CN201405948Y - Motion adsorption device - Google Patents
Motion adsorption device Download PDFInfo
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- CN201405948Y CN201405948Y CN2009200319204U CN200920031920U CN201405948Y CN 201405948 Y CN201405948 Y CN 201405948Y CN 2009200319204 U CN2009200319204 U CN 2009200319204U CN 200920031920 U CN200920031920 U CN 200920031920U CN 201405948 Y CN201405948 Y CN 201405948Y
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Abstract
The utility model relates to a motion adsorption device. Two groups of motion adsorption mechanisms are symmetrically installed on a rack, and the two driving wheels (1) of each group of motion adsorption mechanisms are respectively positioned outside a shaft support (46) on one side of the rack; a moving cam (4) formed by adhering matching surfaces (36) is positioned on a moving cam support (47)on one side of the rack, the running wheels of the driving wheels (1) are positioned at one end of the near-rest section (38) of the moving cam, and the circular arc of the near-rest section (38) is concentric with the circular arc of the running wheels; the circular arcs at the two ends of the outer profile of the cam bit are also respectively concentric with the circular arcs of the running wheels and the follower wheels of the driving wheels (1). By utilizing the motion track of the moving cam (4), the adsorption and the release of a vacuum chuck on/from a wall surface can be simple and feasible, flexible motion of a robot can be realized, and enough adsorption force of the chuck components during the motion process can also be guaranteed; the motion adsorption device has the advantagesof simple structure, convenient operation, easy control and high reliability.
Description
One, technical field
The invention belongs to the Robotics field, specifically is a kind of motion adsorption unit.
Two, background technology
High building stands in great numbers in the modern city, need carry out many wall upkeep operations.At present, this class work is still by cleaning the workman and takes the high-altitude hanging basket and carry out aloft work and finish, in this manner, workman's work under bad environment has certain danger again, work efficiency is also very low, cleaning building, a building needs a couple of days consuming time sometimes, so people urgently wish to use a kind of machine to replace the people to be engaged in this work.Current, domestic and international many research institutions competitively carry out the work of this respect, and the development of climbing robot is also like rain the back spring bamboo, for the core of climbing robot---and motion and adsorption plant, various design plans emerge in an endless stream especially.
A kind of robot that BJ University of Aeronautics ﹠ Astronautics and Beijing University of Technology develop jointly is climbed the wall crawler belt by two that are fixed on the substrate both sides and is formed, drives the both sides crawler belt by two DC machine mode former respectively, rear drive.Each side crawler belt is made up of two cover transmission group, compression wheel, lifting slide rails and one group of sucker being connected on the transmission group.Every suit transmission group is made up of former and later two toothed synchronous pulleys and a supporting with it synchronous band, synchronously with going up bonding the glue spare that is used for fixing sucker of some.In that a compression wheel has been installed between two synchronous pulleys on the transmission shaft, to rotate with axle, it is the bleeding device of extruding sucker, destroys the vacuum in the sucker, makes sucker more easily break away from metope.Realize robot absorption motion by mechanical mode in this device, but the sucker structure complexity, the adsorption affinity of single sucker is less, and control is also inconvenient.
Three, summary of the invention
The deficiency less for the adsorption affinity that overcomes the sucker structure complexity that exists in the prior art, single sucker, that control is inconvenient the present invention proposes a kind of motion adsorption unit.
The present invention is a kind of motion adsorption unit, comprises two groups by two drive wheels, two synchronous bands, a plurality of Suction cup assembly and the motion adsorbing mechanisms that translating cam is formed.Two groups of motion adsorbing mechanism symmetries are installed on the frame, make two drive wheels of every group of motion adsorbing mechanism lay respectively at the outside of frame one side shaft support; To captive joint with the translating cam support of frame one side by the mounting hole on cam bit top by the fitting surface translating cam that forms that fits, and the driving wheel that makes drive wheel is in a closely end of the section of stopping of translating cam, and makes the circular arc of the near section of stopping concentric with driving wheel; The circular arc at cam bit gabarit two ends is also concentric with the flower wheel of the driving wheel of drive wheel and drive wheel respectively.To be with synchronously and match with drive wheel.Suction cup assembly is contained in by the rivet hole on the shoe is with synchronously, and make sucker be in the outside face of synchronous band; One by one plunger is packed in the cylinder barrel of Suction cup assembly, and the axis normal of roller shaft that makes Suction cup assembly is in the medial surface of translating cam movement slots.
Two drive wheels in every group of motion adsorbing mechanism are respectively driving wheel and flower wheel; Each drive wheel is made up of the web-type synchronous pulley that a pair of profile is identical with structure, direction is opposite.The synchronous pulley gear teeth flank of tooth one end has the limiting tooth rank.All there is cylindrical flange center, two corresponding side end faces of synchronous pulley, and the end face of flange has formed two flange fitting surfaces that synchronous pulley matches; The height of this flange is greater than the radius of cylinder in the Suction cup assembly; The length sum of this flange cylindrical outer surface cylinder barrel and plunger when the distance of the drive wheel flank of tooth cooperates with cylinder barrel greater than plunger in the Suction cup assembly and be positioned at the cylinder barrel bottom.
Suction cup assembly in every group of motion adsorbing mechanism comprises sucker, shoe, cylinder, plunger, roller and roller shaft.Sucker is connected with the cylinder mouth of cylinder by the hollow pipe link of one end.Cylinder is fixed on the shoe; Shoe is contained between cylinder supporting plate and the cylinder barrel.One pair roller is installed in an end of plunger by roller shaft.During work, plunger can move back and forth in cylinder barrel to realize air-breathing and venting, and in course of normal operation, the sealed end of plunger in cylinder barrel, can not break away from cylinder barrel all the time.
The cam bit that translating cam is identical by two chip architectures, direction is opposite in every group of motion adsorbing mechanism is fitted and is formed.Cam bit is that make on the basis with the track of cam bit movement slots.A side in cam bit cross section is stepped; A stepped side has the slot cross-section of the movement slots of Suction cup assembly roller on this cross section, and this upper lateral part is the fitting surface of two cam bits, the bottom is non-fitting surface, and when two cam bits were fitted by fitting surface, the distance between the non-fitting surface was greater than the diameter of plunger rod in the Suction cup assembly.
The base of cam bit outline is a straight line, and two ends are respectively 1/4 circular arc; Straight line and 1/4 circular arc are tangent.When being assembled on the frame, the corresponding position of the both upper ends thereof of cam bit and synchronous pulley has the mating groove of synchronous pulley flange respectively; The mounting hole that cooperates with Cam rest is arranged at the top of cam bit.One side surface of two cam bits has the movement slots of Suction cup assembly roller, and when two cam bits were sticked to form translating cam, two movement slots laid respectively at the inboard of translating cam, and cooperates the cross section of back translating cam to form "T"-shaped groove.
The track of cam bit movement slots comprises closely the section of stopping, plunger ascent stage, the far section of stopping, cylinder intake section and backhaul section.Wherein, closely the section of stopping and backhaul section lay respectively at the two ends of track; Closely the section of stopping is 1/4 concave arc, and concentric with in two 1/4 circular arcs of cam outline one, this circular arc starting point also is the starting point of movement slots track.Far the section of stopping is a straight-line trajectory, it is parallel with the tangent line of near 1/4 circular arc destination county of the section of stopping, between line between this circular arc starting point and this circular arc center of circle and this circular arc destination county tangent line, and and this circular arc destination county tangent line between distance must make mechanism kinematic the time cylinder keep sealing at this motor segment; If 1/4 circular arc completion of the section of stopping nearly, far close in the section of stopping closely end points and this wholecircle arc of the section of stopping do not have intersection point.Closely 1/4 circular arc terminal point of the section of stopping with far between the section of stopping transition be connected, and formed plunger ascent stage of movement slots by this linkage section, can realize the rising of plunger during mechanism kinematic with respect to cylinder barrel.The cylinder intake section is made up of the circular arc of two sections variable curvatures, and wherein one section variable curvature circular arc is a concave arc, and another section variable curvature circular arc is the dome arc; One end of concave arc and the section of stopping far away are tangent continuous away from an end of the near section of stopping, and the other end is connected with the transition of dome arc; The dome arc is connected with the transition of backhaul section; The tangent line of dome arc destination county is with far the section of stopping is parallel; Far the distance between the tangent line at the section of stopping and the tangent place of concave arc and the dome arc vertex must satisfy that the plunger sealed end moves to required stroke on the cylinder barrel induction opening in the Suction cup assembly.The backhaul section is the concave arc of variable curvature, and this concave arc one end and cylinder intake end are tangent, and the concave arc shape terminal point of the other end also is the terminal point of movement slots track, and the line between the starting point of the terminal point of this movement slots track and movement slots track is with far the section of stopping is parallel; The curvature of backhaul section circular arc must satisfy plunger sealed end in the Suction cup assembly and move to the required stroke in cylinder barrel bottom, can realize the decline of plunger with respect to cylinder barrel during mechanism kinematic.
Frame in the motion adsorption unit comprises base plate, driven shaft, bracing strut, translating cam support and imput shaft.Two ends in rectangular base plate have a pair of bracing strut respectively, and drive wheel is installed on the bracing strut respectively by wheel shaft, and driving wheel is positioned at an end of the closely section of stopping of camming movement groove.In the both sides, middle part of frame, the support of translating cam is arranged respectively.
The present invention is in when work, with synchronously with affixed Suction cup assembly under the driving of drive wheel, the roller of each Suction cup assembly passes through translating cam successively.With regard to single Suction cup assembly, by in the translating cam process, Suction cup assembly at first enters the closely section of stopping of camming movement grooved rail mark, begins to move in a circle, and plunger is in the lowermost end of cylinder barrel in this moment Suction cup assembly, and and cylinder barrel do not have relative motion; At the near terminal point of the section of stopping, sucker in the Suction cup assembly and metope are fitted, and form preliminary vacuum in the sucker; Simultaneously, Suction cup assembly enters the plunger ascent stage, and this moment, the Suction cup assembly circular movement that calls it quits and kept static on the mechanism kinematic direction.
In the plunger ascent stage, on the direction vertical with the mechanism kinematic direction, plunger and cylinder barrel produce relative motion, begin sucker is bled; After treating that the plunger ascent stage finishes, plunger will be promoted a height by track, and obtain the maximum swept volume to sucker, make sucker obtain bigger degree of vacuum, and make the adsorption affinity of sucker reach maximum.
After this, Suction cup assembly enters the far section of stopping, and this section is the base portion of cam locus, and Suction cup assembly will be the longest by the time of this section.During by this section, plunger and cylinder barrel do not have relative motion yet, are still keeping the maximum swept volume of sucker and are keeping the maximum adsorption power of sucker.
Cover the far section of stopping, Suction cup assembly enters the cylinder intake section, and on the direction vertical with the mechanism kinematic direction, plunger and cylinder barrel produce relative motion again.When this section is finished, plunger is raised a height once more, and the sealed end on the plunger is crossed the induction opening of cylinder barrel at this moment, and cylinder barrel is communicated with ambient atmosphere, the air admission sucker makes its loss of vacuum, the preparation that the application force of sucker and metope disappears thereupon and breaks away from metope to carry out.
After the cylinder intake section was finished, Suction cup assembly entered the backhaul section, and in this section, Suction cup assembly and metope break away from, and become state of kinematic motion from quiescence, and plunger and cylinder barrel still have relative motion in the Suction cup assembly.Under the constraint of track, plunger slowly moves at the bottom of cylinder barrel, and when the backhaul section finished, plunger was positioned at the lowermost end of cylinder barrel once more.So far Suction cup assembly is finished the circulation that an absorption is thrown off.Each Suction cup assembly all carries out same circulation under the drive of crawler belt, finishes the absorption and the motion of robot.
The core of scheme that the present invention adopts is translating cam and passive vacuum cup assembly.Because the motion adsorption unit that has adopted translating cam and vacuum cup to combine, utilize the path of motion of translating cam, make the control of vacuum cup absorption and disengaging metope become very simple, overcome little, the complex structure of sucker suction in the prior art, and uppity shortcoming can realize the flexible motion of robot guaranteeing that again each Suction cup assembly can keep enough adsorption affinitys in the motion process, have simple in structure, easy to operate, high reliability features.
Four, description of drawings
Fig. 1 is the cooperation scheme drawing of one group of motion adsorbing mechanism;
Fig. 2 is another cooperation scheme drawing of one group of motion adsorbing mechanism;
Fig. 3 is the structural representation of motion adsorption unit;
Fig. 4 is the fit structure scheme drawing of a drive wheel of motion adsorption unit;
Fig. 5 is the structural representation of motion adsorption unit synchronous pulley;
Fig. 6 is that the A of motion adsorption unit synchronous pulley is to view;
Fig. 7 is a motion adsorption unit Suction cup assembly scheme drawing;
Fig. 8 is the structural representation of motion adsorption unit shoe;
Fig. 9 is a motion adsorption unit cylinder scheme drawing;
Figure 10 is the birds-eye view of motion adsorption unit cylinder;
Figure 11 is the scheme drawing of motion adsorption unit plunger;
Figure 12 is the structural representation of motion adsorption unit monolithic translating cam;
Figure 13 is the schematic cross-section of motion adsorption unit monolithic translating cam;
Figure 14 is a motion adsorption unit camming movement track scheme drawing;
Figure 15 is the structural representation of motion adsorption unit translating cam;
Figure 16 is that the A of motion adsorption unit translating cam is to scheme drawing;
Figure 17 is the structural representation of motion adsorption unit frame;
Figure 18 is that the B of motion adsorption unit frame is to view;
Figure 19 is the birds-eye view of motion adsorption unit frame;
Figure 20 is the assembling scheme drawing of motion adsorption unit;
Figure 21 is that the C of assembling scheme drawing of motion adsorption unit is to view;
Figure 22 is a Suction cup assembly when cooperating with cam, the plunger position scheme drawing on the diverse location.：1. 2. 3. 4. 5.6. 7. 8. 9. 10.11. 12. 13. 14. 15.16. 17. 18. 19. 20.21. 22. 23. 24. 25.26. 27. 28. 29. 30.31. 32. 33. 34. 35.36. 37. 38. 39. 40.41. 42. 43.“T” 44. 45.46. 47. 48.
Five, the specific embodiment
Present embodiment is a kind of motion adsorption unit, comprises that four drive wheels 1, four are with 2 synchronously, a plurality of Suction cup assembly 3 and two translating cams 4, is divided into two groups, and symmetry is installed on the frame.Present embodiment is that example is done detailed description with one group of mechanism wherein.
In each group, drive wheel 1 has two, is respectively driving wheel and flower wheel; Each drive wheel is made up of the web-type synchronous pulley 5 and 6 that a pair of profile is identical with structure, direction is opposite.For preventing to be with synchronously 2 skews on the gear teeth 7, the synchronous pulley gear teeth 7 flank of tooth one end is higher than the other end, has formed synchronously the limiting tooth rank 13 with 2.Have lightening hole 9 and loss of weight groove 12 on the web of synchronous pulley; All there is flange 11 center, two corresponding side end faces of synchronous pulley, and the end face of flange 11 has formed two flange fitting surfaces 14 that synchronous pulley matches; The height of this flange is greater than the radius of cylinder 17 in the Suction cup assembly 3; The length sum of this flange periphery cylinder barrel and plunger 20 when the distance of the drive wheel flank of tooth cooperates with cylinder barrel 29 greater than plunger 20 in the Suction cup assembly 3 and be positioned at cylinder barrel 29 bottoms.The synchronous pulley center has square opening and prism 10.
Assembling is during drive wheel 1, the flange fitting surface 11 relative applyings that two synchronous pulleys 5 and 6 are cooperatively interacted.
Be with 2 to adopt the T10 types synchronously, every band rivet hole 24 that circumferentially distributing equably synchronously is used for and being connected of Suction cup assembly 3.
Cylinder 17 comprises cylinder mouth 25, supporting plate 27 and cylinder barrel 29, and integral body processes; Cylinder mouth 25 is positioned at a side surface center of supporting plate 27, and cylinder barrel 29 is positioned at the opposite side center of surface of supporting plate 27; Cylinder mouth 25 connects with cylinder barrel 29, and with one heart.Cylinder mouth 25 is a hollow circular cylinder, and inner chamber has formed axial air extractor vent 26; Cylinder barrel also is a hollow circular cylinder, has a pair of induction opening 30 that radially connects on the one end barrel.With the connecting bore 24 corresponding positions that are positioned on the shoe 16 supporting plate connecting bore 29 is being arranged on the supporting plate 27.
Plunger 20 is a swivel, and the diameter of an end is with cylinder barrel 29 internal diameters, and matches with the cylinder barrel inner chamber, has formed the sealed end 31 of plunger; The diameter of the other end has formed plunger rod 32 less than the internal diameter of cylinder barrel, and there is the roller axis hole 33 that radially connects the end of plunger rod 32.
During the assembling Suction cup assembly, sucker 15 is connected with the cylinder mouth 25 of cylinder 17 by the hollow pipe link 21 of an end.17 in cylinder is fixed on the shoe 16 by supporting plate connecting bore 29; Shoe 16 is contained between cylinder supporting plate 27 and the cylinder barrel 29.One pair roller 19 is installed in an end of plunger 20 by roller shaft 18.During work, plunger 20 can move back and forth in cylinder barrel 29 to realize air-breathing and venting, and in course of normal operation, the sealed end 31 of plunger 20 in cylinder barrel 29, can not break away from cylinder barrel 29 all the time.
The cam bit that translating cam 4 is identical by two chip architectures, direction is opposite is fitted and is formed.Cam bit is a strip, is that make on the basis with the track of cam bit movement slots 34.As shown in figure 13, the cam bit cross section side is stepped; A stepped side has the slot cross-section of the movement slots 34 of Suction cup assembly roller 19 on this cross section, and this upper lateral part is the fitting surface 36 of two cam bits, the bottom is non-fitting surface 35, when two cam bits were fitted by fitting surface 36, the distance between the non-fitting surface 35 was greater than the diameter of plunger rod 32 in the Suction cup assembly 3.
The base of cam bit outline is a straight line, and two ends are respectively 1/4 circular arc; Straight line and 1/4 circular arc are tangent.When being assembled on the frame, the corresponding position of the both upper ends thereof of cam bit and drive wheel has the mating groove of synchronous pulley flange respectively; The cam mounting hole 37 that cooperates with Cam rest 47 is arranged at the top of cam bit.When two cam bits were sticked to form translating cam, two movement slots 34 laid respectively at the inboard of translating cam 4, and cooperated the cross section of back translating cam to form "T"-shaped groove 43.
The track of cam bit movement slots 34 comprises closely the section of stopping 38, plunger ascent stage 39, the far section of stopping 40, cylinder intake section 41 and backhaul section 42.Wherein, closely section of stopping 38 and backhaul section 42 lay respectively at the two ends of track; Closely the section of stopping 38 is 1/4 concave arc, and concentric with in two 1/4 circular arcs of cam outline one, this circular arc starting point also is the starting point of movement slots track.Far the section of stopping 40 is a straight-line trajectory, it is parallel with the tangent line of near 1/4 circular arc destination county of the section of stopping 38, between line between this circular arc starting point and this circular arc center of circle and this circular arc destination county tangent line, and and this circular arc destination county tangent line between distance must make mechanism kinematic the time cylinder 17 keep sealing at this motor segment; If 1/4 circular arc completion of the section of stopping 38 nearly, far close in the section of stopping 40 closely end points and this wholecircle arc of the section of stopping 38 do not have intersection point.Closely 1/4 circular arc terminal point of the section of stopping 38 with far between the section of stopping 40 transition be connected, and formed plunger ascent stage 39 of movement slots 34 by this linkage section, can realize the rising of plunger 20 during mechanism kinematic with respect to cylinder barrel 29.Cylinder intake section 41 is made up of the circular arc of two sections variable curvatures, and wherein one section variable curvature circular arc is a concave arc, and another section variable curvature circular arc is the dome arc; One end of concave arc and the section of stopping 40 far away are tangent continuous away from an end of the near section of stopping 38, and the other end is connected with the transition of dome arc; The dome arc is connected with 42 transition of backhaul section; The tangent line of dome arc destination county is with far the section of stopping 40 is parallel; Far the distance between the tangent line at section of stopping 40 and the tangent place of concave arc and the dome arc vertex must satisfy that plunger 20 sealed ends 31 move to required stroke on the cylinder barrel induction opening 30 in the Suction cup assembly 3.Backhaul section 42 is the concave arc of variable curvature, and this concave arc one end and cylinder intake section 41 are tangent, and another end points is the terminal point of movement slots track, and the line between the starting point of the terminal point of this movement slots track and movement slots track is with far the section of stopping 40 is parallel; The curvature of backhaul section 42 circular arcs must satisfy that plunger 20 sealed ends 31 move to the required stroke in cylinder barrel 29 bottoms in the Suction cup assembly 3, can realize the decline of plunger 20 with respect to cylinder barrel 29 during mechanism kinematic.
As Figure 17, Figure 18 and shown in Figure 19, frame comprises base plate 44, driven shaft 45, bracing strut 46, translating cam support 47 and imput shaft 48.At the two ends of rectangular base plate 44 a pair of bracing strut 46 is arranged respectively, drive wheel 1 is installed in respectively on the bracing strut 46 by wheel shaft, and driving wheel is positioned at an end of the closely section of stopping 38 of camming movement groove 34.In the both sides, middle part of frame, the support 47 of translating cam is arranged respectively.
During assembling, two drive wheels are installed in the outside of a side shaft support 46 respectively.To captive joint with the translating cam support 47 of frame one side by the cam mounting hole 37 on cam bit top by fitting surface 36 translating cam 4 that forms that fits, and make the driving wheel of drive wheel 1 be in a closely end of the section of stopping 38 of translating cam; During installation, must make the circular arc of the near section of stopping 38 concentric with driving wheel; The circular arc at cam bit gabarit two ends is also concentric with the flower wheel of the driving wheel of drive wheel and drive wheel respectively.To be with 2 to match synchronously with drive wheel 1.Suction cup assembly 3 is contained in synchronously by the rivet hole on the shoe 16 24 is with on 2, and make sucker 15 be in synchronously outside face with 2; One by one plunger 20 is packed in the cylinder barrel 29, and the axis normal of roller shaft 18 that makes Suction cup assembly 3 is in the medial surface of movement slots 34.
According to foregoing description, another group drive wheel, synchronous band, translating cam and Suction cup assembly are installed in the bracing strut outside of frame opposite side.So far, just finished the assembling of motion adsorption unit.
Motion adsorbing mechanism when motion, with synchronously with 2 affixed Suction cup assemblies 3 under the driving of drive wheel, the roller 19 of each Suction cup assembly is successively by translating cam 4.With regard to single Suction cup assembly, in passing through translating cam 4 processes, Suction cup assembly 3 at first enters the closely section of stopping 38 of camming movement grooved rail mark, begins to move in a circle, plunger 20 is in the lowermost end of cylinder barrel 29 in this moment Suction cup assembly, and and cylinder barrel 29 do not have relative motion; At the near terminal point of the section of stopping 38, the sucker 15 in the Suction cup assembly is fitted with metope, forms preliminary vacuum in the sucker 15; Simultaneously, Suction cup assembly 3 enters the plunger ascent stage 39, and this moment, Suction cup assembly 3 circular movement that calls it quits and kept static on the mechanism kinematic direction.
In the plunger ascent stage 39, on the direction vertical with the mechanism kinematic direction, plunger 20 produces relative motion with cylinder barrel 29, begins sucker 15 is bled; After treating that the plunger ascent stage 39 finishes, plunger 20 promotes a height with passive movement groove 34, and obtains the maximum swept volume to sucker 15, makes sucker 15 obtain bigger degree of vacuum, and makes the adsorption affinity of sucker reach maximum.
After this, Suction cup assembly 3 enters the far section of stopping 40, and this section is the base portion of cam locus, and Suction cup assembly 3 will be the longest by the time of this section.During by this section, plunger 20 does not have relative motion with cylinder 17 yet, is still keeping the maximum swept volume of sucker 15 and is keeping the maximum adsorption power of sucker 15.
Cover the far section of stopping 40, Suction cup assembly 3 enters cylinder intake section 41, and on the direction vertical with the mechanism kinematic direction, plunger 20 produces relative motion again with cylinder barrel 29.When this section is finished, plunger 20 is raised a height once more, sealed end 31 on the plunger 20 is crossed the induction opening 30 of cylinder barrel 29 at this moment, cylinder barrel 29 is communicated with ambient atmosphere, air admission sucker 15 makes its loss of vacuum, and sucker 15 disappears to carry out the preparation of disengaging metope with the application force of metope thereupon.
After cylinder intake section 41 was finished, Suction cup assembly 3 entered backhaul section 42, and in this section, Suction cup assembly 3 breaks away from metope, becomes state of kinematic motion from quiescence, and plunger 20 still has relative motion with cylinder barrel 29 in the Suction cup assembly.Under the constraint of movement slots 34, plunger 20 is slowly towards the motion of 29 ends of cylinder barrel, and when backhaul section 42 finished, plunger 20 was positioned at the lowermost end of cylinder barrel 29 once more.So far Suction cup assembly 3 is finished the circulation that an absorption is thrown off.
Each Suction cup assembly 3 all carries out same circulation under synchronously with 2 drive, finishes the absorption and the motion of robot.
Claims (8)
1. a motion adsorption unit comprises two groups by two drive wheels (1), two motion adsorbing mechanisms of being with (2) and a plurality of Suction cup assembly (3) to form synchronously, it is characterized in that, also comprises translating cam (4) in the motion adsorbing mechanism; Two groups of motion adsorbing mechanism symmetries are installed on the frame, make two drive wheels (1) of every group of motion adsorbing mechanism lay respectively at the outside of frame one side shaft support (46); To captive joint with the translating cam support (47) of frame one side by the mounting hole (37) on cam bit top by fitting surface (36) translating cam (4) that forms that fits, make the driving wheel of drive wheel (1) be in a closely end of the section of stopping (38) of translating cam, and closely the circular arc of the section of stopping (38) is concentric with driving wheel; The circular arc at cam bit gabarit two ends is also concentric with the flower wheel of the driving wheel of drive wheel (1) and drive wheel (1) respectively; To be with (2) to match synchronously with drive wheel (1); Plunger (20) is packed in the cylinder barrel (29) of Suction cup assembly (3), and the axis normal that makes Suction cup assembly roller shaft (18) is in the medial surface of translating cam movement slots (34).
2. motion adsorption unit according to claim 1 is characterized in that, two drive wheels (1) in every group of motion adsorbing mechanism are respectively driving wheel and flower wheel; Each drive wheel is made up of a pair of profile is identical with structure, direction is opposite web-type synchronous pulley (5) and synchronous pulley (6); The synchronous pulley gear teeth (7) flank of tooth one end has limiting tooth rank (13).
3. motion adsorption unit according to claim 1, it is characterized in that, Suction cup assembly (3) comprises sucker (15), shoe (16), cylinder (17), a pair roller (19) and plunger (20), and shoe (16) is positioned between cylinder supporting plate (27) and the cylinder barrel (29), and cylinder (17) is fixed on the shoe (16) by supporting plate connecting bore (28); Sucker (15) is connected with the cylinder mouth (25) of cylinder (17) by the hollow pipe link (21) of an end; One end of plunger (20) and cylinder barrel inner chamber bearing fit also seal, and have formed the sealed end (31) of plunger (20); The other end has formed plunger rod (32), and roller (19) is positioned at the end of plunger rod (32).
4. motion adsorption unit according to claim 1 is characterized in that, the outer path of motion just as cam bit of described cam bit; The base of cam bit outline is a straight line, and two ends are respectively 1/4 circular arc; Straight line and 1/4 circular arc are tangent; A side in cam bit cross section is stepped, and this upper lateral part is the fitting surface (36) of two cam bits, the bottom is non-fitting surface (35), when two cam bits were fitted by fitting surface (36), the distance between the non-fitting surface (35) was greater than the diameter of the plunger rod (32) of Suction cup assembly (3); The movement slots (34) of the roller (19) of Suction cup assembly (3) also is positioned at a stair-stepping side surface, when two cam bits are sticked to form translating cam (4), two movement slots (34) lay respectively at the inboard of translating cam (4), and cooperate the cross section of back translating cam to form "T"-shaped groove (43); The two ends on cam bit top and synchronous pulley (6) corresponding section has the mating groove of synchronous pulley flange (11) respectively; The mounting hole (37) that cooperates with Cam rest (47) is arranged at the top of cam bit.
5. motion adsorption unit according to claim 1 is characterized in that, the track of described cam bit movement slots (34) comprises closely the section of stopping (38), plunger ascent stage (39), the far section of stopping (40), cylinder intake section (41) and backhaul section (42); Wherein:
A. closely section of stopping (38) and backhaul section (42) lay respectively at the two ends of track; Closely the section of stopping (38) is 1/4 concave arc, and concentric with in two 1/4 circular arcs of cam outline one, this circular arc starting point also is the starting point of movement slots (34) track; Closely 1/4 circular arc terminal point of the section of stopping (38) with far between the section of stopping (40) transition be connected, and formed the plunger ascent stage (39) of movement slots (34) by this linkage section;
B. far the section of stopping (40) is a straight-line trajectory, parallel with the tangent line of near 1/4 circular arc destination county of the section of stopping (38), between line between this circular arc starting point and this circular arc center of circle and this circular arc destination county tangent line, and and this circular arc destination county tangent line between distance must make mechanism kinematic the time cylinder (17) keep sealing at this motor segment;
C. cylinder intake section (41) is made up of the circular arc of two sections variable curvatures, and wherein one section variable curvature circular arc is a concave arc, and another section variable curvature circular arc is the dome arc; One end of concave arc and the section of stopping (40) far away are tangent continuous away from an end of the near section of stopping (38), and the other end is connected with the transition of dome arc; The dome arc is connected with the transition of backhaul section; The tangent line of dome arc destination county is with far the section of stopping (40) is parallel; Far the distance between the tangent line at section of stopping (40) and the tangent place of concave arc and the dome arc vertex must satisfy that plunger (20) sealed end (31) moves to required stroke on cylinder barrel (29) the barrel induction opening in the Suction cup assembly (3);
D. backhaul section (42) is the concave arc of variable curvature, this concave arc one end and cylinder (17) inlet end are tangent, the concave arc shape terminal point of the other end also is the terminal point of movement slots (34) track, and the line between the terminal point of this movement slots track and the starting point is with far the section of stopping (40) is parallel; Plunger (20) sealed end (31) that the curvature of backhaul section (42) circular arc must satisfy Suction cup assembly (3) moves to the required stroke in cylinder (17) bottom.
6. motion adsorption unit according to claim 1 is characterized in that described frame comprises base plate (44), driven shaft (45), bracing strut (46), translating cam support (47) and imput shaft (48); Drive wheel (1) is installed in respectively on the bracing strut (46) at base plate (44) two ends by wheel shaft, and driving wheel is positioned at an end of the closely section of stopping (38) of camming movement groove (34); In the both sides, middle part of frame, the support (47) of translating cam (4) is arranged respectively.
7. as the motion adsorption unit of climbing robot as described in the claim 2, it is characterized in that the end face of the cylindrical lip (11) of described synchronous pulley (5) and center, the corresponding side end face of synchronous pulley (6) has formed the fitting surface (14) of synchronous pulley (5) and synchronous pulley (6); The height of flange (11) is greater than the radius of cylinder in the Suction cup assembly (17); The length sum of flange (11) cylindrical outer surface cylinder barrel (29) and plunger (20) when the distance of drive wheel (1) flank of tooth cooperates with cylinder (17) greater than plunger (20) in the Suction cup assembly (3) and be positioned at cylinder (17) bottom.
8. as motion adsorption unit as described in the claim 3, it is characterized in that the cylinder mouth (25) of the cylinder (17) of described Suction cup assembly (3) is positioned at a side surface center of supporting plate (27), cylinder barrel (29) is positioned at the opposite side center of surface of supporting plate (27); Have a pair of induction opening (30) that radially connects on cylinder barrel (29) the one end barrels; The hollow cavity of cylinder mouth (25) has formed axial air extractor vent (26); Cylinder mouth (25) connects with cylinder barrel (29), and with one heart.
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| CN2009200319204U CN201405948Y (en) | 2009-02-16 | 2009-02-16 | Motion adsorption device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200319204U CN201405948Y (en) | 2009-02-16 | 2009-02-16 | Motion adsorption device |
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| CN201405948Y true CN201405948Y (en) | 2010-02-17 |
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| CN2009200319204U Expired - Fee Related CN201405948Y (en) | 2009-02-16 | 2009-02-16 | Motion adsorption device |
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