CN110303481A - A kind of individual soldier's climbing robot vacuum suction power assisting device - Google Patents
A kind of individual soldier's climbing robot vacuum suction power assisting device Download PDFInfo
- Publication number
- CN110303481A CN110303481A CN201910727522.4A CN201910727522A CN110303481A CN 110303481 A CN110303481 A CN 110303481A CN 201910727522 A CN201910727522 A CN 201910727522A CN 110303481 A CN110303481 A CN 110303481A
- Authority
- CN
- China
- Prior art keywords
- metope
- sucker
- adsorbent equipment
- air
- connection
- 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.)
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- 230000009194 climbing Effects 0.000 title claims abstract description 31
- 239000003463 adsorbent Substances 0.000 claims abstract description 53
- 238000001179 sorption measurement Methods 0.000 claims abstract description 20
- 238000001514 detection method Methods 0.000 claims description 50
- 230000005611 electricity Effects 0.000 claims description 16
- 230000000694 effects Effects 0.000 claims description 9
- 238000007789 sealing Methods 0.000 claims description 9
- 230000004044 response Effects 0.000 claims description 8
- 238000005086 pumping Methods 0.000 claims description 6
- 238000010521 absorption reaction Methods 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 17
- 230000008569 process Effects 0.000 abstract description 16
- 230000008719 thickening Effects 0.000 description 12
- 230000006835 compression Effects 0.000 description 11
- 238000007906 compression Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 6
- 241000252254 Catostomidae Species 0.000 description 5
- 229920000742 Cotton Polymers 0.000 description 4
- 239000011449 brick Substances 0.000 description 4
- 239000006260 foam Substances 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 238000003756 stirring Methods 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 3
- 101100327917 Caenorhabditis elegans chup-1 gene Proteins 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000003116 impacting effect Effects 0.000 description 2
- 238000012806 monitoring device Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 235000021384 green leafy vegetables Nutrition 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0625—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with a valve
- B25J15/0633—Air-flow-actuated valves
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)
Abstract
The present invention relates to a kind of individual soldier's climbing robot vacuum suction power assisting devices, are used to adsorb the adsorbent equipment of metope including two, are respectively communicated with two adsorbent equipments of connection and provide two air extractors of adsorption capacity for corresponding adsorbent equipment and be separately positioned on the row pressure structure of the adsorption capacity on two adsorbent equipments and for releasing corresponding adsorbent equipment；The handle for human hand held is provided on the adsorbent equipment, the adsorbent equipment is respectively connected with the pedal stepped on for people's foot.Metope is adsorbed by adsorbent equipment, hand grabs handle and foot steps on pedal, and two adsorbent equipments of cross-reference carry out climbing process, and the process for climbing wall for special operation workers brings great convenience.
Description
Technical field
The present invention relates to a kind of climbing power assisting devices, fill more particularly, to a kind of individual soldier's climbing robot vacuum suction power-assisted
It sets.
Background technique
People's Armed Police, the special operation workers of fire-fighting the course of work in, often refer to the climbing to buildings such as building, if
It is that the metope that needs are climbed is relatively smooth, then will lead to special operation workers and nowhere borrow power during climbing, brought to climbing
It is greatly difficult.
The mode of the relatively smooth metope of existing climbing generally gets rivet using impacting type nail gun on metope, so
Cooperated on the rivet being hooked on metope by safety rope and riveting hook afterwards, while also hand steered can step on rivet with foot, is climbed.
During above-mentioned climbing, the process of rivet is got on metope inherently more not using impacting type nail gun
Just, and the elongate form of rivet itself, it is unfavorable for manpower and helps step on foot to make one foot and step on to carry out climbing with hand steered rivet and borrow power not
It is convenient, therefore, invents a kind of power assisting device for facilitating special operation workers to climb and be a problem to be solved.
Summary of the invention
The object of the present invention is to provide a kind of individual soldier's climbing robot vacuum suction power assisting devices, the advantage is that it can
Metope is climbed for special operation workers to bring convenience.
Foregoing invention purpose of the invention has the technical scheme that
A kind of individual soldier's climbing robot vacuum suction power assisting device including two adsorbent equipments for adsorbing metope, respectively connects
Lead to and connects two adsorbent equipments and provide two air extractors of adsorption capacity for corresponding adsorbent equipment and be separately positioned on two
The row pressure structure of adsorption capacity on adsorbent equipment and for releasing corresponding adsorbent equipment；It is provided on the adsorbent equipment for people
Hand-held handle, the adsorbent equipment are respectively connected with the pedal stepped on for people's foot.
By using above-mentioned technical proposal, special operation workers carry power assisting device, and two hands pass through hand grip respectively
One adsorbent equipment is first adsorbed on metope by two adsorbent equipments, and then hand handle holds this adsorbent equipment by means of power, while by foot
It steps down on the pedal being connect with this adsorbent equipment, then another adsorbent equipment is adsorbed on metope again by another hand
Higher than the eminence of previous sucker, then another foot steps down in and is located on the pedal that eminence sucker is connect, by being located at lower
Adsorbent equipment on row pressure structure release be located at the adsorption capacity of the adsorbent equipment of lower with will be located at the adsorbent equipment of lower from
It is removed on metope and is adsorbed on metope to be higher than to be located at originally and be higher by the position of adsorbent equipment, repeat above-mentioned mistake
Journey, special operation workers can use both hands and feet by power assisting device and climb metope, since power assisting device is to pass through vacuum adsorption force
Metope to be adsorbed, the process for getting rivet on metope is eliminated, itself is more convenient, meanwhile, people holds handle and foot steps on foot
It pedals and inherently steps on elongated rivet than hand steered and foot and be easier to borrow power, to further facilitate special operation workers climbing wall
Face.
The present invention is further arranged to: the adsorbent equipment is set as the sucker of rectangle, sucker opening edge outside
It is provided with straight-flanked ring plate and the abutting part for abutting metope, the abutting part is provided in the one side of metope for mentioning
High abutting part abuts the sealing structure of place's leakproofness with metope；The sucker is provided with away from the side of metope for filling with pumping
Set the exhaust tube of connection.
By using above-mentioned technical proposal, being provided with for abutting part abuts metope, the setting energy of sealing structure conducive to sucker
Enough improve the sealing effect for the closed cavity that sucker and metope are encircled into.
The present invention is further arranged to: the row pressure structure includes being arranged on adsorbent equipment and being connected to adsorbent equipment and wall
The row pressure mouth of cavity and atmosphere that face is encircled into and for covering the air discharge cook for closing the row pressure mouth, the air discharge cook
It is bonded with the plane of adsorbent equipment rotation connection and air discharge cook towards row pressure mouth with plane where row pressure mouth opening edge
Sliding connection.
By using above-mentioned technical proposal, by the rotation activity closing covering row pressure mouth of air discharge cook, structure is simple, together
When, closing row pressure mouth and the process for opening row pressure mouth are more convenient.
The present invention is further arranged to: is additionally provided on the adsorbent equipment in sucker load-bearing and is locked air discharge cook closing
The self-locking structure of state, the self-locking structure include the movable position limiting structure and sucker that movable barrier air discharge cook opens path
Be flexibly connected and for connecting the connection structure of pedal, both ends abut the connection structure respectively and movable position limiting structure and with suction
The drive rod of disk rotation connection, when pedal load-bearing stress, connection structure abuts drive rod one end and abuts the drive rod other end
Movable position limiting structure is so that movable position limiting structure stops air discharge cook to open path.
By using above-mentioned technical proposal, the setting of self-locking structure make sucker connect pedal load-bearing stress when sucker on
Air discharge cook can not be opened, to avoid maloperation from opening the danger that air discharge cook may cause, to improve making for device
Use safety.
The present invention is further arranged to: the air extractor is set as vacuum pump, and the air inlet of the vacuum pump passes through true
Cavity made of empty bellows connection connection adsorbent equipment and metope surround, the gas outlet of vacuum pump is communicated with the atmosphere.
By using above-mentioned technical proposal, the cavity between adsorbent equipment and metope is evacuated using vacuum pump, is tied
Structure is simple, and the adsorption capacity provided is stronger.
The present invention is further arranged to: the promising vacuum pump of setting provides the bleed motor of power in the vacuum pump, described
Bleed motor connects the power supply of promising bleed motor power supply；The power assisting device further includes the knapsack born for people, the vacuum
Pump, bleed motor and power supply are arranged in knapsack.
By using above-mentioned technical proposal, the setting of knapsack make special operation workers carry vacuum pump, bleed motor and
Power supply is more convenient, so that special operation workers operation adsorbent equipment carries out climbing process.
The present invention is further arranged to: it is provided with connector on the adsorbent equipment, is provided with connection frame on the pedal,
The connection frame is connected with connecting rope, and the other end of the connecting rope connects connector.
By using above-mentioned technical proposal, the setting of connecting rope keeps the position of pedal relative adsorption device more flexible, side
Person who happens to be on hand for an errand holds the handle on adsorbent equipment and foot steps on pedal.
The present invention is further arranged to: the power assisting device further includes the intelligence for detection device various pieces working condition
Energy safety management system, the intelligent and safe management system include:
Air pressure detection module couples the adsorbent equipment with output response and is encircled into atmospheric pressure value in cavity in adsorbent equipment and metope
The air pressure of size detects signal；
Temperature detecting module couples the air extractor with output response in the temperature detection signal of air extractor operating temperature；
It is how much electric in the power supply unit electricity with output response to couple the power supply unit of the air extractor for electric power detection module
Amount detection signal；
Alarm module is prompted, air pressure setting value, desired temperature and electricity setting value are inside provided with, couples the air pressure detection
Module, temperature detecting module, electric power detection module and the reception air pressure detection signal, temperature detection signal, electric power detection letter
Number, believe when air pressure detection signal is higher than air pressure setting value and/or temperature detection signal higher than desired temperature and/or electric power detection
Number be lower than electricity setting value when carry out prompt alarm.
By using above-mentioned technical proposal, intelligent and safe management system is capable of the work of real-time monitoring power assisting device various pieces
Make state to carry out prompt alarm when the working condition of device occurs abnormal, to improve the safety in utilization of power assisting device.
In conclusion advantageous effects of the invention are as follows:
1. adsorbing metope by adsorbent equipment, hand grabs handle and foot steps on pedal, and two adsorbent equipments of cross-reference climbed
Journey, the process for climbing wall for special operation workers bring great convenience；
2. the leakproofness that the setting of sealing ring and abutting part makes sucker abut place with metope is preferable；
3. the setting of self-locking structure avoids maloperation and opens the danger that air discharge cook may cause；
4. intelligent and safe management system facilitates the working condition of people's real-time monitoring device each section, to further increase making for device
Use safety.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is to embody the structural schematic diagram that sucker deviates from one side structure of metope；
Fig. 3 is to embody sucker close to the structure structural schematic diagram of one side structure of metope；
Fig. 4 is the partial enlarged view of part A in Fig. 3；
Fig. 5 is to embody suction cup interior structural schematic diagram；
Fig. 6 is to embody inside backpacks structural schematic diagram；
Fig. 7 is the system structure diagram of individual soldier's climbing robot intelligent and safe management system.
In figure, 1, sucker；11, abutting part；13, exhaust tube；14, handle；15, row pressure mouth；151, thickening part；152, fixed
Limited post；153, gear shaft；1531, bit slice is supported；1532, second back-moving spring；16, air discharge cook；161, connecting cylinder；162, it stirs
Portion；17, connecting shaft；18, connector；181, plug；182, connecting pin；1821, swivel becket；183, first back-moving spring；19, it presses
Bar；191, last item；192, support frame；2, vacuum pump；21, bleed motor；211, vacuum corrugated pipe；3, power supply；4, knapsack；5, foot
It pedals；51, connection ring；52, connecting rope；53, connection frame；6, intelligent and safe management system；61, air pressure detection module；611, vacuum
Table；62, temperature detecting module；63, electric power detection module；641, display unit.
Specific embodiment
Below in conjunction with attached drawing, invention is further described in detail.
Referring to Fig.1, a kind of individual soldier's climbing robot vacuum suction power assisting device, including two for adsorbing the absorption of metope
Device is respectively that two adsorbent equipments provide two air extractors of adsorption capacity, are respectively used to release the suction of two adsorbent equipments
Two groups of row pressure structures of attached power.
Referring to Fig. 2 and Fig. 3, adsorbent equipment is set as the sucker 1 of rectangle, and the open edge of sucker 1 is set as straight-flanked ring plate
Abutting part 11, in 1 use process of sucker, the opening of sucker 1 is provided between abutting part 11 and metope for mentioning towards metope
High abutting part 11 divides the sealing structure of leakproofness with metope abutting part 11, and abutting part 11 abuts metope, to make sucker 1 and metope
Between form closed cavity.
In one embodiment, the rectangular ring foam cotton that sealing structure is set as cooperating with 11 shape of abutting part is (in figure
It is not shown), the setting of foam cotton makes abutting part 11 and the abutting of metope have certain elasticity, and foam cotton can also fill abutting part
Gap between 11 and metope, to improve the leakproofness that abutting part 11 abuts place with metope.
Further, if metope is brick wall, then the junction of brick has biggish gap on metope, leans on foam at this time
The elasticity of cotton itself can not fill gap between metope and abutting part 11, thus by sealing structure be set as section be C-shaped and by
The outer soft rubber circle to interior package abutting part 11, rubber ring is towards being provided with the hemispherical projections being intervally arranged on the face of metope
(not shown), the high 4-5MM of protrusion, when sucker 1 adsorbs brick wall metope, protrusion compression deformation can block brickwork joint to improve
The leakproofness of sucker 1 and brick wall junction.
Sucker 1 away from metope side be provided with connection air extractor exhaust tube 13, air extractor by exhaust tube 13 from
The closed cavity formed between sucker 1 and metope is evacuated from inside to outside, makes to be formed in the closed cavity formed between sucker 1 and metope
Negative pressure, so that sucker 1 be made to be attached on metope.
Sucker 1 is additionally provided with the handle 14 of c-type away from the side of metope, and 14 both ends of handle deviate from metope with sucker 1 respectively
Side be integrally fixedly connected, sucker 1 adsorb metope, special operation workers hand grab handle 14 with by the adsorption capacity of sucker 1 into
Row climbing.
Referring to Fig.1 and Fig. 6, air extractor are set as vacuum pump 2.There are two the settings of vacuum pump 2, two vacuum pumps 2 into
Port passes through the exhaust tube 13 of soft connection two suckers 1 of connection of vacuum corrugated pipe 211, the outlet of two vacuum pumps 2 respectively
Mouth is directly connected with atmosphere and drains into the gas that vacuum pump 2 is extracted out in atmosphere.Bleed motor is provided in two vacuum pumps 2
21 and bleed motor 21 be vacuum pump 2 power is provided, the bleed motor 21 of two vacuum pumps 2 is all connected with same military project level power supply 3,
Power supply 3 is that bleed motor 21 is powered, and the work of bleed motor 21 is that vacuum pump 2 provides power, vacuum pump 2 by sucker 1 and metope it
Between the closed cavity that is formed be evacuated from inside to outside, make to form negative pressure in the closed cavity formed between sucker 1 and metope, to make to inhale
Disk 1 is attached on metope.
Power supply 3 and two vacuum pumps 2 are carried in order to facilitate special operation workers, power supply 3 and two concentrations of vacuum pump 2 are set
It is placed in knapsack 4, knapsack 4 is set as being provided with the band of tying for special operation workers waist of tying on backpack 4 and knapsack 4
It is outer in order to which special operation workers bear the hand-held suction of knapsack 4 that (not shown), sucker 1 and vacuum corrugated pipe 211 are located at knapsack 4
Disk 1 carries out climbing motion.
Referring to Fig. 2 and Fig. 3, row pressure structure includes sucker 1 being arranged in away from the row pressure mouth 15 of metope side and for sealing
Close the air discharge cook 16 of row pressure mouth 15.
Specifically, row pressure mouth 15 is set on circular hole on the suction cup 1, has been wholely set on the outside of 15 edge of row pressure mouth
The thickening part 151 of annulus plate, 151 outer surface of thickening part are to thicken with sucker 1 away from the parallel smooth flat in the surface of metope
The effect in portion 151 is to enhance the structural strength and thickness of 15 surrounding sucker of row pressure mouth, 1 part；Air discharge cook 16 shows as water-drop-shaped
Plate, the lesser end of air discharge cook 16 are integrally erect to have in the plate face of metope and be corresponded on connecting cylinder 161 and air discharge cook 16
161 position of connecting cylinder offers internal diameter connecting hole identical with 161 internal diameter of connecting cylinder, and sucker 1 is on the surface of metope
One, which is erect, connecting shaft 17, and connecting shaft 17 passes through connecting hole insertion connecting cylinder 161 and is rotatablely connected with connecting cylinder 161, makes to arrange
Plane where the rotation of air cock 16 is parallel to the surface that thickening part 151 deviates from metope, and the biggish end of air discharge cook 16 is close to wall
The plate face in face is bonded sliding connection away from the plate face of metope with thickening part 151.
Torsional spring (not shown) is provided between connecting cylinder 161 and connecting shaft 17,151 side of thickening part is provided with one
It is erected in fixation limited post 152 of the thickening part 151 on the surface of metope, under normality, torsional spring is in pressured state and exhaust
The biggish end side of switch 16 abuts fixed limited post 152 and the biggish end of air discharge cook 16 covering closing row pressure mouth 15.
Clicking section 162 is also wholely set on air discharge cook 16, the performance of clicking section 162, which is integrated, is erected in air discharge cook 16
Strip board and the strip board one end in the plate face of metope are integrally fixedly connected with connecting cylinder 161, and people can be by dialling
Air discharge cook 16 is stirred in the direction that dynamic portion 162 is away from each other fixed limited post 152, so that the biggish end of air discharge cook 16 be made not exist
Covering closing row pressure mouth 15, makes the space between sucker 1 and metope be connected to atmosphere by row pressure mouth 15, to make sucker 1 and wall
The negative pressure for making sucker 1 adsorb metope can not be formed in space between face.
It should be understood that stirring air discharge cook 16 in order to facilitate special operation workers, air discharge cook 16 is set to handle
14 top and fixed limited post 152 is located at the top of air discharge cook 16, to enable the special operation workers row of stirring downwards
It compresses switch and completes to 1 row pressure process of sucker, it is more convenient；Meanwhile the row pressure effect in order to keep row pressure mouth 15, by row pressure mouth 15
It is arranged close to exhaust tube 13.
Referring to Fig. 3, Fig. 4 and Fig. 5, in order to improve the safety of sucker 1, prevent special operation workers maloperation from opening exhaust
Switch 16 causes danger, is provided with the self-locking structure that 15 state of row pressure mouth is closed for locking air discharge cook 16 on the suction cup 1.
Specifically, it is provided on thickening part 151 and is worn close to one lateral edge vertical wall direction of metope to sucker 1 by sucker 1
Gear shaft 153 away from metope side, gear shaft 153 are connected to one opposite with fixed limited post 152 with the airtight sliding in thickening part 151
Side.
1 lower edge of sucker is additionally provided with the connector 18 for connecting with pedal 5.Connector 18 shows as being wholely set
In sucker 1 away from metope circular block and the annular shape block examine what the side through sucker 1 was set as being bonded with 1 outer surface of sucker
Plane, the circular through hole axis in circular connector 18 is parallel with the longer side of sucker 1 and the circular through hole is underlying
End-enclosed.Sliding is connected with the axis cylindrical plug 181 coaxial with 18 inner circular through-hole of connector in connector 18, blocks up
First 181 are set as round table-like drop-head close to the closed part of 18 circular through hole of connector, and the round table-like drop-head is lesser
End is towards the closed part of 18 circular through hole of connector.It is coaxially provided through in connector 18 and plug 181 and connect connection
The connecting pin 182 of part 18 and plug 181, plug 181 and connecting pin 182 also slide connection.
The first back-moving spring of compressive state is provided between 18 closed one end of inner circular through-hole of plug 181 and connector
183, under the elastic force effect of first back-moving spring 183, plug 181 has the tendency that being disconnected part 18 upwards, therefore connecting pin 182
Both ends be provided with respectively abut plug 181 and connector 18 retaining structure, retaining structure performance be integrated coaxial arrangement in
On connecting pin 182 and outer diameter is greater than the cylindrical member of 182 outer diameter of connecting pin, is also rotatably connected to swivel becket on connecting pin 182
1821,1821 side of swivel becket is rotationally connected with the underlying end of connecting pin 182 with connecting pin 182 and is located at connector 18
Between the end of lower section, and the length direction of connecting pin 182 is overlapped with 1,821 1 diameter of swivel becket.
Swivel becket 1821 is connected with the connection ring 51 of a kidney-shaped, and swivel becket 1821 is mutually arranged with connection ring 51 and connect, even
Connect ring 51 and pedal 5 connected by connecting rope 52, in the present embodiment, connecting rope 52 be set as both ends respectively with pedal 5 and connect
The soft steel cord that ring 51 is fixedly connected.The setting of the anti-ergonomics of pedal 5, the plane trampled including one for people and for people's tiptoe
It protrudes into and places and the concave surface to position is carried out to people's tiptoe, the plane two sides of the side of the concave surface opening direction protruded into for people's tiptoe are erected
Vertical to have connection frame 53, connection frame 53 shows as the middle section that open downward C-shaped and the C-shaped are located above and is provided with one for even
The connecting hole that ring 51 passes through is connect, i.e., is also equipped with a connection ring 51 on connection frame 53, wirerope both ends are by connection ring 51
It is separately connected with pedal 5 and connector 18.In use process, the opening that people's tiptoe passes through connection frame 53 extends to the confession of pedal 5
In the concave surface that people's tiptoe is put into, the position of the corresponding people's heel of connection frame 53, wirerope are connected on sucker 1 at this time, and sucker 1 adsorbs
On metope so that pedal 5 can load-bearing stress, trampled for people.
Compression bar 19 is provided in sucker 1, sucker 1 is provided with support frame 192, the centre of compression bar 19 on the side of metope
Part is with plane where the rotation connection of support frame 192 and the rotation of compression bar 19 perpendicular to metope.Gear shaft 153 is located at sucker 1 close to wall
The end of face side is fixedly installed to bit slice 1531, and place is provided between the side of metope to bit slice 1531 and sucker 1
In the second back-moving spring 1532 of compressive state, gear shaft 153 is provided with to position under the elastic force effect of second back-moving spring 1532
The end of piece 1531 has the tendency that moving towards metope；19 one end of compression bar abuts gear shaft 153 and is provided with the end to bit slice 1531
It avoids gear shaft 153 from being detached from sucker 1 to position to be formed to gear shaft 153, but acts on down-pressed pole in the elastic force of second back-moving spring 1532
19 ends abutted with gear shaft 153 are far from sucker 1 close to the surface of metope so that 153 other end of gear shaft retracts in thickening part 151
It avoids forming limit to the exhaust process of air discharge cook 16.
19 other end of compression bar be provided with one by sucker 1 along perpendicular to metope direction wear it is outer to sucker 1 and with 1 gas of sucker
The last item 191 of close sliding connection, last item 191 are located at the outer one end of sucker 1 and wear in the connector 18 and abutting lesser end of plug 181
Portion.
Under normality, under the elastic force effect of first back-moving spring 183, plug 181, which is located at extreme higher position, enables last item 191
It is given to and the lesser end of plug 181 is stretched out and be connected in connector 18, and at this point, the elastic force in second back-moving spring 1532 is made
Under, gear shaft 153 is provided with the end to bit slice 1531 and abuts compression bar 19 to metope, so that it is upward to tilt 19 other end of compression bar
Last item 191 is abutted, extend out to last item 191 in connector 18, and end retraction thickening part of the gear shaft 153 far from sucker 1 at this time
In 151, the opening of air discharge cook 16 is not influenced；When people's foot steps down on pedal 5, pedal 5 by people gravity so that plug 181 overcomes
The elastic force of first back-moving spring 183 moves downward, and the position outer diameter that plug 181 is abutted with last item 191 during the motion is gradually
Become larger, thus by last item 191 against metope, 191 other end of last item, which abuts compression bar 19, makes compression bar 19 far from 191 one end of last item to suction
Disk 1 is close, i.e., the end that compression bar 19 abuts gear shaft 153 can abut gear shaft 153 outward makes gear shaft 153 stretch out thickening part 151, thus
Open air discharge cook 16 can not, i.e., in the 5 load-bearing stress of pedal of connecting sucker 1, the air discharge cook 16 of sucker 1 can not be opened,
Only in the 5 not load-bearing stress of pedal of connecting sucker 1, the air discharge cook 16 on the sucker 1 can be opened, to prevent spy
Kind operating personnel's maloperation opens air discharge cook 16 and causes danger.
It should be pointed out that when above-mentioned direction "upper", "lower" are relative to special operation workers operating assist device,
"upper", "lower" in the vertical direction, and absolute position when non-device any placement itself.
Referring to Fig.1 and Fig. 7, the power assisting device further include the intelligence peace for real-time monitoring device various pieces working condition
Full management system 6, intelligent and safe management system 6 includes for detecting the air pressure detection module 61 of air pressure size in sucker 1, being used for
Detect the temperature detecting module 62 of 21 temperature of bleed motor, the electric power detection module 63 for detecting 3 electricity of power supply, for showing
The display module of the above-mentioned numerical value for detecting data and the prompt alarm that prompt alarm is carried out when above-mentioned numerical value occurs abnormal
Module.
Air pressure detection module 61 includes being separately positioned on two suckers 1 away from metope side and being respectively used to detection sucker 1
Two vacuum meters 611 of interior negative pressure, the gas that two vacuum meters 611 are respectively connected with an angle transducer to measure vacuum meter 611
Pressure value is converted into the electric signal output in response to 611 angle variable of vacuum meter, and the output of air pressure detection module 61 respectively corresponds two suctions
Two air pressures of atmospheric pressure value detect signal in disk 1.
Temperature detecting module 62 includes that two probes contact two bleed motors 21 and for obtaining pumping electricity in real time respectively
The temperature transmitter of the temperature model HYDZ-HT100 of machine 21, two temperature transmitter difference output responses are in two pumping electricity
Two temperature detection signals of 21 temperature of machine.
Electric power detection module 63 is set as STC3100 battery cell monitoring chip, and battery cell monitoring chip couples power supply 3 and output is rung
Electric power detection signal should how many in 3 electricity of power supply.
Air pressure detection module 61, temperature detecting module 62 and electric power detection module 63 couple same central processing unit, in
Central processor receives above-mentioned the first air pressure detection signal, the second air pressure detection signal, the first temperature detection signal, second temperature
Detect signal, electric power detection signal.
It is that display module shows as coupling central processing unit and be respectively used to two suckers 1 of display and corresponding bleed motor
21 and 3 electricity of power supply two display units 641, two display units 641 are separately positioned on two suckers 1 away from metope one
Side is for people's viewing and includes three display screens for being respectively used to display different data arranged side by side.Two display units
641 show the electricity of the temperature value of the atmospheric pressure value and bleed motor 21 in corresponding 641 sucker 1 of display unit and power supply 3 respectively
Value, special operation workers can directly monitor the atmospheric pressure value of sucker 1 by the display unit 641 on sucker 1, corresponding sucker 1 is taken out
The temperature of Pneumatic generator 21 and the electricity of power supply 3.
Prompting alarm module includes temperature comparing unit, the air pressure comparing unit, electricity being integrated in inside central processing unit
Comparing unit, audio alert unit and coupling central processing unit and two red LED lamps for being used to prompt to alarm, two greens
LED light, two buzzers, loudspeakers.
Specifically, one group of red LED lamp, green LED lamp, buzzer, loudspeaker setting are provided on each sucker 1
For the earphone worn for people, the alarm voice information of preparatory typing is stored in voice alarm module.
It is provided with early warning atmospheric pressure value and alarm pneumatic value in air pressure comparing unit, is higher than early warning gas in air pressure detection signal
When pressure value, central processing unit driving air pressure detection signal corresponds to the work early warning of the buzzer on sucker 1, when air pressure detection signal is high
When alarm pneumatic value, central processing unit drives air pressure detection to inhale signal drive the speaker audio alert；In the present embodiment, in advance
Alert atmospheric pressure value is set as -15Kpa, and alarm pneumatic value is set as -5Kpa.
Early warning temperature value and alarm temperature value are provided in temperature comparing unit, when temperature detection signal is higher than default temperature
When angle value, it is pre- that central processing unit driving temperature detects the buzzer work on the sucker 1 that the corresponding bleed motor 21 of signal connects
It is alert, when temperature detection signal is higher than alarm temperature value, central processing unit drive the speaker audio alert；In the present embodiment,
Early warning temperature value is set as 100 DEG C, and alarm temperature value is set as 120 DEG C.
Early warning charge value and alarm charge value are provided in comparision of quantity of electricity unit, when electric power detection signal is lower than early warning electricity
When magnitude, central processing unit drives the buzzer work early warning on two suckers 1, when electric power detection signal is lower than alarm charge value
When, central processing unit drive the speaker audio alert；In the present embodiment, early warning charge value is set as 30%, and alarm charge value is set
It is set to 20%.
When sucker 1 works normally, central processing unit drives the green light flashing on sucker 1；When the corresponding signal of sucker 1 occurs
It is abnormal, i.e., it is jumped by normal range of operation to when early warning or even alarm range, the green light on the sucker 1 of corresponding fault-signal stops
Flashing, red light start to flash.
It should be pointed out that intelligent and safe management system 6 is also coupled to power supply 3 and is powered by power supply 3, and intelligence peace
The connect electric switch and the electric switch that connects of two bleed motors 21 of full management system 6 are linkages, i.e., only bleed motor 21 works
When, intelligent and safe management system 6 can just work.
In specific work process: special operation workers closing device connects electric switch, pacifies two bleed motors 21 and intelligence
Full management system 6 works, and bears knapsack 4, and both hands hold the handle 14 on sucker 1 respectively, and a sucker 1 is first fastened on wall
On face, after the pressure of observation sucker 1 is lower than absorption setting value, i.e. expression 1 adsorption capacity of sucker is enough, and foot is stepped down in adsorption wall at this time
On the pedal 5 of face sucker 1, it open 16 state of air discharge cook on self-locking structure locking sucker 1 extremely can not, by another sucker
1 is fastened on metope higher than the position of previous sucker 1 and it is made to adsorb metope, and special operation workers another foot steps down in correspondence
On the pedal 5 of higher sucker 1, the foot on the pedal 5 of lower sucker 1 is lifted at this time, releases opening exhaust for lower sucker 1
The locking of 16 states is closed, special operation workers hand stirs air discharge cook 16 and releases the adsorption capacity for being located at lower sucker 1, when lower
The atmospheric pressure value of place's sucker 1 will be located at lower position higher than after removing setting value, indicating that sucker 1 can exert oneself to remove from metope
Sucker 1 is removed, and is placed on the eminence of another sucker 1, is repeated the above process, to be climbed.
In the present embodiment, it the absorption setting value of the above process and removes setting value and is respectively set to -15KPA and -5KPA.
Special operation workers can be by the state of 6 real-time monitoring sucker 1 of intelligent and safe management system, and intelligent and safe management system 6
Early warning and alarm can also be carried out in working state of device exception, to improve the safety of device.
In above process, special operation workers climb metope by the adsorption capacity of sucker 1, and hand and foot have impetus,
It uses both hands and feet and is climbed, facilitate the climbing process to metope.
The embodiment of present embodiment is presently preferred embodiments of the present invention, not limits protection of the invention according to this
Range, therefore: the equivalence changes that all structures under this invention, shape, principle are done should all be covered by within protection scope of the present invention.
Claims (8)
1. a kind of individual soldier's climbing robot vacuum suction power assisting device, it is characterised in that: including two for adsorbing the suction of metope
Adsorption device is respectively communicated with two adsorbent equipments of connection and provides two air extractors of adsorption capacity for corresponding adsorbent equipment and divide
The row pressure structure of adsorption capacity on two adsorbent equipments and for releasing corresponding adsorbent equipment is not set；On the adsorbent equipment
It is provided with the handle (14) for human hand held, the adsorbent equipment is respectively connected with the pedal (5) stepped on for people's foot.
2. a kind of individual soldier's climbing robot vacuum suction power assisting device according to claim 1, it is characterised in that: the suction
Adsorption device is set as the sucker (1) of rectangle, is provided with straight-flanked ring plate on the outside of the open edge of the sucker (1) and for connecting wall
The abutting part (11) in face, the abutting part (11) are provided in the one side of metope and abut place with metope for improving abutting part
The sealing structure of leakproofness；The sucker (1) is provided with the exhaust tube for being connected to air extractor away from the side of metope
(13)。
3. a kind of individual soldier's climbing robot vacuum suction power assisting device according to claim 1, it is characterised in that: the row
Laminated structure includes the row pressure mouth (15) for being arranged on adsorbent equipment and being connected to cavity and atmosphere that adsorbent equipment and metope are encircled into
And for covering the air discharge cook (16) for closing the row pressure mouth (15), the air discharge cook (16) and the adsorbent equipment turn
The plane of dynamic connection and air discharge cook (16) towards row pressure mouth (15) is bonded sliding with plane where the open edge of row pressure mouth (15)
Connection.
4. a kind of individual soldier's climbing robot vacuum suction power assisting device according to claim 3, it is characterised in that: the suction
The self-locking structure that air discharge cook (16) closed state is locked in sucker (1) load-bearing, the self-locking knot are additionally provided on adsorption device
Structure includes that movable barrier air discharge cook (16) are opened the movable position limiting structure in path, are flexibly connected with sucker (1) and for connecting
The connection structure of pedal (5), both ends abut respectively the connection structure and movable position limiting structure and with sucker (1) rotation connection
Drive rod, when pedal (5) load-bearing stress, connection structure abuts drive rod one end and limits drive rod other end abutting activity
Structure is so that movable position limiting structure stops air discharge cook (16) to open path.
5. a kind of individual soldier's climbing robot vacuum suction power assisting device according to claim 1, it is characterised in that: the pumping
Device of air is set as vacuum pump (2), and the air inlet of the vacuum pump (2) passes through vacuum corrugated pipe (211) connection connection absorption dress
Cavity made of surrounding with metope is set, the gas outlet of vacuum pump (2) is communicated with the atmosphere.
6. a kind of individual soldier's climbing robot vacuum suction power assisting device according to claim 5, it is characterised in that: described true
The promising vacuum pump (2) of setting provides the bleed motor (21) of power in sky pump (2), and the bleed motor (21) connects promising pumping
The power supply (3) of motor (21) power supply；The power assisting device further includes the knapsack (4) born for people, the vacuum pump (2), pumping
Motor (21) and power supply (3) are arranged in knapsack (4).
7. a kind of individual soldier's climbing robot vacuum suction power assisting device according to claim 1, it is characterised in that: the suction
It is provided on adsorption device connector (18), is provided with connection frame (53) on the pedal (5), the connection frame (53) is connected with
The other end of splicing (52), the connecting rope (52) connects connector (18).
8. a kind of individual soldier's climbing robot vacuum suction power assisting device according to claim 1, characterized in that the power-assisted
Device further includes the intelligent and safe management system (6) for detection device various pieces working condition, the intelligent and safe management
System (6) includes:
Air pressure detection module (61) couples the adsorbent equipment with output response and is encircled into gas in cavity in adsorbent equipment and metope
The air pressure of pressure value size detects signal；
Temperature detecting module (62) couples temperature detection of the air extractor with output response in air extractor operating temperature and believes
Number；
It is more in the power supply unit electricity with output response to couple the power supply unit of the air extractor for electric power detection module (63)
Few electric power detection signal；
Alarm module is prompted, air pressure setting value, desired temperature and electricity setting value are inside provided with, couples the air pressure detection
Module (61), temperature detecting module (62), electric power detection module (63) and the reception air pressure detection signal, temperature detection letter
Number, electric power detection signal, be higher than desired temperature when air pressure detection signal is higher than air pressure setting value and/or temperature detection signal
And/or electric power detection signal be lower than electricity setting value when carry out prompt alarm.
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| CN201910727522.4A CN110303481B (en) | 2019-08-07 | 2019-08-07 | Vacuum adsorption booster unit of individual climbing robot |
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|---|---|---|---|
| CN201910727522.4A CN110303481B (en) | 2019-08-07 | 2019-08-07 | Vacuum adsorption booster unit of individual climbing robot |
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| CN110303481B CN110303481B (en) | 2024-03-26 |
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| CN113928855A (en) * | 2021-10-22 | 2022-01-14 | 西安热工研究院有限公司 | Utilize sucking disc formula photovoltaic module carrier of solar energy |
| CN114110004A (en) * | 2021-11-24 | 2022-03-01 | 深圳市名家汇科技股份有限公司 | Simple climbing auxiliary device for lighting engineering construction |
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