CN110339536B - Special individual climbing robot vacuum adsorption booster unit - Google Patents
Special individual climbing robot vacuum adsorption booster unit Download PDFInfo
- Publication number
- CN110339536B CN110339536B CN201910727004.2A CN201910727004A CN110339536B CN 110339536 B CN110339536 B CN 110339536B CN 201910727004 A CN201910727004 A CN 201910727004A CN 110339536 B CN110339536 B CN 110339536B
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- positioning
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- 230000009194 climbing Effects 0.000 title claims abstract description 37
- 238000001179 sorption measurement Methods 0.000 title claims abstract description 22
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 230000000149 penetrating effect Effects 0.000 claims abstract description 6
- 230000000670 limiting effect Effects 0.000 claims description 31
- 238000007789 sealing Methods 0.000 claims description 14
- 238000005096 rolling process Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 10
- 238000000605 extraction Methods 0.000 description 6
- 239000011449 brick Substances 0.000 description 5
- 238000000926 separation method Methods 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 3
- 230000000630 rising effect Effects 0.000 description 3
- 229920000742 Cotton Polymers 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 239000006260 foam Substances 0.000 description 2
- 206010013911 Dysgeusia Diseases 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000002093 peripheral effect Effects 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
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- 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 invention relates to a vacuum adsorption booster of a special individual climbing robot, which comprises a pair of pedals and a pair of attaching plates provided with cavities, wherein air passing holes are formed in the attaching plates in a penetrating manner, a handle and an exhaust pipe are arranged on one side, far away from the cavities, of the attaching plates, the exhaust pipe is communicated with an evacuating device, the vacuum adsorption booster also comprises a control piece for controlling the air passing holes to be communicated with the exhaust pipe or communicated with the atmosphere, the attaching plates are also connected with a self-locking assembly in a sliding manner, the self-locking assembly is connected with the pedals on the same side through pull ropes, and a detection alarm device for measuring the pressure in the cavities in real time is further arranged on the attaching plates. The invention has the effect of assisting climbing personnel to climb on the wall surface.
Description
Technical Field
The invention relates to the technical field of machinery, in particular to a vacuum adsorption booster device of a special individual climbing robot.
Background
At present, in the firefighting or armed police combat rescue actions, a human body is usually required to climb a wall, climb a roof under the condition of no sound, and then perform firefighting or rescue actions. However, in the process of climbing the wall, the wall is usually climbed by bare hands or an auxiliary mode of hooking ropes is adopted, but the mode is laborious for climbing personnel. Thus, there is an urgent need for a power assisting device for assisting a person in climbing a wall.
Disclosure of Invention
The invention aims to provide a vacuum adsorption booster device of a special individual climbing robot, which can assist a person to climb on a wall surface.
The above object of the present invention is achieved by the following technical solutions: the utility model provides a special individual soldier climbing robot vacuum adsorption booster unit, includes a pair of pedal and a pair of attached disc of seting up the cavity, attached disc runs through and has seted up the gas pocket, attached disc keeps away from cavity one side and is provided with handle and exhaust tube, and the exhaust tube intercommunication has evacuating device, this vacuum adsorption booster unit still includes control the gas pocket with the control of exhaust tube intercommunication or atmosphere intercommunication, attached disc still slides and is connected with the auto-lock subassembly that carries out the location to the control, be connected through the stay cord between the pedal of auto-lock subassembly and homonymy, still be provided with on the attached disc and carry out real-time measuring detection alarm device to the cavity internal pressure.
By adopting the technical scheme, when climbing personnel climb, the evacuator, the detection alarm device, the attaching disc and the pedals are assembled, then the attaching disc is attached to the wall surface, the air passing hole is controlled by the control piece to be communicated with the exhaust pipe, the pedals are stepped on by feet, the control piece is positioned by the self-locking assembly controlled by the pull rope, the evacuator stably vacuumizes the cavity to form negative pressure, the attaching disc is adsorbed to the wall surface, the other attaching disc is operated in the same way, the pressure in the cavity is checked by the detection alarm device until reaching a safe value, and the attaching disc can bear the climbing personnel; then through the air passing hole and the external intercommunication of control piece control one of them adhesion disk, the negative pressure state in the cavity is destroyed, adsorbs in the higher department of wall body after with adhesion disk and wall body separation, and the pedal is stepped on with the foot of homonymy is climbed along with the adhesion disk that shifts up together simultaneously, so the circulation realizes that helping hand climbing personnel scrambles.
The invention is further provided with: the exhaust pipe is fixedly connected with the attaching disc through a connecting plate, a vent hole is formed in the position, corresponding to the exhaust pipe, of the connecting plate, the control piece comprises a pulling plate and a sealing plate, the pulling plate is connected between the connecting plate and the attaching disc in a sliding mode, a connecting hole is formed in the pulling plate in a penetrating mode, and the connecting hole, the vent hole, the exhaust pipe and the through-air hole are communicated;
one end of the sealing plate is connected with the pulling plate, the other end of the sealing plate is connected with the attaching plate in a sliding way through the connecting column, the upper end face of the sealing plate is flush with the upper end face of the pulling plate, the lower end face of the sealing plate is higher than the lower end face of the pulling plate, and an air outlet cavity is formed between the pulling plate and the attaching plate.
By adopting the technical scheme, when the attaching disc is required to be adsorbed to the wall body, the connecting hole, the vent hole, the exhaust pipe and the air passing hole are communicated by the sliding pulling plate, and at the moment, the cavity is adsorbed by the evacuating device, so that the cavity is in negative pressure, and the adsorption between the attaching disc and the wall body is realized; when the attaching plate is required to be separated from the wall body, the pulling plate is slid, so that the sealing plate seals the exhaust pipe, and meanwhile, the air passing hole is communicated with the air outlet cavity, so that the negative pressure state in the cavity is destroyed, and the separation between the attaching plate and the wall body is realized.
The invention is further provided with: the control piece also comprises a return spring, one end of the return spring is fixedly connected with one side, close to the handle, of the pulling plate, the other end of the return spring is fixedly connected with the attaching plate, and the connecting hole, the vent hole, the exhaust tube and the air passing hole are communicated in a natural state of the return spring.
Through adopting above-mentioned technical scheme, so set up for after passing the gas pocket with the arm-tie pull down and giving vent to anger the chamber intercommunication, when rising the adhesion dish again with the wall body absorption, directly loosen the arm-tie, make the arm-tie under return spring's effect, exhaust tube and the gas pocket intercommunication, directly realize the evacuation to the cavity, make adhesion dish and wall body absorption, easy operation is convenient.
The invention is further provided with: the self-locking assembly comprises a positioning hole formed in the attaching plate and a positioning pin positioned in the positioning hole, and the positioning pin is also connected with a driving piece for driving the positioning pin to slide in the positioning hole;
when the exhaust pipe is communicated with the air passing hole, the locating pin stretches out of the locating hole to be abutted with the pulling plate under the driving of the driving piece, and when the air passing hole is communicated with the outside, the locating pin is located in the locating hole under the driving of the driving piece.
Through adopting above-mentioned technical scheme, the arm-tie under the state of evacuating can be spacing to the setting of auto-lock subassembly, prevents that its gliding from influencing the process of evacuation, still can not influence simultaneously with the arm-tie pulling so that the process of adhesion dish and wall body separation.
The invention is further provided with: the driving piece comprises a ball and a pull rod, the ball is connected with one end, far away from the pull plate, of the locating pin, the pull rod is connected with the attaching plate in a sliding manner, a connecting shaft is fixedly connected to one side, far away from the pull plate, of the pull rod, the connecting shaft extends out of the attaching plate and is connected with the attaching plate in a sliding manner, and the connecting shaft is connected with the pedals through a pull rope;
the pull rod is close to one end of the locating hole and is provided with an arc groove for rolling the ball, and the depth of the arc groove is gradually reduced along the direction close to the pull plate.
By adopting the technical scheme, when the cavity is required to be vacuumized, the pedal is stressed to drive the connecting shaft to slide in the direction away from the pull plate, the connecting shaft drives the pull rod to move in the direction away from the pull plate, the arc groove slides along the ball, the ball in the arc groove is reduced along with the depth of the arc groove, and the positioning pin moves in the positioning hole in the direction away from the pressing plate until the pull rod is abutted with the positioning plate; when the cavity is required to be communicated with the atmosphere, the force on the pedal is removed, the connecting shaft loses tension, the pull rod 322 moves towards the direction close to the pull plate under the action of the return spring, the arc-shaped groove slides along the balls until the positioning pin is positioned in the positioning hole, and the limiting effect on the pull plate is lost.
The invention is further provided with: the attaching plate is far away from one side of the handle and fixedly connected with a positioning plate, a reset spring is arranged between the positioning plate and one end, far away from the pull plate, of the pull rod, the reset spring is sleeved on the connecting shaft, one end of the reset spring is fixedly connected with the pull rod, and the other end of the reset spring is fixedly connected with the positioning plate.
Through adopting above-mentioned technical scheme, reset spring's setting makes only need drop-down connecting axle make the locating pin stretch out the locating hole and carry out spacingly to the arm-tie, when need breaking away from locating pin and arm-tie, only need loosen the connecting axle for the pull rod slides under reset spring's effect, makes the locating pin be in the locating hole lose to the spacing of arm-tie can.
The invention is further provided with: the locating plate is fixedly connected with the attaching plate through the pressing plate, the pressing plate is fixedly connected with the attaching plate, a sliding cavity for sliding the pull rod is formed between the pressing plate and the attaching plate, and the length of the pull rod is smaller than that of the sliding cavity.
Through adopting above-mentioned technical scheme, so set up, realize the rigid coupling between positioning disk and the attachment disc, and can realize the sliding and the limiting displacement of pull rod and attachment disc.
The invention is further provided with: the locating pin is sleeved with a limiting spring, one end of the locating pin, which is close to the ball, is fixedly connected with a limiting ring, and the limiting spring is fixedly connected with the limiting ring;
the locating holes comprise a first locating hole and a second locating hole, the limiting ring and the limiting spring are located in the first locating hole, the inner diameter of the first locating hole is larger than that of the second locating hole, and a locating step is formed between the first locating hole and the second locating hole.
Through adopting above-mentioned technical scheme, so set up when making the locating pin slide in the locating hole, the ball is in the arc inslot all the time, prevents that both from taking place to break away from or skew.
The invention is further provided with: the limiting step is formed by slotting one end of the pull rod, which is close to the pull plate, the arc-shaped slot is formed on the limiting step, and the limiting step is lower than the pull plate;
and one end of the pull rod, which is far away from the pull plate, is slotted to form a supporting step, and the connecting shaft and the reset spring are positioned on the supporting step.
Through adopting above-mentioned technical scheme, the setting of supporting the step can support connecting axle and reset spring, simultaneously, still can not influence the slip of pull rod, and the setting of spacing step can realize the pull rod and slide to can realize that the locating pin can stretch out the locating hole and fix a position with the control piece.
The invention is further provided with: the evacuating device comprises an evacuating motor and a power supply connected with the evacuating motor, wherein the evacuating motor and the power supply are communicated with the detection alarm device, and the detection alarm device also detects the temperature of the evacuating motor and the electric quantity of the power supply in real time.
Through adopting above-mentioned technical scheme, so set up, at the climbing in-process, can show and report to the police to the temperature of air extraction motor, the electric quantity of power and the pressure in the cavity in real time, ensure climbing safety.
In summary, the beneficial technical effects of the invention are as follows:
1. according to the invention, the vacuum adsorption or separation of the attachment plate and the wall body can be realized through the arrangement of the control piece, and the control piece is connected with the pedals through the pull rope, so that climbing personnel can climb upwards along with the rising of the attachment plate, and the arrangement of the detection alarm device can detect the vacuum in the cavity of the attachment plate in real time, so that the climbing safety is ensured;
2. according to the invention, the pull plate can be positioned by stepping on the pedals through the stay cord and the self-locking assembly, so that the pull plate is prevented from sliding downwards to affect the vacuumizing operation of the attaching plate, the positioning of the locating pin on the pull plate can be released by removing the force on the pedals, and the pull plate can be pulled downwards to realize the exhausting operation on the cavity in the attaching plate, and the operation is simple and convenient;
3. according to the invention, the automatic reset after the pulling plate is pulled downwards can be realized through the arrangement of the return spring, so that the cavity of the attaching plate is communicated with the atmosphere to realize exhaust.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of a detection alarm device embodying the present invention;
FIG. 3 is a schematic view of a structure embodying a protrusion in the present invention;
FIG. 4 is a schematic view of a control member embodying the present invention;
FIG. 5 is a schematic illustration of the connection of an arcuate slot and a locating pin embodying the present invention;
FIG. 6 is a schematic view of a self-locking assembly embodying the present invention;
fig. 7 is a schematic view of a structure of an arc-shaped groove embodied in the present invention.
In the figure, 1, an attached disc; 11. positioning holes; 111. a first positioning hole; 112. a second positioning hole; 12. air passing holes; 13. a handle; 14. an exhaust pipe; 15. a connecting piece; 151. a connecting plate; 16. a protrusion; 2. a control member; 21. pulling a plate; 211. pulling holes; 22. a closing plate; 221. an air outlet cavity; 23. a connecting column; 3. a self-locking assembly; 31. a positioning pin; 32. a driving member; 321. a ball; 322. a pull rod; 3221. an arc-shaped groove; 3222. a limit step; 3223. a support step; 33. a connecting shaft; 34. a return spring; 35. a positioning plate; 36. a limit spring; 37. a limiting ring; 4. a pressing plate; 41. a sliding cavity; 5. foot pedal; 51. a pedal part; 52. a connection part; 6. a pull rope; 7. and detecting and alarming devices.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1, the vacuum adsorption booster device of the special individual climbing robot disclosed by the invention comprises a pair of pedals 5, a pair of attaching plates 1 symmetrically arranged left and right and an evacuating device communicated with the attaching plates 1, wherein the evacuating device is arranged in a backpack of a climbing person, and the pedals 5 are connected with the attaching plates 1 in the same direction through pull ropes 6. Referring to fig. 2, the attaching plate 1 is provided with a cavity on one side and a handle 13 and an exhaust pipe 14 communicating with the evacuation device on the other side, and the handle 13 is fixedly connected with the attaching plate 1. The evacuating device comprises a power supply and an evacuating motor connected with the power supply, wherein the evacuating motor is provided with an evacuating port and an exhaust port, the evacuating port is communicated with the evacuating pipe 14 of the attaching plate 1, and the exhaust port is communicated with the atmosphere. The attaching disc 1 is also provided with a detection alarm device 7, the detection alarm device 7 is connected with the attaching disc 1, the air extraction motor and the power supply, so that the detection alarm device 7 can detect and display the power supply electric quantity, the pressure in the cavity of the attaching disc 1 and the temperature of the air extraction motor in real time and alarm when abnormal.
The vacuum chuck made of foam cotton can be selected as the attaching plate 1, and the vacuum chuck made of rubber material can also be selected as the vacuum chuck made of foam cotton is easy to scratch when in use, and meanwhile, the vacuum chuck made of rubber material also has high temperature resistance and can be operated under high temperature conditions, so that the attaching plate 1 in the scheme of the application is preferably made of rubber material. Further, considering that the attaching plate 1 in the scheme of the application is also used on a wall with a brick joint, in order to ensure that the attaching plate 1 is attached to the brick joint to ensure the sealing performance of the cavity, as shown in fig. 3, a plurality of hemispherical protrusions 16 which are arranged in a staggered manner are further arranged at the attaching position of the attaching plate 1 made of rubber material and the brick joint, the hemispherical protrusions 16 are projected towards the direction close to the wall, the radius of the hemispherical protrusions 16 is 4-5mm, and therefore, when the attaching plate 1 is attached to the wall, the hemispherical protrusions 16 are positioned in the brick joint, and the close attachment between the attaching plate 1 and the brick joint can be realized, so that the sealing performance of the cavity is ensured.
When climbing personnel climb, firstly, the evacuator is carried on the back, the evacuator is connected with the attaching disc 1, the detection alarm device 7 is connected and assembled, then the attaching disc 1 is attached to the wall, the air suction motor is turned on, the cavity is vacuumized, climbing work is carried out when the negative pressure value is observed to reach a set value, one attaching disc 1 is adsorbed on the wall, feet and pedals 5 climb along with the attaching disc 1, when the attaching disc 1 is evacuated through the evacuator and stably adsorbed on the wall, the other attaching disc 1 is adsorbed on the wall, the feet and the pedals 5 in the same direction climb along with the attaching disc 1 in the same direction as the center, then the first attaching disc 1 is separated from the wall by air discharge, and the first attaching disc 1 is adsorbed on the higher part of the wall to climb along with the adsorption of the wall after being taken down.
As shown in fig. 4, the attachment plate 1 is perforated with a gas passing hole 12 (see fig. 6), the suction pipe 14 is fixedly connected with the attachment plate 1 through a connecting piece 15, the connecting piece 15 comprises a connecting plate 151 fixedly connected with the attachment plate 1 through a connecting post 23, a vent hole is provided at a position of the connecting plate 151 corresponding to the suction pipe 14, and the suction pipe 14 is fixedly connected with the connecting plate 151 at a side far away from the attachment plate 1 and is communicated with the gas inlet pipe. A control piece 2 for controlling the communication between the air passing hole 12 and the air exhaust pipe 14 or the communication between the air passing hole 12 and the connecting plate 151 is arranged between the control piece 2 and the attaching plate 1 in a sliding way. During the use, climbing personnel grasp on handle 13, make through control 2 and pass gas pocket 12 and exhaust tube 14 intercommunication, and then with evacuating device intercommunication, evacuation the air in the cavity is negative pressure state, realize adhering to the attachment dish 1 and the attachment of wall body, and then can bear climbing personnel, when making through control 2 and pass gas pocket 12 and external intercommunication, realize that the vacuum state of cavity is destroyed, thereby separate attachment dish 1 and wall body, so the circulation can realize the absorption or the separation of attachment dish 1 and wall body, and then can provide the support for climbing personnel climbing in-process on the wall body, play the effect of helping hand.
As shown in fig. 4 and 5, the control member 2 includes a pulling plate 21 and a closing plate 22 between the connecting plate 151 and the attachment plate 1, a pulling hole 211 is formed on one side of the pulling plate 21 close to the handle 13, a connecting hole is formed in the pulling plate 21 in a penetrating manner, the connecting hole is located between the pulling hole 211 and the closing plate 22, and when the cavity of the attachment plate 1 is vacuumized, the air extraction pipe 14, the connecting hole and the air passing hole 12 are in penetrating connection (in combination with fig. 5), so that a negative pressure state is produced by air extraction from the cavity through the air extraction pipe 14, and the attachment plate 1 is adsorbed on a wall body. One end of the closing plate 22 is integrally connected with the pulling plate 21, the other end is fixedly connected with the attaching plate 1 through a connecting column 23, the upper end face of the closing plate 22 is flush with the upper end face of the pulling plate 21, and the lower end face is higher than the lower end face of the pulling plate 21, so that an air outlet cavity 221 is formed between the pulling plate 21 and the attaching plate 1. By pulling the handle 13 by hand, the whole control member 2 slides in the direction approaching the handle 13, at this time, the closing plate 22 closes the air suction pipe 14, the air passing hole 12 is communicated with the air outlet cavity 221, so that the cavity can be communicated with the outside air, the negative pressure state in the cavity is destroyed, and the attachment plate 1 is separated from the wall body.
After the pulling plate 21 is pulled downwards to enable the air passing hole 12 to be communicated with the outside, when the attaching plate 1 needs to be adsorbed on the wall body again after rising, the pulling plate 21 needs to be slid upwards again to enable the air passing hole 12 to be communicated with the air exhaust pipe 14 again, in order to reduce the number of manual operation, a return assembly is further arranged on the attaching plate 1, the aftertaste assembly comprises a return spring, the return spring is arranged in a mode that the pulling plate 21 is pulled to the side close to the handle 13 to enable the sealing plate 22 to seal the air exhaust pipe 14 only, meanwhile, the air outlet cavity 221 is communicated with the air passing hole 12, when the air passing hole 12 needs to be communicated with the air exhaust pipe 14, only the stretching action on the pulling plate 21 needs to be lost, the pulling plate 21 is enabled to slide and reset to the direction far away from the handle 13 under the action of the return spring, the air passing hole 12 is enabled to be communicated with the air exhaust pipe 14 again, and the positioning pin 31 is enabled to position the pulling plate 21 by the stress at the moment. I.e. the return spring only has to realize an upward return of the pull plate 21 which is pulled downwards. Therefore, the return spring only needs to have one end fixedly connected with one end of the pulling plate 21 close to the control piece 2, and one end far away from the control piece 2 fixedly connected with the attaching plate 1, so that the pulling plate 21 stretching downwards slides upwards to return.
In the climbing process, since the attachment plate 1 is vertically displayed, and the pulling plate 21 is slidably connected with the attachment plate 1 and the connecting plate 151, even if the action of the return spring is provided, the pulling plate 21 moves downwards under the action of gravity to affect the vacuumizing operation, so that in order to prevent the pulling plate 21 from moving downwards, a person is required to control the pulling plate 21 all the time, and the operation is inconvenient. As shown in fig. 4, the attaching plate 1 is further provided with a self-locking assembly 3, the self-locking assembly 3 comprises a positioning hole 11 formed in the attaching plate 1 and a positioning pin 31 positioned in the positioning hole 11, the self-locking assembly 3 further comprises a driving piece 32 for driving the positioning pin 31 to slide in the positioning hole 11, when the driving piece 32 drives the positioning pin 31 to extend out of the positioning hole 11, the positioning pin 31 is abutted with the pulling plate 21 to play a role in positioning the pulling plate 21 so as to prevent the pulling plate 21 from sliding downwards, and at the moment, the air passing hole 12 is communicated with the air exhaust pipe 14 to realize the adsorption of the attaching plate 1 and the wall body; when the driving piece 32 drives the positioning pin 31 to be positioned in the positioning hole 11, the pulling plate 21 can be pulled downwards at the moment, so that the air passing hole 12 is communicated with the outside air, and the attachment plate 1 is separated from the wall body. The setting of auto-lock subassembly 3 can fix a position the arm-tie 21 in the evacuation process, keeps the air vent 12 and the exhaust tube 14 intercommunication state, does not need personnel to control arm-tie 21.
As shown in fig. 6, a pressing plate 4 is fixedly connected to one side of the attachment plate 1 far away from the handle 13, a sliding cavity 41 for sliding the driving member 32 is formed between the pressing plate 4 and the attachment plate 1, and the driving member 32 comprises a pull rod 322 sliding in the sliding cavity 41 and a connecting shaft 33 fixedly connected with one end of the pull rod 322 far away from the pull plate 21. Referring to fig. 3 and 4, two ends of the pull rod 322 are slotted towards the direction away from the pressing plate 4 to form a limiting step 3222 and a supporting step 3223 respectively, the limiting step 3222 is located at one end close to the pull plate 21, the supporting step 3223 is located at the other end, one end, away from the pull plate 21, of the positioning pin 31 is fixedly connected with a ball 321, an arc groove 3221 for enabling the ball 321 to roll is formed in the limiting step 3222, and the depth of the arc groove 3221 is gradually reduced along the direction close to the pull plate 21. The connecting shaft 33 is connected to the pedal 5 through the pull cord 6, the pedal 5 includes a pedal portion 51 and a connecting portion 52, and the pull cord 6 is connected to the connecting portion 52. The end of the pressing plate 4 far away from the pulling plate 21 is fixedly connected with a positioning plate 35, the positioning plate 35 is fixedly connected with the pressing plate 4, the positioning plate 35 is connected with the connecting shaft 33 in a sliding manner, the connecting shaft 33 is sleeved with a return spring 34, one end of the return spring 34 is fixedly connected with the positioning plate 35, and the other end of the return spring 34 is fixedly connected with the pulling rod 322.
When the cavity needs to be vacuumized, the pedal 5 is stepped on by feet, the connecting shaft 33 is pulled towards the direction far away from the pull plate 21, the connecting shaft 33 drives the pull rod 322 to move towards the direction far away from the pull plate 21, the arc-shaped groove 3221 slides along the ball 321, the ball 321 in the arc-shaped groove 3221 moves towards the direction far away from the press plate 4 in the positioning hole 11 along with the reduction of the depth of the arc-shaped groove 3221 until the pull rod 322 abuts against the positioning plate 35, at the moment, the reset spring 34 is compressed, the ball 321 is positioned at one end of the arc-shaped groove 3221 close to the pull plate 21, and the positioning pin 31 extends out of the positioning hole 11 to abut against the pull plate 21 so as to limit the pull plate 21; when the cavity is required to be communicated with the outside air, the foot removes the acting force on the pedal part 51, the connecting shaft 33 loses stress, the pull rod 322 moves towards the direction close to the pull plate 21 under the action of the return spring 34, the arc groove 3221 slides along the ball 321 until the return spring 34 is in a natural state, at this time, the ball 321 is positioned on one side of the arc groove 3221 away from the pull plate 21, at this time, the positioning pin 31 is positioned in the positioning hole 11, the limiting effect on the pull plate 21 is lost, at this time, the pull plate 21 is pulled, the air passing hole 12 is communicated with the outside air, and the process of adsorbing and separating the attached disc 1 from the wall body is realized.
As shown in fig. 5 and 7, the outer peripheral surface of the end, close to the ball 321, of the positioning pin 31 is fixedly connected with a limiting ring 37, the positioning pin 31 is sleeved with a limiting spring 36, the positioning hole 11 where the limiting spring 36 is fixedly connected with the limiting ring 37 comprises a first positioning hole 111 and a second positioning hole 112, the first positioning hole 111 is communicated with an arc-shaped groove 3221, the inner diameter of the first positioning hole 111 is larger than that of the second positioning hole 112, a positioning step is formed between the first positioning hole 111 and the second positioning hole 112, and the limiting spring 36 and the limiting ring 37 are positioned in the first positioning hole 111. The setting of location step plays spacing effect to spacing spring 36, and spacing spring 36 and spacing ring 37's setting makes in the locating pin 31 to the in-process that keeps away from or is close to clamp plate 4 direction motion, and the locating pin 31 is in locating hole 11 in the in-process of locating pin 31 sliding, and ball 321 is in arc groove 3221 all the time, prevents that both from taking place to break away from or skew.
The implementation principle of the embodiment is as follows: when climbing personnel carry out climbing, firstly, carry on the back of the evacuator, connect the evacuator with the attached disc 1, and connect and assemble the detection alarm 7, then attach the attached disc 1 with the wall, open the air suction motor, carry out the evacuation in the cavity, when observing that the negative pressure value reaches the setting value, climbing work, adsorb an attached disc 1 on the wall, pedal portion 51 is stepped on to the foot of homonymy, drag stay cord 6 makes connecting axle 33 and clamp plate 4 downward movement, locating pin 31 stretches out locating hole 11 and fixes a position to pulling plate 21, at this moment, air hole 12 and exhaust tube 14 intercommunication, carry out the evacuation through evacuator to the cavity and become negative pressure state, adsorb attached disc 1 on the wall, bear climbing personnel, the same reason, the same operation is with another attached disc 1 adsorb on the wall, then lift one of them foot and pedal 5, the stay cord 6 loses the atress and loses the locating of the pulling plate 21 of attached disc 1 of homonymy, pull plate 21 of homonymy, make the closing plate 22 seal the exhaust tube 14, pull plate 12 and the vent hole with the upper pedal 4 and the downward movement, pull plate 21 is followed by the step of attaching disc 1 and the step of getting off, then, the step of attaching the step is accomplished with the pulling plate 1 is followed to the pulling plate 1 and the step of connecting the position is followed.
The embodiments of the present invention are all preferred embodiments of the present invention, and are not intended to limit the scope of the present invention in this way, therefore: all equivalent changes in structure, shape and principle of the invention should be covered in the scope of protection of the invention.
Claims (7)
1. A special individual climbing robot vacuum adsorption booster unit which characterized in that: the vacuum adsorption assisting device comprises a pair of pedals (5) and a pair of attaching plates (1) with cavities, wherein the attaching plates (1) are provided with air passing holes (12) in a penetrating mode, one side, far away from the cavities, of each attaching plate (1) is provided with a handle (13) and an exhaust pipe (14), each exhaust pipe (14) is communicated with an evacuating device, the vacuum adsorption assisting device further comprises a control piece (2) for controlling the air passing holes (12) to be communicated with each exhaust pipe (14) or communicated with the atmosphere, each attaching plate (1) is further connected with a self-locking assembly (3) for positioning the corresponding control piece (2) in a sliding mode, each self-locking assembly (3) is connected with each pedal (5), and each attaching plate (1) is further provided with a detection alarming device (7) for measuring the pressure in the cavities in real time;
the exhaust pipe (14) is fixedly connected with the attachment disc (1) through a connecting plate (151), a vent hole is formed in the connecting plate (151) corresponding to the exhaust pipe (14), the control piece (2) comprises a pulling plate (21) and a sealing plate (22) which are connected between the connecting plate (151) and the attachment disc (1) in a sliding manner, the pulling plate (21) is provided with a connecting hole in a penetrating manner, and the connecting hole, the vent hole, the exhaust pipe (14) and the air passing hole (12) are communicated;
one end of the sealing plate (22) is connected with the pulling plate (21), the other end of the sealing plate is connected with the attaching plate (1) in a sliding way through the connecting column (23), the upper end face of the sealing plate (22) is flush with the upper end face of the pulling plate (21), the lower end face of the sealing plate is higher than the lower end face of the pulling plate (21), and an air outlet cavity (221) is formed between the pulling plate (21) and the attaching plate (1);
the control piece (2) further comprises a return spring, one end of the return spring is fixedly connected with one side, close to the handle (13), of the pulling plate (21), the other end of the return spring is fixedly connected with the attaching plate (1), and the connecting hole, the vent hole, the exhaust pipe (14) and the air passing hole (12) are communicated in a natural state of the return spring;
the self-locking assembly (3) comprises a positioning hole (11) formed in the attaching plate (1) and a positioning pin (31) positioned in the positioning hole (11), and the positioning pin (31) is also connected with a driving piece (32) for driving the positioning pin to slide in the positioning hole (11);
when the exhaust pipe (14) is communicated with the air passing hole (12), the positioning pin (31) stretches out of the positioning hole (11) to be abutted against the pull plate (21) under the driving of the driving piece (32), and when the air passing hole (12) is communicated with the outside, the positioning pin (31) is positioned in the positioning hole (11) under the driving of the driving piece (32);
the driving piece (32) is connected with the pedal (5) through a pull rope (6).
2. The vacuum adsorption booster device of the special individual climbing robot according to claim 1, wherein: the driving piece (32) comprises a ball (321) and a pull rod (322), the ball (321) is connected with one end of the locating pin (31) away from the pull plate (21), the pull rod (322) is connected with the attaching plate (1) in a sliding manner, a connecting shaft (33) is fixedly connected to one side of the pull rod (322) away from the pull plate (21), the connecting shaft (33) extends out of the attaching plate (1) and is connected with the attaching plate (1) in a sliding manner, and the connecting shaft (33) is connected with the pedals (5) through a pull rope (6);
an arc-shaped groove (3221) for the rolling of the ball (321) is formed in one end, close to the positioning hole (11), of the pull rod (322), and the depth of the arc-shaped groove (3221) is gradually reduced along the direction close to the pull plate (21).
3. The vacuum adsorption booster device of the special individual climbing robot according to claim 2, wherein: the attaching plate (1) is far away from one side of the handle (13) and fixedly connected with a positioning plate (35), the positioning plate (35) is far away from one end of the pull rod (322) and is provided with a return spring (34) between the ends of the pull plate (21), the return spring (34) is sleeved on the connecting shaft (33), one end of the return spring (34) is fixedly connected with the pull rod (322), and the other end of the return spring is fixedly connected with the positioning plate (35).
4. The vacuum adsorption booster device of the special individual climbing robot according to claim 3, wherein: the locating plate (35) is fixedly connected with the attaching disc (1) through the pressing plate (4), the pressing plate (4) is fixedly connected with the attaching disc (1), a sliding cavity (41) for sliding the pull rod (322) is formed between the pressing plate (4) and the attaching disc (1), and the length of the pull rod (322) is smaller than that of the sliding cavity (41).
5. The vacuum adsorption booster device of the special individual climbing robot according to claim 3, wherein: a limiting spring (36) is sleeved on the locating pin (31), a limiting ring (37) is fixedly connected to one end, close to the ball (321), of the locating pin (31), and the limiting spring (36) is fixedly connected with the limiting ring (37);
the locating hole (11) comprises a first locating hole (111) and a second locating hole (112), the limiting ring (37) and the limiting spring (36) are located in the first locating hole (111), the inner diameter of the first locating hole (111) is larger than that of the second locating hole (112), and a locating step is formed between the first locating hole (111) and the second locating hole (112).
6. The vacuum adsorption booster device of the special individual climbing robot according to claim 3, wherein: a limiting step (3222) is formed by slotting one end of the pull rod (322) close to the pull plate (21), the arc-shaped groove (3221) is formed on the limiting step (3222), and the limiting step (3222) is lower than the pull plate (21);
one end of the pull rod (322) far away from the pull plate (21) is grooved to form a supporting step (3223), and the connecting shaft (33) and the return spring (34) are positioned on the supporting step (3223).
7. The vacuum adsorption booster device of the special individual climbing robot according to claim 1, wherein: the evacuating device comprises an evacuating motor and a power supply connected with the evacuating motor, wherein the evacuating motor and the power supply are communicated with the detecting and alarming device (7), and the detecting and alarming device (7) also detects the temperature of the evacuating motor and the electric quantity of the power supply in real time.
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| CN201910727004.2A CN110339536B (en) | 2019-08-07 | 2019-08-07 | Special individual climbing robot vacuum adsorption booster unit |
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| CN111543905B (en) * | 2020-05-08 | 2021-08-27 | 四川先成科技有限责任公司 | Human body climbing device and control method thereof |
| WO2024196333A1 (en) * | 2023-03-21 | 2024-09-26 | Tuncer Suekran | Apparatus that allows holding on to a surface and moving on the surface held on |
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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 |
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2019
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| 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 |
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