CN110339536A - A kind of special type individual soldier's climbing robot vacuum suction power assisting device - Google Patents
A kind of special type individual soldier's climbing robot vacuum suction power assisting device Download PDFInfo
- Publication number
- CN110339536A CN110339536A CN201910727004.2A CN201910727004A CN110339536A CN 110339536 A CN110339536 A CN 110339536A CN 201910727004 A CN201910727004 A CN 201910727004A CN 110339536 A CN110339536 A CN 110339536A
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- plate
- attachment disk
- pulling plate
- disk
- hole
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- 230000009194 climbing Effects 0.000 title claims abstract description 41
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 238000005259 measurement Methods 0.000 claims abstract description 3
- 238000003825 pressing Methods 0.000 claims description 16
- 238000004891 communication Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 230000000452 restraining effect Effects 0.000 claims description 3
- 238000011897 real-time detection Methods 0.000 claims description 2
- 238000005086 pumping Methods 0.000 claims 1
- 230000003447 ipsilateral effect Effects 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 7
- 238000010521 absorption reaction Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000000740 bleeding effect Effects 0.000 description 3
- 238000007789 sealing Methods 0.000 description 3
- 229920000742 Cotton Polymers 0.000 description 2
- 208000007103 Spondylolisthesis Diseases 0.000 description 2
- 239000006260 foam Substances 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 206010013911 Dysgeusia Diseases 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B27/00—Apparatus for climbing poles, trees, or the like
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Mechanical Engineering (AREA)
- Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)
Abstract
The present invention relates to a kind of extraordinary individual soldier's climbing robot vacuum suction power assisting devices, including a pair of of pedal and a pair of attachment disk for offering cavity, the attachment disk, which runs through, offers air passing hole, the attachment disk is provided with handle and exhaust tube far from cavity side, exhaust tube is communicated with evacuator, the vacuum suction power assisting device further includes controlling the air passing hole to be connected to the exhaust tube or the control piece of atmosphere, the attachment disk also slide be connected with to control piece positioned from lock set, it is described to be connected between ipsilateral pedal by drawstring from lock set, the detection warning device that real-time measurement is carried out to empty cavity pressure is additionally provided on the attachment disk.The present invention has the effect of that climbing personnel can be assisted to climb on metope.
Description
Technical field
The present invention relates to mechanical technical fields, more particularly, to a kind of extraordinary individual soldier's climbing robot vacuum suction power-assisted
Device.
Background technique
Human body is usually required in fire-fighting or People's Armed Police's Operation Rescue action at present to carry out climbing wall work, quiet
In the case of climbing arrive roof, then carry out fire-fighting or rescue action.It is usually to pass through but at present in climbing wall operation process
It manually climbs wall or climb wall using the supplementary mode of rope hose tool, but this mode is all more expense for climbing personnel
Power.Therefore the power assisting device for climb wall for support staff be at present there is an urgent need to.
Summary of the invention
The extraordinary individual soldier's climbing robot that can be climbed on metope with support staff the object of the present invention is to provide one kind is true
The attached power assisting device of suction.
Foregoing invention purpose of the invention has the technical scheme that a kind of extraordinary individual soldier climbs machine
People's vacuum suction power assisting device, including a pair of of pedal and a pair of attachment disk for offering cavity, the attachment disk, which runs through, to be opened up
There is air passing hole, the attachment disk is provided with handle and exhaust tube far from cavity side, and exhaust tube is communicated with evacuator, this is true
The attached power assisting device of suction further includes controlling the air passing hole to be connected to the exhaust tube or the control piece of atmosphere, the attachment
Disk also slide be connected with to control piece positioned from lock set, it is described to pass through drawstring between ipsilateral pedal from lock set
Connection, it is described to adhere to the detection warning device for being additionally provided on disk and carrying out real-time measurement to empty cavity pressure.
By using above-mentioned technical proposal, when climbing personnel climb, by evacuator, detection warning device with
And attachment disk and pedal are assembled, and are then bonded attachment disk with metope, are controlled air passing hole by control piece and exhaust tube connects
It is logical, while pedal is stepped on by foot, it is controlled by drawstring from lock set and control piece is positioned, evacuator is steadily to cavity
It is vacuumized, so that being in negative pressure in cavity, by attachment disk and wall-attached, another attachment disk is equally operated, and passes through detection
Warning device checks the pressure in cavity, until reaching safety value, attachment disk can carry climbing personnel；Then pass through control piece
The air passing hole of the one of attachment disk of control is in communication with the outside, and the negative pressure state in cavity is destroyed, by attachment disk and wall point
It is adsorbed in wall higher height from after, while ipsilateral foot is stepped on pedal and climbed together with the attachment disk moved up, so recycles, realization helps
Power climbing personnel climb.
The present invention is further arranged to: the exhaust tube is affixed by connecting plate and the attachment disk, the connecting plate pair
It answers and offers venthole at the exhaust tube, the control piece includes that sliding is connected between the connecting plate and the attachment disk
Pulling plate and closed plate, through offering connecting hole, the connecting hole, venthole, exhaust tube are connected to the pulling plate with air passing hole；
Described closed plate one end is connect with pulling plate, and the other end is connected by connecting column and attachment disk sliding, and closed plate upper surface
It is flushed with pulling plate upper surface, lower end surface is higher than the lower end surface of pulling plate, forms outlet chamber between pulling plate and attachment disk.
By using above-mentioned technical proposal, when needing to adsorb on attachment disk and wall, sliding pulling plate to connect
Hole, venthole, exhaust tube are connected to air passing hole, and evacuator adsorbs cavity at this time, so that being in negative pressure in cavity, are realized
Adhere to the absorption between disk and wall；When needing to separate attachment disk with wall, pulling plate is slided, so that closed plate will take out
Tracheae sealing, while air passing hole be connected to outlet chamber so that the negative pressure state in cavity is destroyed, realize adhere to disk and wall it
Between separation.
The present invention is further arranged to: the control piece further includes return spring, described return spring one end and the drawing
Plate is affixed close to handle side, the other end and attachment disk it is affixed, the return spring under natural conditions, the connecting hole, ventilation
Hole, exhaust tube are connected to air passing hole.
By using above-mentioned technical proposal, so set, after air passing hole is connected to outlet chamber when to pull down pulling plate, it will
When absorption again with wall after attachment disk is soaring, directly release pulling plate is evacuated so that pulling plate is under the action of the return spring
Pipe is connected to air passing hole, is directly realized by the evacuation to cavity, so that attachment disk and wall adsorb, it is simple to operate.
The present invention is further arranged to: it is described from lock set include the location hole being provided on attachment disk and in location hole
Interior positioning pin, the positioning pin, which is also connected with, drives its actuator in positioning hole sliding；
When the exhaust tube is connected to the air passing hole, the positioning pin stretches out the location hole under the driving of the actuator
It is abutted with the pulling plate, when the air passing hole is in communication with the outside, the positioning pin is under the driving of the actuator in described
Positioning hole.
By using above-mentioned technical proposal, the pulling plate under evacuated can be limited, be prevented from the setting of lock set
Only its process for influencing to vacuumize that glides, while also will not influence and pulling pulling plate so that adhering to the mistake that disk is separated with wall
Journey.
The present invention is further arranged to: the actuator includes ball and pull rod, and the ball and the positioning pin are separate
Pulling plate one end connection, the pull rod and attachment disk sliding connect, and the pull rod is affixed far from the pulling plate side
There is connecting shaft, the connecting shaft, which is stretched out the attachment disk and slid with the attachment disk, to be connected, the connecting shaft and the pedal
Between pass through drawstring connect；
The pull rod offers the arc groove rolled for the ball close to location hole one end, and the depth of arc groove is along close
Pulling plate direction is gradually reduced.
By using above-mentioned technical proposal, when needing to vacuumize into cavity, pedal stress drives connection axial
Slided far from pulling plate direction, connecting shaft drives pull rod mobile away from pulling plate direction, and arc groove slides along ball, arc
Ball in slot with arc groove depth reduction so that positioning pin is mobile away from pressing plate direction in positioning hole, until
Pull rod is abutted with positioning plate；When needing for cavity to be connected to atmospheric air, the power to pedal is removed, connecting shaft loses drawing
Power, so that pull rod 322 moves under the action of reset spring towards close to pulling plate direction, arc groove slides along ball, until
Positioning pin is in positioning hole, loses the position-limiting action to pulling plate.
The present invention is further arranged to: the attachment disk is connected with positioning plate, the positioning plate far from the handle side
It is socketed in the connecting shaft with the pull rod far from reset spring, the reset spring is provided between described pulling plate one end,
And described reset spring one end and the pull rod are affixed, the other end is affixed with positioning plate.
By using above-mentioned technical proposal, the setting of reset spring stretches out positioning pin so that only needing to pull down connecting shaft
Location hole limits pulling plate, when needing for positioning pin and pulling plate to be detached from, it is only necessary to connecting shaft is unclamped, so that pull rod exists
It is slid under the action of reset spring, so that positioning pin is in positioning hole and loses limit to pulling plate.
The present invention is further arranged to: the positioning plate is affixed by pressing plate and the attachment disk, the pressing plate and attachment
Disk is affixed, and the slid chamber of the pull rod sliding is formed between the pressing plate and the attachment disk, and rod length is less than sliding
The length of chamber.
By using above-mentioned technical proposal, so set, realizing positioning disk and adhering to affixed between disk, and may be implemented
The sliding of pull rod and attachment disk and position-limiting action.
The present invention is further arranged to: limit spring is socketed on the positioning pin, and the positioning pin is close to the rolling
The also affixed restraining position ring block in pearl one end, the limit spring and stop collar are affixed；
The location hole includes first positioning hole and second location hole, and the stop collar and the limit spring are in the first positioning
In hole, and the internal diameter of the first positioning hole is greater than the internal diameter of the second location hole, the first positioning hole and described second
Positioning step is formed between location hole.
By using above-mentioned technical proposal, positioning pin is arranged so that when positioning hole sliding, ball is always
In arc groove, prevent the two from occurring to be detached from or deviate.
The present invention is further arranged to: the pull rod slots to form limited step close to pulling plate one end, and the arc groove is opened
It is located on the limited step, and the limited step is lower than pulling plate;
The pull rod slots to form support level far from pulling plate one end, and the connecting shaft and the reset spring are in the support
On step.
By using above-mentioned technical proposal, the setting of support level can be supported connecting shaft and reset spring, together
When, it also will not influence the sliding of pull rod, pull rod sliding may be implemented in the setting of limited step, so as to realize that positioning pin can be with
Location hole is stretched out to be positioned with control piece.
The present invention is further arranged to: the evacuator includes bleed motor and the power supply that connect with bleed motor, institute
Bleed motor and the power supply are stated with the detection warning device connection, and the detection warning device also real-time detection is evacuated electric
The temperature of machine and the electricity of power supply.
By using above-mentioned technical proposal, so set, during climbing, can in real time to the temperature of bleed motor,
The electricity of power supply and the pressure in cavity are shown and are alarmed, and ensure climbing safety.
In conclusion advantageous effects of the invention are as follows:
1, attachment disk and the vacuum suction of wall may be implemented by the setting of control piece in the present invention or separate, and control piece and
It is connected between pedal by drawstring, so that climbing personnel can climb upwards with the rising of attachment disk, detection alarm dress
The setting set can in real time detect attachment intracavitary vacuum of circling or whirl in the air, to guarantee climbing safety；
2, pedal can be stepped on by foot and can be realized pulling plate is determined by drawstring in the present invention with the setting from lock set
Position, preventing pulling plate from downwards slide influences attachment disk and vacuumizes operation, removes power to pedal, so that it may release positioning pin for drawing
The positioning of plate, it is simple to operate so as to which pulling plate is pulled downward on the bleeding realized for adhering to disk internal cavity；
3, it may be implemented to automatically reset after pulling downward on pulling plate by the setting of return spring in the present invention, so that attachment disk
Realization exhaust is communicated with the atmosphere in cavity.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram that detection warning device is embodied in the present invention；
Fig. 3 is the structural schematic diagram that protrusion is embodied in the present invention；
Fig. 4 is the structural schematic diagram that control piece is embodied in the present invention；
Fig. 5 is the connection relationship diagram that arc groove and positioning pin are embodied in the present invention；
Fig. 6 is the structural schematic diagram embodied in the present invention from lock set；
Fig. 7 is the structural schematic diagram that arc groove is embodied in the present invention.
In figure, 1, attachment disk；11, location hole；111, first positioning hole；112, second location hole；12, air passing hole；13,
Hand；14, exhaust tube；15, connector；151, connecting plate；16, raised；2, control piece；21, pulling plate；211, pulling eye；22, it closes
Plate；221, outlet chamber；23, connecting column；3, from lock set；31, positioning pin；32, actuator；321, ball；322, pull rod；
3221, arc groove；3222, limited step；3223, support level；33, connecting shaft；34, reset spring；35, positioning plate；36, it limits
Position spring；37, stop collar；4, pressing plate；41, slid chamber；5, pedal；51, pedal portion；52, interconnecting piece；6, drawstring；7, detection report
Alarm device.
Specific embodiment
Below in conjunction with attached drawing, invention is further described in detail.
It referring to Fig.1, is a kind of extraordinary individual soldier's climbing robot vacuum suction power assisting device disclosed by the invention, including a pair
Pedal 5, evacuators left and right two symmetrically arranged a pair of of attachment disks 1 and be connected to attachment disk 1, evacuator are born in climbing
It climbs in the knapsack of personnel, pedal 5 is connect by drawstring 6 with equidirectional attachment disk 1.In conjunction with Fig. 2, adheres to 1 side of disk and be provided with
Cavity, the other side are provided with handle 13 and the exhaust tube being connected to evacuator 14, and handle 13 and attachment disk 1 are affixed.It evacuates
Device includes power supply and the bleed motor connected to power supply, is provided with bleeding point and exhaust outlet in bleed motor, bleeding point with
The exhaust tube 14 for adhering to disk 1 is connected to, and exhaust outlet is communicated with the atmosphere.Detection warning device 7, detection report are additionally provided on attachment disk 1
Alarm device 7 couples with attachment disk 1, bleed motor and power supply, allows detection warning device 7 to electric quantity of power supply, adheres to disk 1
Pressure and bleed motor temperature in cavity are measured in real time display, and alarm when abnormal.
Attachment disk 1 can select the vacuum chuck made of foam cotton, can also select using rubber material production
Vacuum chuck because being easy to be scratched when in use using the vacuum chuck that foam cotton makes, while using rubber material
The vacuum chuck of production also has high temperature resistance, can operate under the high temperature conditions, therefore the attachment disk 1 in application scheme
Preferential use is made by rubber material.Further, it is contemplated that the attachment disk 1 in application scheme has also been used in brickwork joint
Wall on, in order to guarantee to adhere to the sealing performance for be bonded guarantee cavity closely between disk 1 and brickwork joint, as shown in figure 3, using
The attachment disk 1 of rubber material production and brickwork joint joint place are additionally provided with several hemispherical projections 16 being staggered, and hemispherical is convex
16 are played towards penetrating close to wall direction is convex, the radius of hemispherical projections 16 is 4-5mm, so that attachment disk 1 is fitted in wall
When upper, hemispherical projections 16 are in brickwork joint, fitting closely between attachment disk 1 and brickwork joint may be implemented, to guarantee
The sealing performance of cavity.
When climbing personnel climb, evacuator is carried on the back first, evacuator and attachment disk 1 are attached, and
It will test warning device 7 and assemble and finish, be then bonded attachment disk 1 with metope, opening bleed motor is carried out in cavity
It vacuumizes, when observing that negative pressure value reaches setting value, carries out climbing work, an attachment disk 1 is adsorbed on wall, foot and foot
5 are pedaled as attachment disk 1 is climbed, when attachment disk 1 is adsorbed on metope by the way that evacuator evacuation is stable, another is adhered to
Disk 1 is adsorbed on wall, and equidirectional foot and pedal 5 are with the conscientious climbing of equidirectional attachment disk 1, the attachment that then will first put
Disk 1 deflate with wall and separate, and wall higher height is adsorbed in after removing and is climbed with wall absorption.
As shown in figure 4, exhaust tube 14 passes through connector 15 through air passing hole 12(is offered with reference to Fig. 6) on attachment disk 1
Affixed with attachment disk 1, connector 15 includes the connecting plate 151 affixed by connecting column 23 and attachment disk 1, and connecting plate 151 is corresponding
Venthole is offered at exhaust tube 14, exhaust tube 14 is affixed far from attachment 1 side of disk with connecting plate 151 and penetrates through with air inlet pipe.
Control air passing hole 12 is provided between air passing hole 12 and connecting plate 151 to be connected to exhaust tube 14 or be connected to outside air
Control piece 2 slides between control piece 2 and attachment disk 1 and connects.In use, climbing personnel's hand grips on handle 13, controlled when passing through
Control piece 2 is connected to air passing hole 12 with exhaust tube 14, and then is connected to evacuator, is in negative pressure by the evacuating air in cavity
State realizes the attachment of attachment disk 1 and wall, and then can carry climbing personnel, when by control piece 2 make air passing hole 12 and
When external world's connection, realize that the vacuum state of cavity is destroyed, so that attachment disk 1 be separated with wall, such circulation can be with
It realizes attachment disk 1 and the absorption of wall or separates, and then support can be provided during climbing on wall to climbing personnel,
To the effect of power-assisted.
As shown in Figure 4 and Figure 5, control piece 2 includes in connecting plate 151 and adhering to the pulling plate 21 and closed plate between disk 1
22, pulling plate 21 offers pulling eye 211 close to 13 side of handle, also extends through on pulling plate 21 and offers connecting hole, connection hole is in drawing
Between hole 211 and closed plate 22, when attachment 1 cavity of disk vacuumizes, exhaust tube 14, connecting hole and the perforation connection (knot of air passing hole 12
Close Fig. 5), manufacture negative pressure state is evacuated out of cavity by exhaust tube 14 to realize, attachment disk 1 is adsorbed on wall.Envelope
22 one end of closing plate and 21 integrally connected of pulling plate, the other end is affixed by connecting column 23 and attachment disk 1, and 22 upper surface of closed plate and
21 upper surface of pulling plate flushes, and lower end surface is higher than the lower end surface of pulling plate 21, so that forming outlet chamber between pulling plate 21 and attachment disk 1
221.It by pulling handle 13, is slid so that control piece 2 is whole towards close to 13 direction of handle, at this point, closed plate 22 will be evacuated
Pipe 14 is closed, and air passing hole 12 is connected to outlet chamber 221, so as to which cavity to be connected to outside air, is destroyed negative in cavity
Pressure condition, so that attachment disk 1 be separated with wall.
After dropping pulling plate 21 downwards so that air passing hole 12 is in communication with the outside, after rising need that disk will be adhered to again
1 when be adsorbed on wall, needs again to slide pulling plate 21 upwards, so that air passing hole 12 connects again with exhaust tube 14
It is logical, in order to reduce manual operation number, it is additionally provided with return component on attachment disk 1, aftertaste component includes return spring, return
The set-up mode of spring, which only needs to realize, to be stretched when by pulling plate 21 to close to the pulling of 13 side of handle so that closed plate
22 close exhaust tube 14, while outlet chamber 221 is connected to air passing hole 12, need for air passing hole 12 to be connected to exhaust tube 14
When, it is only necessary to the stretching action to pulling plate 21 is lost, so that pulling plate 21 is under the action of the return spring away from handle 13
Direction reduction of spondylolisthesis, so that air passing hole 12 is connected to exhaust tube 14 again, 5 stress of pedal makes positioning pin 31 to pulling plate 21 at this time
It is positioned.I.e. return spring only needs to realize that the pulling plate 21 that will be stretched downwards resets upwards.Therefore return spring
Only need one end affixed close to 2 one end of control piece with pulling plate 21, it is affixed far from 2 one end of control piece and attachment disk 1, it will stretch downwards
The upward reduction of spondylolisthesis of pulling plate 21.
During climbing, since attachment disk 1 is presented in vertical direction, and pulling plate 21 and attachment disk 1 and connecting plate 151
Sliding connection, even if there is return spring, but pulling plate 21 still can move downward influence under the effect of gravity and take out very
Idle job, pulling plate 21 moves down in order to prevent, and personnel's hand is needed to control pulling plate 21 always, inconvenient.As shown in figure 4, therefore attached
Be additionally provided on disk 1 from lock set 3, include the location hole 11 being provided on attachment disk 1 and in location hole 11 from lock set 3
Interior positioning pin 31 further includes the actuator 32 for driving positioning pin 31 to slide in location hole 11 from lock set 3, when actuator 32
When driving positioning pin 31 to stretch out location hole 11, positioning pin 31 is abutted with pulling plate 21 plays the role of positioning to pulling plate 21, prevents
Only it glides, at this point, air passing hole 12 is connected to exhaust tube 14, realizes that attachment disk 1 and wall adsorb；It is positioned when actuator 32 drives
When pin 31 is in location hole 11, pulling plate 21 can be pulled downward at this time, so that air passing hole 12 is connected to outside air, it is real
Now attachment disk 1 is separated with wall.Pulling plate 21 in vacuum can be positioned from the setting of lock set 3, keep gas
Hole 12 and 14 connected state of exhaust tube, do not need personnel control pulling plate 21.
As shown in fig. 6, attachment disk 1 is connected with pressing plate 4 far from 13 side of handle, formed between pressing plate 4 and attachment disk 1 for driving
Moving part 32 slide slid chamber 41, actuator 32 include the pull rod 322 slided in slid chamber 41 and with pull rod 322 far from pulling plate
The affixed connecting shaft 33 in 21 one end.In conjunction with Fig. 3 and Fig. 4,322 both ends of pull rod are respectively formed limit away from 4 direction of pressing plate fluting
Position step 3222 and support level 3223, limited step 3222 are in close to 21 one end of pulling plate, and support level 3223 is in another
End, positioning pin 31 are connected with ball 321 far from 21 one end of pulling plate, and the arc rolled for ball 321 is offered on limited step 3222
The depth of shape slot 3221, arc groove 3221 is gradually reduced along close to 21 direction of pulling plate.By upper between connecting shaft 33 and pedal 5
The connection of drawstring 6 is stated, pedal 5 includes pedal portion 51 and interconnecting piece 52, and drawstring 6 is connect with interconnecting piece 52.In pressing plate 4 far from pulling plate 21
One end is also connected with positioning plate 35, and positioning plate 35 and pressing plate 4 are affixed, and positioning plate 35 and the sliding of connecting shaft 33 connect, and connect
Reset spring 34 is socketed on axis 33,34 one end of reset spring and positioning plate 35 are affixed, and the other end and pull rod 322 are affixed.
When needing to vacuumize into cavity, foot steps on pedal 5, pulls connecting shaft 33 away from 21 direction of pulling plate,
Connecting shaft 33 drives pull rod 322 mobile away from 21 direction of pulling plate, and arc groove 3221 slides along ball 321, arc groove
Ball 321 in 3221 with 3221 depth of arc groove reduction so that positioning pin 31 is in location hole 11 away from pressing plate 4
Direction is mobile, until pull rod 322 is abutted with positioning plate 35, reset spring 34 is compressed at this time, and ball 321 is in arc groove 3221
Close to 21 one end of pulling plate, the stretching location hole 11 of positioning pin 31 is abutted with pulling plate 21 limits pulling plate 21；When needing cavity
When connection with outside air, foot removes the active force to pedal portion 51, and connecting shaft 33 loses stress, and pull rod 322 is resetting
It is moved under the action of spring 34 towards close to 21 direction of pulling plate, arc groove 3221 slides along ball 321, until reset spring 34
In the raw, at this point, ball 321 is in arc groove 3221 far from 21 side of pulling plate, at this point, positioning pin 31 is in location hole
In 11, the position-limiting action to pulling plate 21 is lost, at this point, pulling pulling plate 21, so that air passing hole 12 is connected to outside air, realizing will
Adhere to disk 1 and the absorption of wall and isolated process.
As shown in figure 5 and figure 7, in the also affixed restraining position ring block 37 of outer peripheral surface of the positioning pin 31 close to 321 one end of ball, and
Limit spring 36 is socketed on positioning pin 31, limit spring 36 and the affixed location hole 11 herein of stop collar 37 include the first positioning
Hole 111 and second location hole 112, first positioning hole 111 is connected to arc groove 3221, and the internal diameter of first positioning hole 111 is greater than
The internal diameter of second location hole 112 forms positioning step, 36 He of limit spring between first positioning hole 111 and second location hole 112
Stop collar 37 is in first positioning hole 111.The setting of positioning step plays the role of limit, limit spring to limit spring 36
36 and stop collar 37 setting so that during positioning pin 31 is moved away from or close to 4 direction of pressing plate, i.e. positioning pin
31 in location hole 11 during slide, and positioning pin 31 is always in the location hole 11, and ball 321 is always in arc groove
In 3221, prevent the two from occurring to be detached from or deviate.
The implementation principle of the present embodiment are as follows: when climbing personnel climb, first carry on the back evacuator, by evacuator
It is attached with attachment disk 1, and will test warning device 7 and assemble and finish, be then bonded attachment disk 1 with metope, opening
Bleed motor when observing that negative pressure value reaches setting value, carries out climbing work, one is adhered to vacuumizing in cavity
Disk 1 is adsorbed on wall, and ipsilateral foot steps on pedal portion 51, drops drawstring 6 and connecting shaft 33 and pressing plate 4 are moved downward, positioning
Pin 31 stretches out location hole 11 and positions to pulling plate 21, at this point, air passing hole 12 is connected to exhaust tube 14, by evacuator to sky
It is intracavitary to be evacuated into negative pressure state, attachment disk 1 is adsorbed on metope, carries climbing personnel, similarly, identical operation will be another
One attachment disk 1 is adsorbed on wall, then will wherein a foot and pedal 5 be lifted, drawstring 6 loses stress and loses to ipsilateral
The pulling plate 21 for adhering to disk 1 positions, and pulls ipsilateral pulling plate 21 so that closed plate 22 closes exhaust tube 14, air passing hole 12 with go out
Air cavity 221 is connected to, and the attachment disk 1 after the deflation is separated with wall, is bonded, is then lost to drawing with wall higher height after removing
The pulling force of plate 21 is connected to air passing hole 12 with exhaust tube 14, and then ipsilateral foot steps on pedal 5,
Pulling plate 21 is positioned, then the attachment disk 1 and wall attached repeat the above steps, completes climbing operation.
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 protection scope of the present invention it
It is interior.
Claims (10)
1. a kind of special type individual soldier's climbing robot vacuum suction power assisting device, it is characterised in that: including a pair of of pedal (5) and one
To the attachment disk (1) for offering cavity, the attachment disk (1) is through offering air passing hole (12), and the attachment disk (1) is far from empty
Chamber side is provided with handle (13) and exhaust tube (14), and exhaust tube (14) is communicated with evacuator, vacuum suction power-assisted dress
Setting further includes controlling the air passing hole (12) to be connected to the exhaust tube (14) or the control piece of atmosphere (2), the attachment
Disk (1) also slide be connected with to control piece (2) positioned from lock set (3), it is described from lock set (3) and the pedal
(5) it connects, the detection warning device (7) for carrying out real-time measurement to empty cavity pressure is additionally provided on attachment disk (1).
2. a kind of extraordinary individual soldier's climbing robot vacuum suction power assisting device according to claim 1, it is characterised in that: institute
State exhaust tube (14) it is affixed by connecting plate (151) and the attachment disk (1), the connecting plate (151) the correspondence exhaust tube
(14) venthole is offered at, the control piece (2) includes that sliding is connected to the connecting plate (151) and the attachment disk (1)
Between pulling plate (21) and closed plate (22), the pulling plate (21) is through offering connecting hole, the connecting hole, venthole, pumping
Tracheae (14) is connected to air passing hole (12)；
Described closed plate (22) one end is connect with pulling plate (21), and the other end is connected by connecting column (23) and attachment disk (1) sliding,
And closed plate (22) upper surface is flushed with pulling plate (21) upper surface, lower end surface be higher than pulling plate (21) lower end surface, pulling plate (21) with
Adhere between disk (1) and forms outlet chamber (221).
3. a kind of extraordinary individual soldier's climbing robot vacuum suction power assisting device according to claim 2, it is characterised in that: institute
Stating control piece (2) further includes return spring, and described return spring one end is affixed close to handle (13) side with the pulling plate (21),
The other end and attachment disk (1) it is affixed, the return spring under natural conditions, the connecting hole, venthole, exhaust tube (14) and mistake
Stomata (12) connection.
4. a kind of extraordinary individual soldier's climbing robot vacuum suction power assisting device according to claim 2, it is characterised in that: institute
The positioning pin (31) for including the location hole (11) being provided in attachment disk (1) from lock set (3) and being in location hole (11) is stated,
The positioning pin (31) is also connected with the actuator (32) of its sliding in location hole (11) of driving；
When the exhaust tube (14) is connected to the air passing hole (12), driving of the positioning pin (31) in the actuator (32)
The lower stretching location hole (11) abuts with the pulling plate (21), when the air passing hole (12) is in communication with the outside, the positioning pin
(31) it is under the driving of the actuator (32) in the location hole (11).
5. a kind of extraordinary individual soldier's climbing robot vacuum suction power assisting device according to claim 4, it is characterised in that: institute
Stating actuator (32) includes ball (321) and pull rod (322), and the ball (321) and the positioning pin (31) are far from the drawing
The connection of plate (21) one end, the pull rod (322) and the attachment disk (1) sliding connect, and the pull rod (322) is far from the drawing
Plate (21) side is connected with connecting shaft (33), and the connecting shaft (33) is stretched out the attachment disk (1) and slided with the attachment disk (1)
Connection is moved, is connect between the connecting shaft (33) and the pedal (5) by drawstring (6)；
The pull rod (322) offers the arc groove (3221) rolled for the ball (321) close to location hole (11) one end, and
The depth of arc groove (3221) is gradually reduced along close to pulling plate (21) direction.
6. a kind of extraordinary individual soldier's climbing robot vacuum suction power assisting device according to claim 5, it is characterised in that: institute
It states attachment disk (1) to be connected with positioning plate (35) far from the handle (13) side, the positioning plate (35) and the pull rod (322)
Far from being provided with reset spring (34) between the pulling plate (21) one end, the reset spring (34) is socketed on the connecting shaft
(33) on, and the reset spring (34) one end and the pull rod (322) are affixed, and the other end and positioning plate (35) are affixed.
7. a kind of extraordinary individual soldier's climbing robot vacuum suction power assisting device according to claim 5, it is characterised in that: institute
State positioning plate (35) by pressing plate (4) and the attachment disk (1) it is affixed, the pressing plate (4) and adhere to disk (1) it is affixed and described
The slid chamber (41) of the pull rod (322) sliding is formed between pressing plate (4) and attachment disk (1), and pull rod (322) length is small
Length in slid chamber (41).
8. a kind of extraordinary individual soldier's climbing robot vacuum suction power assisting device according to claim 5, it is characterised in that: institute
It states and is socketed on positioning pin (31) limit spring (36), and the positioning pin (31) is also affixed close to the ball (321) one end
Restraining position ring block (37), the limit spring (36) and stop collar (37) are affixed；
The location hole (11) includes first positioning hole (111) and second location hole (112), the stop collar (37) and the limit
Position spring (36) is in first positioning hole (111), and the internal diameter of the first positioning hole (111) is greater than the second location hole
(112) internal diameter forms positioning step between the first positioning hole (111) and the second location hole (112).
9. a kind of extraordinary individual soldier's climbing robot vacuum suction power assisting device according to claim 6, it is characterised in that: institute
It states pull rod (322) to slot to be formed limited step (3222) close to pulling plate (21) one end, the arc groove (3221) is provided with described
On limited step (3222), and the limited step (3222) is lower than pulling plate (21);
The pull rod (322) is slotted to be formed support level (3223) far from pulling plate (21) one end, the connecting shaft (33) and described
Reset spring (34) is on the support level (3223).
10. a kind of extraordinary individual soldier's climbing robot vacuum suction power assisting device according to claim 1, it is characterised in that:
The evacuator includes bleed motor and the power supply that connect with bleed motor, the bleed motor and the power supply with it is described
Detect warning device (7) connection, the electricity of detection warning device (7) the also temperature of real-time detection bleed motor and power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910727004.2A CN110339536B (en) | 2019-08-07 | 2019-08-07 | Special individual climbing robot vacuum adsorption booster unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910727004.2A CN110339536B (en) | 2019-08-07 | 2019-08-07 | Special individual climbing robot vacuum adsorption booster unit |
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| Publication Number | Publication Date |
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| CN110339536A true CN110339536A (en) | 2019-10-18 |
| CN110339536B CN110339536B (en) | 2024-02-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910727004.2A Active CN110339536B (en) | 2019-08-07 | 2019-08-07 | Special individual climbing robot vacuum adsorption booster unit |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111543905A (en) * | 2020-05-08 | 2020-08-18 | 四川先成科技有限责任公司 | Human body climbing device and control method thereof |
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|---|---|---|---|---|
| JPH067469A (en) * | 1991-11-28 | 1994-01-18 | Tokyo Metropolis | Wall face climbing tool |
| CN104015832A (en) * | 2014-06-17 | 2014-09-03 | 东南大学 | Pneumatic wall-climbing robot |
| CN107140051A (en) * | 2017-05-26 | 2017-09-08 | 李秉文 | A kind of Climbing Robot and its sole and its sole adsorption method |
| CN210448012U (en) * | 2019-08-07 | 2020-05-05 | 北京凌天智能装备集团股份有限公司 | Vacuum adsorption power assisting device of special individual soldier climbing robot |
-
2019
- 2019-08-07 CN CN201910727004.2A patent/CN110339536B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH067469A (en) * | 1991-11-28 | 1994-01-18 | Tokyo Metropolis | Wall face climbing tool |
| CN104015832A (en) * | 2014-06-17 | 2014-09-03 | 东南大学 | Pneumatic wall-climbing robot |
| CN107140051A (en) * | 2017-05-26 | 2017-09-08 | 李秉文 | A kind of Climbing Robot and its sole and its sole adsorption method |
| CN210448012U (en) * | 2019-08-07 | 2020-05-05 | 北京凌天智能装备集团股份有限公司 | Vacuum adsorption power assisting device of special individual soldier climbing robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111543905A (en) * | 2020-05-08 | 2020-08-18 | 四川先成科技有限责任公司 | Human body climbing device and control method thereof |
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| CN110339536B (en) | 2024-02-20 |
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