CN114524069B - Micro-milling forming anchoring mechanism based on microneedle array - Google Patents
Micro-milling forming anchoring mechanism based on microneedle array Download PDFInfo
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- CN114524069B CN114524069B CN202210031467.7A CN202210031467A CN114524069B CN 114524069 B CN114524069 B CN 114524069B CN 202210031467 A CN202210031467 A CN 202210031467A CN 114524069 B CN114524069 B CN 114524069B
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- micro
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- sucking disc
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Ocean & Marine Engineering (AREA)
- Earth Drilling (AREA)
- Processing Of Stones Or Stones Resemblance Materials (AREA)
Abstract
The invention discloses a micro-milling forming anchoring mechanism based on a micro-needle array. An underwater rotational flow sucker structure with a microneedle array is arranged in the middle of the lower end face of the sucker mounting bracket, and a plurality of micro-milling structures are arranged around the lower end face of the sucker mounting bracket; the micro-milling structure comprises a feeding device, a hydraulic motor and a disc type surface milling cutter; the underwater rotational flow sucker structure comprises an underwater brushless motor, a micro-needle array, rotational flow sucker blades and a sucker shell, wherein the underwater rotational flow sucker provides normal adsorption force, the micro-needle array provides tangential friction force through micro-drilling, and the micro-milling cutter forms tangential limiting constraint on the working surface. The invention provides tangential friction force by utilizing the microneedle structure and the micro-milling structure, and when underwater operation is carried out by using the underwater operation tool, the adsorption anchoring mechanism is arranged, so that the whole mechanism can resist the interference of lateral water flow or operation force and the like.
Description
Technical Field
The invention relates to a micro-milling forming anchoring mechanism based on a micro-needle array, in particular to a micro-milling forming anchoring mechanism based on a micro-needle array.
Background
The underwater adsorption technology and the underwater grabbing technology are one of key technologies for developing underwater exploration and operation, are widely applied to various fields such as marine geological exploration, resource exploration, mineral product evaluation, deep sea salvage and the like, and are used for completing various operations such as underwater sampling, underwater salvage, underwater adsorption and the like.
With the development of special robot technology, an underwater wall climbing robot is a new demand, is designed to replace a robot for manually carrying out underwater inspection and operation in dangerous and severe environments, is widely applied to the nuclear fuel pool detection industry, the ship cleaning industry, the water conservancy dam maintenance industry and the like, and an effective and reliable underwater adsorption technology is a prerequisite for the wide application of the underwater wall climbing robot.
As a more common underwater adsorption mode, the cyclone negative pressure adsorption can realize non-contact adsorption, has small damage to the wall surface, is suitable for the wall surfaces of various materials, and is gradually and widely applied. The cyclone adsorption is used as a non-contact adsorption mode, and can provide larger normal adsorption force, but the tangential friction force is small due to no contact with the wall surface, so that the cyclone adsorption can be unstable in a lateral water flow environment with a high flow rate or in the process of dealing with high-power operation.
In summary, the existing cyclone negative pressure adsorption mode cannot provide a large tangential friction force, and cannot well meet the requirements when dealing with a high-speed lateral water flow environment and high-power operation.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides a micro-milling forming anchoring mechanism based on a micro-needle array, which can meet the stable adsorption requirement of an underwater robot and provide larger lateral friction force so that the whole robot is stable.
The technical scheme of the invention is as follows:
the invention comprises a sucker mounting bracket, an underwater rotational flow sucker structure and a micro-milling structure; an underwater rotational flow sucker structure with a microneedle array is arranged in the middle of the lower end face of the sucker mounting bracket, and a plurality of micro-milling structures are arranged around the lower end face of the sucker mounting bracket.
The micro-milling structure comprises a feeding device, a hydraulic motor and a disc type surface milling cutter, wherein the upper end of the feeding device is fixed on the lower end face of the sucker mounting bracket, the hydraulic motor is fixedly arranged at the lower end of the feeding device, and the output shaft of the hydraulic motor faces downwards and is provided with the disc type surface milling cutter.
The micro-milling structures are arranged at intervals along the circumference and are arranged on the lower end face of the sucker mounting bracket around the underwater rotational flow sucker structure.
The utility model provides a spiral-flow sucking disc structure under water with microneedle array include brushless motor under water, microneedle array, spiral-flow sucking disc blade and sucking disc casing, brushless motor under water upper end is fixed terminal surface under the sucking disc installing support, and brushless motor under water lower extreme is installed on the sucking disc casing, and the terminal surface center has offered the whirl chamber under the sucking disc casing, and the microneedle array is arranged to the sucking disc casing terminal surface around the whirl chamber, installs spiral-flow sucking disc blade in the whirl chamber, and the output shaft of brushless motor under water passes behind the sucking disc casing and spiral-flow sucking disc blade coaxial coupling.
The microneedle array comprises a plurality of circles of microneedles which are arranged radially from inside to outside, and each circle of microneedles comprises a plurality of microneedles which are circumferentially arranged at intervals along the same circumferential direction.
The micro-milling forming anchoring mechanism is arranged under water, and the micro-needle is penetrated into the concrete wall surface under water or on land to provide tangential friction force.
After the underwater rotational flow sucker structure is stably adsorbed, a groove is milled on the working surface by utilizing the micro-milling mechanism and the hydraulic push rod, so that the hard limit is formed, and the stress of the structure in the lateral direction parallel to the working surface is improved. For the metal surface, the high-speed rotation between the milling cutter plane and the wall surface can form a local rotary friction micro-welding structure, which is equivalent to fixedly connecting the micro-milling structure and the wall surface into a whole, so that the bearing capacity is improved.
The beneficial effects of the invention are as follows:
the invention provides tangential friction force by utilizing the microneedle structure and the micro-milling structure, and when underwater operation is carried out by using the underwater operation tool, the adsorption anchoring mechanism is arranged, so that the whole mechanism can resist the interference of lateral water flow or operation force and the like.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a bottom view of the present invention;
fig. 3 is a schematic diagram of a micro-milling structure operation.
In fig. 1: 1. a sucker mounting bracket; 2. a feeding device; 3. a hydraulic motor; 4. a disc-type face milling cutter; 5. an underwater brushless motor; 6. a microneedle array; 7. swirl sucker blades; 8. a sucker shell.
Detailed Description
In order to more clearly illustrate the technical scheme of the invention, the following description will briefly explain the drawings of the embodiments, wherein the suction disc type adopts a non-contact underwater rotational flow suction disc.
As shown in fig. 1, the mechanism comprises a sucker mounting bracket 1, an underwater rotational flow sucker structure and a micro-milling structure; an underwater rotational flow sucking disc structure with a micro-needle array 6 is arranged in the middle of the lower end face of the sucking disc mounting bracket 1, and a plurality of micro-milling structures are arranged around the lower end face of the sucking disc mounting bracket 1.
As shown in fig. 1, a non-contact underwater cyclone suction cup structure and a plurality of ring-shaped micro-milling devices are mounted on a mounting bracket 1, a micro-needle array 6 is mounted around a blade shell, and the whole device is mounted on the foot of an underwater robot as an adsorption anchoring device to provide adsorption force and friction force.
From this sucking disc mounting bracket center installation adsorption equipment, a plurality of micro-milling mechanism distributes around the sucking disc, installs the microneedle array around the sucking disc blade casing.
As shown in fig. 3, the micro-milling structure comprises a feeding device 2, a hydraulic motor 3 and a disc type face milling cutter 4, wherein the upper end of the feeding device 2 is fixed on the lower end face of a sucker mounting bracket 1, the hydraulic motor 3 is fixedly arranged on the lower end of the feeding device 2, and the output shaft of the hydraulic motor 3 faces downwards and is provided with the disc type face milling cutter 4.
The feeding device 2 drives the whole formed by the hydraulic motor 3 and the disc type face milling cutter 4 to move along the axial direction, and the hydraulic motor 3 drives the disc type face milling cutter 4 to rotate to mill the working surface.
The micro-milling structures are arranged at intervals along the circumference and are arranged on the lower end face of the sucker mounting bracket 1 around the underwater rotational flow sucker structure.
As shown in fig. 1 and 2, the underwater rotational flow sucking disc structure with the microneedle array 6 comprises an underwater brushless motor 5, the microneedle array 6, rotational flow sucking disc blades 7 and a sucking disc shell 8, wherein the upper end of the underwater brushless motor 5 is fixed on the lower end face of a sucking disc mounting bracket 1, the lower end of the underwater brushless motor 5 is arranged on the sucking disc shell 8, a rotational flow cavity is formed in the center of the lower end face of the sucking disc shell 8, the lower end face of the sucking disc shell 8 around the rotational flow cavity is a plane, the microneedle array 6 is arranged on the lower end face of the sucking disc shell 8 around the rotational flow cavity, the rotational flow sucking disc blades 7 are arranged in the rotational flow cavity, and an output shaft of the underwater brushless motor 5 passes through the sucking disc shell 8 and is coaxially connected with the rotational flow sucking disc blades 7.
The invention adopts an underwater rotational flow sucking disc structure, the driving device selects an underwater brushless motor 5, the underwater brushless motor 5 is utilized to drive the rotational flow sucking disc blades 7 to rotate, local negative pressure is formed in the sucking disc shell 8, and the adsorption force to the wall surface is generated. The non-contact adsorption is generated, the wall surface is not damaged while the larger adsorption force is provided, and the conditions such as wall surface roughness and the like do not need to be considered.
As shown in fig. 2, the microneedle array 6 includes a plurality of circles of microneedles arranged radially from the inside to the outside, each circle of microneedles including a plurality of microneedles arranged at intervals circumferentially in the same circumferential direction. Thus, the micro-needle arranging mode adopts circumferential arrangement, and can provide friction force in all directions on the tangential plane.
As shown in FIG. 2, the microneedle array 6 and the disc face mill 4 are arranged in a circular arrangement to provide friction and a limiting effect in all directions on the tangential plane.
The micro-milling forming anchoring mechanism is placed under water, and the micro-needle is penetrated into the concrete wall surface under water or on land to provide tangential friction force.
The underwater rotational flow sucker structure can also adopt other kinds of underwater suckers or ferromagnetic suckers or flexible vacuum suckers with ferromagnetic attraction, or propeller thrust attraction suckers and the like used on land.
When the device works, the underwater robot drives the adsorption anchoring device to press on the working wall surface, and the underwater brushless motor 5 drives the cyclone sucker blade 7 to rotate at a high speed to provide normal adsorption force; the microneedle array 6 penetrates into the underwater wall surface to provide tangential friction force perpendicular to the wall surface; if the tangential friction force is insufficient to resist external interference, the disc-type face milling cutter 4 is driven to rotate at a high speed by the hydraulic motor 3, the milling cutter 4 is driven to move towards the wall surface direction by the feeding device 2, a plurality of circular grooves are milled, then the milling cutter 4 stops moving and stays in the grooves to serve as a tangential limiting mechanism, and the whole adsorption and anchoring device can bear larger tangential force.
In particular, the invention can be applied to both common concrete walls and metal walls.
For ordinary concrete walls:
when the micro-milling forming anchoring is carried out, the disc type surface milling cutter 4 is driven by the feeding device 2 to feed to the wall surface of the object after rotating at a high speed, and a circular groove with smaller depth is milled on the wall surface. After milling, the disc face milling cutter 4 is left in the circular groove, so that mechanical limit is formed, and the lateral bearing capacity of the whole mechanism is increased. The lateral direction is along a direction parallel to the plane of the lower end face of the suction cup housing 8.
When the underwater operation is finished and needs to be disconnected, the common wall surface can be directly disconnected.
For metal walls:
when the micro-milling forming anchoring is carried out, the disc type surface milling cutter 4 rotates at a high speed to form a local friction welding structure with the metal wall surface, and the disc type surface milling cutter 4 and the metal wall surface are fixedly connected together, so that the overall lateral and normal bearing capacity of the equipment is increased. The normal direction is the direction of feed along the feed device 2.
When the underwater operation is finished and needs to be disconnected, installing a vibrating piece on the micro-milling structure for the metal wall surface, and adding local vibration to force the local welding structure to be disconnected after being broken; or the whole disc type surface milling cutter 4 is directly separated from the motor in the micro-milling structure, so that the disc type surface milling cutter 4 is kept on the working surface, and the milling cutter is formed to be disposable.
From this, spiral-flow sucking disc under water is used for providing normal adsorption affinity, and the microneedle array around the sucking disc casing provides tangential frictional force through the micro-drilling processing, and micro-milling cutter forms the spacing constraint of tangential at the operation surface processing.
The structure of the mechanism can improve lateral bearing force, friction force and anchoring performance during micro-milling forming.
Claims (4)
1. Micro-milling forming anchoring mechanism based on microneedle array is characterized in that: comprises a sucker mounting bracket (1), an underwater rotational flow sucker structure and a micro-milling structure; an underwater rotational flow sucker structure with a microneedle array (6) is arranged in the middle of the lower end face of the sucker mounting bracket (1), and a plurality of micro-milling structures are arranged around the lower end face of the sucker mounting bracket (1);
the underwater rotational flow sucking disc structure with the microneedle array (6) comprises an underwater brushless motor (5), the microneedle array (6), rotational flow sucking disc blades (7) and a sucking disc shell (8), wherein the upper end of the underwater brushless motor (5) is fixed on the lower end face of a sucking disc mounting bracket (1), the lower end of the underwater brushless motor (5) is mounted on the sucking disc shell (8), a rotational flow cavity is formed in the center of the lower end face of the sucking disc shell (8), the microneedle array (6) is arranged on the lower end face of the sucking disc shell (8) around the rotational flow cavity, the rotational flow sucking disc blades (7) are mounted in the rotational flow cavity, and an output shaft of the underwater brushless motor (5) is coaxially connected with the rotational flow sucking disc blades (7) after passing through the sucking disc shell (8);
the microneedle array (6) comprises a plurality of circles of microneedles which are arranged radially from inside to outside and used for penetrating into the concrete wall surface under water or on land, and each circle of microneedles comprises a plurality of microneedles which are circumferentially arranged at intervals along the same circumferential direction.
2. A micro-milling anchor mechanism based on a microneedle array according to claim 1, characterized in that: the micro-milling structure comprises a feeding device (2), a hydraulic motor (3) and a disc type surface milling cutter (4), wherein the upper end of the feeding device (2) is fixed on the lower end face of the sucker mounting bracket (1), the hydraulic motor (3) is fixedly arranged at the lower end of the feeding device (2), and the output shaft of the hydraulic motor (3) faces downwards and is provided with the disc type surface milling cutter (4).
3. A micro-milling anchor mechanism based on a microneedle array according to claim 1, characterized in that: the micro-milling structures are arranged at intervals along the circumference and are arranged on the lower end face of the sucker mounting bracket (1) around the underwater rotational flow sucker structure.
4. A micro-milling anchor mechanism based on a microneedle array according to claim 1, characterized in that: the micro-milling forming anchoring mechanism is arranged under water, and the micro-needle is penetrated into the concrete wall surface under water or on land to provide tangential friction force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210031467.7A CN114524069B (en) | 2022-01-12 | 2022-01-12 | Micro-milling forming anchoring mechanism based on microneedle array |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210031467.7A CN114524069B (en) | 2022-01-12 | 2022-01-12 | Micro-milling forming anchoring mechanism based on microneedle array |
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| CN114524069A CN114524069A (en) | 2022-05-24 |
| CN114524069B true CN114524069B (en) | 2023-05-02 |
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| CN202210031467.7A Active CN114524069B (en) | 2022-01-12 | 2022-01-12 | Micro-milling forming anchoring mechanism based on microneedle array |
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Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0958584A (en) * | 1995-08-29 | 1997-03-04 | Ishikawajima Harima Heavy Ind Co Ltd | Underwater moving device |
| CN105460097B (en) * | 2014-09-12 | 2019-01-29 | 浙江大学 | Climb robot vehicle |
| CN106080825A (en) * | 2016-07-20 | 2016-11-09 | 浙江大学 | A kind of square cyclone adsorbing device and climbing robot based on this device |
| CN106938691B (en) * | 2017-02-16 | 2019-02-05 | 浙江大学 | The underwater sucker of centrifugal impeller |
| CN206765701U (en) * | 2017-05-24 | 2017-12-19 | 徐州华顺测控技术有限公司 | A kind of climbing robot sorption wheel |
| CN110481253B (en) * | 2019-09-03 | 2023-08-18 | 浙江大学 | Amphibious non-contact sucker |
| CN112498511A (en) * | 2020-10-30 | 2021-03-16 | 浙江大学 | Bionic sucker |
| CN217294882U (en) * | 2022-01-12 | 2022-08-26 | 浙江大学 | Micro-milling forming and anchoring mechanism based on micro-needle array |
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- 2022-01-12 CN CN202210031467.7A patent/CN114524069B/en active Active
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