the inner chamber of air exhaust loop 10 cut-off trend.
During installation, air exhauster 5 be connected by electric wire with control system 3 so that control system 3 come control air exhauster 5 and power supply
The break-make of system 2.It is supported in use, being first moved to the position specified by whole detection robot and being passed to sucker 4,
Then air exhauster 5, which works, suctions out the air in sucker 4, the inside of sucker 4 is produced vacuum, now, sucker 4 will be in outside gas
Bridge is securely held in the presence of pressure, to ensure the job stability of inspection machine people；After air exhauster 5 is stopped,
In the presence of one-way mechanism, by the closed at both ends of exhaust column 8, to extend the time that the inside of sucker 4 keeps vacuum state, to prolong
Long detected robot is by the time of stable position.During actual use, in sucker 4 baroceptor can be set (not scheme
Show), and baroceptor is connected by electric wire with control system 3, when the pressure in sucker 4 is more than setting value, air pressure sensing
Device can be signaled to control system 3 so that air exhauster 5 works that sucker 4 is vacuumized, so that detection robot locates all the time
In by the state of stable position.
Embodiment two
The present embodiment two is essentially identical with the structure and principle of embodiment one, and different place is：One-way mechanism bag
Check valve is included, check valve includes valve body, and valve body is fixed in exhaust column 8 by helicitic texture.
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology belonging to the present invention is led
The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Claims (6)
1. a kind of negative pressure adsorption equipment for detecting robot, detection robot includes housing, and this negative pressure adsorption equipment includes being located at
Housing bottom and tubular two suckers and the air exhauster located at hull outside, it is characterised in that in described housing
The exhaust column in straight tube-like is laterally fixed with, the both ends of exhaust column are respectively blind end and open end, are had in the side wall of exhaust column
It is outwardly convex go out and tubular intake section, intake section have two and connected with the inner chamber of exhaust column, the intake section described in two
Stretch out housing and be respectively inserted in two suckers, intake section and suction cup sealed are fixed, and described openend stretches out housing and with taking out
The air inlet of blower fan is connected, and pressure ring and block rubber annular in shape, and the both ends of the surface difference of block rubber are cased with described openend
Reclined with the lateral wall of pressure ring and housing, described pressure ring is mutually fixed by some screws with housing, and described air exhauster is consolidated
It is scheduled on pressure ring on the end face away from block rubber, the one-way mechanism for making exhaust column one-way conduction is provided with described openend, and
One-way mechanism turns on from blind end to opening extreme direction；Exhaust column is mutually fixed by way of welding with housing, described sucker
Including tubular connecting portion and tapered adsorption section, and connecting portion is between adsorption section and housing, described intake section
It is inserted in connecting portion and both sealings is fixed, connecting portion and adsorption section is integral type structure.
2. the negative pressure adsorption equipment of detection robot according to claim 1, it is characterised in that described connecting portion and enter
Mutually fixed by cohesive mode between gas portion, the lateral wall of intake section is provided with annular groove, and 0 shape is provided with annular groove
Circle, and the madial wall of the outer peripheral face and described connecting portion of 0 shape circle offsets.
3. the negative pressure adsorption equipment of detection robot according to claim 1, it is characterised in that described intake section passes through
The mode of tight fit is mutually fixed with connecting portion.
4. the negative pressure adsorption equipment of detection robot according to claim 1, it is characterised in that described one-way mechanism bag
Include the shoulder block annularly protruded on the madial wall of openend, the air exhaust loop being screwed onto in openend and be respectively positioned on shoulder block and air exhaust loop
Between steel ball and spring, the both ends of described spring offset with steel ball and air exhaust loop respectively, and under the action of the spring, steel ball
With with shoulder block offset by shoulder block inner chamber and air exhaust loop inner chamber cut-off trend.
5. the negative pressure adsorption equipment of detection robot according to claim 1, it is characterised in that described one-way mechanism bag
Check valve is included, check valve includes valve body, and valve body is fixed in exhaust column by helicitic texture.
6. it is according to claim 1 detection robot negative pressure adsorption equipment, it is characterised in that on described block rubber with
Conquassation groove annular in shape is offered on the end face that housing mutually reclines, conquassation groove has multiple and concentric distribution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610621101.XA CN106049272B (en) | 2016-07-29 | 2016-07-29 | A kind of negative pressure adsorption equipment for detecting robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610621101.XA CN106049272B (en) | 2016-07-29 | 2016-07-29 | A kind of negative pressure adsorption equipment for detecting robot |
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| Publication Number | Publication Date |
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| CN106049272A CN106049272A (en) | 2016-10-26 |
| CN106049272B true CN106049272B (en) | 2017-12-29 |
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| CN201610621101.XA Active CN106049272B (en) | 2016-07-29 | 2016-07-29 | A kind of negative pressure adsorption equipment for detecting robot |
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| CN1594006A (en) * | 2004-06-17 | 2005-03-16 | 上海交通大学 | Double sucker negative adsorption unit with obstacle crossing function |
| KR100839239B1 (en) * | 2007-06-28 | 2008-06-19 | (주)쏠백 | Vacuum absorption device for transferring hot plate |
| CN202626835U (en) * | 2012-05-21 | 2012-12-26 | 重庆市鹏创道路材料有限公司 | Intelligent maintenance robot for bridge |
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| CN205954477U (en) * | 2016-07-29 | 2017-02-15 | 富阳市福士得食品有限公司 | Inspection robot's negative pressure adsorption equipment |
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- 2016-07-29 CN CN201610621101.XA patent/CN106049272B/en active Active
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|---|---|---|---|---|
| CN1594006A (en) * | 2004-06-17 | 2005-03-16 | 上海交通大学 | Double sucker negative adsorption unit with obstacle crossing function |
| KR100839239B1 (en) * | 2007-06-28 | 2008-06-19 | (주)쏠백 | Vacuum absorption device for transferring hot plate |
| CN202626835U (en) * | 2012-05-21 | 2012-12-26 | 重庆市鹏创道路材料有限公司 | Intelligent maintenance robot for bridge |
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| CN106049272A (en) | 2016-10-26 |
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