CN203937754U - Sucker pneumatic circuit for climbing robot - Google Patents
Sucker pneumatic circuit for climbing robot Download PDFInfo
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- CN203937754U CN203937754U CN201420248610.9U CN201420248610U CN203937754U CN 203937754 U CN203937754 U CN 203937754U CN 201420248610 U CN201420248610 U CN 201420248610U CN 203937754 U CN203937754 U CN 203937754U
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- vacuum
- valve
- sucker
- climbing robot
- pneumatic circuit
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Abstract
The utility model discloses a kind of sucker pneumatic circuit for climbing robot, described pneumatic circuit is connected with the distribution interface of climbing robot, comprise vacuum generator, vacuum feed valve, vacuum breaker valve, flow regulating valve, vac switch and vacuum filter, described vacuum generator is connected with vacuum filter with vacuum feed valve respectively, described vacuum breaker valve is connected with vac switch with vacuum feed valve respectively, described flow regulating valve is arranged on the lower end of vacuum breaker valve, and the lower end of described vacuum filter is connected to distribution interface.By the way, when needs sucker produces vacuum, the energising of vacuum feed valve; When needs destroy sucker vacuum relieving wall, the power-off of vacuum feed valve, vacuum breaker valve energising, sucker is adsorbed in wall under the effect of bar pressure, by pneumatic circuit, complete the distribution to orchestration interface, gas enters sucker and departs from wall, has avoided the generation of climbing robot in vertical wall landing and the two kinds of situations of tumbling.
Description
Technical field
The utility model relates to the field of cable external member, particularly relates to a kind of sucker pneumatic circuit for climbing robot.
Background technology
Along with scientific and technological progress, industrial robot has obtained using widely in every field.Wherein, with it, the outstanding advantages in industries such as nuke industry, building, fire-fightings more and more receives people's concern to climbing robot.
The application of climbing robot (claiming again " wall-climbing machine ") on clean high-rise building wall surface, can find out the development along with control and mechanical & electrical technology, this can instead of manual the appearance of wall surface cleaning robot of work people is freed from heavy, dangerous high building cleaning, reduce the cleaning cost of skyscraper, enhance productivity, also promote the development of cleaning industry, bring suitable social benefit, economic benefit simultaneously.But this is only an application of climbing robot, in recent years, along with widespread use and the development of multi-form robot in every field, climbing robot is as can carry out the robot of operation on steep slope, the good characteristic that can become a kind of robot apparatus of high-altitude limit operation with it, is more and more subject to people's attention.Sum up, climbing robot mainly can be applied to following field:
(1) at construction trade, can be applicable to spray huge metope, installation ceramic tile, wall flaw detection, wall reparation lift face, wall cleaning, cleaning glass window wall etc.;
(2) at fire department, can be applicable to carry fire-fighting equipment, transmit relief goods, carry out height rescue work;
(3) at nuke industry, can be used for nuclear waste storage tank to carry out the dangerous work such as sight control, thickness measuring and seam inspection;
(4) the inside and outside wall that can be used for vertical metal can or spherical tank in petroleum chemical enterprise checks or sand blasting, spray paint anticorrosion;
(5) ship building industry can be used for spraying hull inside and outside wall, to the inside and outside wall of hull check, hull inside and outside wall is clean etc.;
(6) in rescue and relief work, can be applicable to transport escape apparatus, transmit food water provisions etc. to high-altitude trapped personnel;
(7), in aerospace, can be used for space probation, Aerospace Satellite maintenance etc.
As can be seen here, the application of climbing robot relates generally to the people's livelihood, nuke industry, shipbuilding industry etc., and in these fields, is serving as very important work, can promote the raising of productive force, the life that improves the people and service conditions.The research and development of climbing robot structural principle can be instructed and the effect promoting for the manufacturing and progressive the playing of upgrading of wall robot; In addition, the research scientific findings of climbing robot correlation technique can directly apply to or drive the progress of relevant chain industry, promotes on the whole the development of productive force, improves the people's quality of life.
In a word, active research and development climbing robot technology, making great efforts exploitation is the needs of productive force development with manufacturing and designing the climbing robot that can be converted into reality potential productivity, is that people's living standard and service conditions are improved and the needs that improve, and Ye Shi China rejuvenates China by applying scientific and technological advances, the needs of technological advance.
Sucker is the important assembly of crawler belt sucker type wall climbing robot, and its serviceability will directly affect the normal work that wall machine is made angry of climbing.Robot, when work, has two kinds of dangerous situations to occur: a kind of situation is its landing from metope when it moves on glass wall; Another kind of situation be sucker due to the top contact owing to being subject to the too large disengaging metope of tilting moment, cause tumbling of robot.
Utility model content
The technical matters that the utility model mainly solves is to provide a kind of sucker pneumatic circuit for climbing robot, and pneumatic circuit is connected with the distribution interface of climbing robot, when needs sucker produces vacuum, and the energising of vacuum feed valve; When needs destroy sucker vacuum relieving wall, the power-off of vacuum feed valve, vacuum breaker valve energising, sucker is adsorbed in wall under the effect of bar pressure, by pneumatic circuit, complete the distribution to orchestration interface, gas enters sucker and departs from wall, has avoided the generation of climbing robot in vertical wall landing and the two kinds of situations of tumbling.
For solving the problems of the technologies described above, the technical scheme that the utility model adopts is: a kind of sucker pneumatic circuit for climbing robot is provided, described pneumatic circuit is connected with the distribution interface of climbing robot, comprise vacuum generator, vacuum feed valve, vacuum breaker valve, flow regulating valve, vac switch and vacuum filter, described vacuum generator is connected with vacuum filter with vacuum feed valve respectively, described vacuum breaker valve is connected with vac switch with vacuum feed valve respectively, described flow regulating valve is arranged on the lower end of vacuum breaker valve, the lower end of described vacuum filter is connected to distribution interface.
In preferred embodiment of the utility model, the quantity of described distribution interface is one or two.
In preferred embodiment of the utility model, when the quantity of described distribution interface is two, described pneumatic circuit also comprises solenoid directional control valve, and described solenoid directional control valve is arranged on the top between vacuum feed valve and vacuum breaker valve.
In preferred embodiment of the utility model, described solenoid directional control valve adopts the solenoid directional control valve of two four-ways.
In preferred embodiment of the utility model, described solenoid directional control valve, vacuum feed valve and vacuum breaker valve are controlled work by PLC.
The beneficial effects of the utility model are: the utility model is for the sucker pneumatic circuit of climbing robot, and pneumatic circuit is connected with the distribution interface of climbing robot, when needs sucker produces vacuum, and the energising of vacuum feed valve; When needs destroy sucker vacuum relieving wall, the power-off of vacuum feed valve, vacuum breaker valve energising, sucker is adsorbed in wall under the effect of bar pressure, by pneumatic circuit, complete the distribution to orchestration interface, gas enters sucker and departs from wall, has avoided the generation of climbing robot in vertical wall landing and the two kinds of situations of tumbling.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the utility model embodiment, below the accompanying drawing of required use during embodiment is described is briefly described, apparently, accompanying drawing in the following describes is only embodiment more of the present utility model, for those of ordinary skills, do not paying under the prerequisite of creative work, can also according to these accompanying drawings, obtain other accompanying drawing, wherein:
Fig. 1 is that the utility model is for the structural representation of sucker pneumatic circuit one preferred embodiment of climbing robot;
In accompanying drawing, the mark of each parts is as follows: 1, vacuum generator, 2, vacuum feed valve, 3, vacuum breaker valve, 4, flow regulating valve, 5, vac switch, 6 vacuum filters, 7, distribution interface, 8, solenoid directional control valve.
The specific embodiment
Below the technical scheme in the utility model embodiment is clearly and completely described, obviously, described embodiment is only a part of embodiment of the present utility model, rather than whole embodiment.Embodiment based in the utility model, those of ordinary skills are not making all other embodiment that obtain under creative work prerequisite, all belong to the scope of the utility model protection.
Climbing robot is walked and is completed clean and transmission rescue material work in the vertical walls of skyscraper, in order to prevent robot landing vertical walls, climbing robot must and wall between keep enough adsorption affinity, and thering is certain resistance to capsizing, the climbing robot of crawler belt sucked type can provide larger adsorption affinity.
As shown in Figure 1, the utility model embodiment comprises:
A kind of sucker pneumatic circuit for climbing robot, described pneumatic circuit is connected with the distribution interface 7 of climbing robot, comprise vacuum generator 1, vacuum feed valve 2, vacuum breaker valve 3, flow regulating valve 4, vac switch 5 and vacuum filter 6, described vacuum generator 1 is connected with vacuum filter 3 with vacuum feed valve 2 respectively, described vacuum breaker valve 3 is connected with vac switch 5 with vacuum feed valve 2 respectively, described flow regulating valve 4 is arranged on the lower end of vacuum breaker valve 3, and the lower end of described vacuum filter 6 is connected to distribution interface 7.Wherein, the quantity of described distribution interface 7 is one or two.
When needs sucker produces vacuum, 2 energisings of vacuum feed valve; When needs destroy sucker vacuum relieving wall, 2 power-off of vacuum feed valve, vacuum breaker valve 3 energisings.The vacuum control loop that vacuum generator 1, vacuum feed valve 2, vacuum breaker valve 3, flow regulating valve 4, vac switch 5 and vacuum filter 6 form, can form one, forms a vacuum generator assembly.
An above-mentioned vacuum generator assembly can only be connected with a distribution interface, in order to complete distribution to two distribution interfaces, needs the such equipment of two covers.But, at the sucker of an orchestration interface of actual wall-climbing device man-hour, need to produce vacuum, another one need to be destroyed vacuum just.
Further, when the quantity of described distribution interface 7 is two, for simplified structure and the cost-saving solenoid directional control valve 8 of can also connecting in pneumatic circuit, described solenoid directional control valve 8 is arranged on the top between vacuum feed valve 2 and vacuum breaker valve 3.Wherein, described solenoid directional control valve 8 adopts the solenoid directional control valve of two four-ways.
Further, described solenoid directional control valve 8, vacuum feed valve 2 and vacuum breaker valve 3 are controlled work by PLC, worked in coordination with the distribution to two orchestration interfaces 7, gas enters sucker and departs from wall, has avoided the generation of climbing robot in vertical wall landing and the two kinds of situations of tumbling.
The sucker pneumatic circuit for climbing robot that the utility model discloses, pneumatic circuit is connected with the distribution interface 7 of climbing robot, when needs sucker produces vacuum, 2 energisings of vacuum feed valve; When needs destroy sucker vacuum relieving wall, 2 power-off of vacuum feed valve, vacuum breaker valve 3 energisings, sucker is adsorbed in wall under the effect of bar pressure, by pneumatic circuit, complete the distribution to orchestration interface, gas enters sucker and departs from wall, has avoided the generation of climbing robot in vertical wall landing and the two kinds of situations of tumbling.
The foregoing is only embodiment of the present utility model; not thereby limit the scope of the claims of the present utility model; every equivalent structure or conversion of equivalent flow process that utilizes the utility model description to do; or be directly or indirectly used in other relevant technical field, be all in like manner included in scope of patent protection of the present utility model.
Claims (5)
1. the sucker pneumatic circuit for climbing robot, described pneumatic circuit is connected with the distribution interface of climbing robot, it is characterized in that, comprise vacuum generator, vacuum feed valve, vacuum breaker valve, flow regulating valve, vac switch and vacuum filter, described vacuum generator is connected with vacuum filter with vacuum feed valve respectively, described vacuum breaker valve is connected with vac switch with vacuum feed valve respectively, described flow regulating valve is arranged on the lower end of vacuum breaker valve, and the lower end of described vacuum filter is connected to distribution interface.
2. the sucker pneumatic circuit for climbing robot according to claim 1, is characterized in that, the quantity of described distribution interface is one or two.
3. the sucker pneumatic circuit for climbing robot according to claim 2, it is characterized in that, when the quantity of described distribution interface is two, described pneumatic circuit also comprises solenoid directional control valve, and described solenoid directional control valve is arranged on the top between vacuum feed valve and vacuum breaker valve.
4. the sucker pneumatic circuit for climbing robot according to claim 3, is characterized in that, described solenoid directional control valve adopts the solenoid directional control valve of two four-ways.
5. the sucker pneumatic circuit for climbing robot according to claim 3, is characterized in that, described solenoid directional control valve, vacuum feed valve and vacuum breaker valve are controlled work by PLC.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420248610.9U CN203937754U (en) | 2014-05-15 | 2014-05-15 | Sucker pneumatic circuit for climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420248610.9U CN203937754U (en) | 2014-05-15 | 2014-05-15 | Sucker pneumatic circuit for climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203937754U true CN203937754U (en) | 2014-11-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420248610.9U Expired - Fee Related CN203937754U (en) | 2014-05-15 | 2014-05-15 | Sucker pneumatic circuit for climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203937754U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104071244A (en) * | 2014-05-15 | 2014-10-01 | 苏州工业园区职业技术学院 | Sucking disk pneumatic circuit for wall climbing robot |
| CN104590416A (en) * | 2014-12-12 | 2015-05-06 | 华南理工大学 | Vacuum negative pressure adsorption system and method for multi-legged wall climbing robot |
-
2014
- 2014-05-15 CN CN201420248610.9U patent/CN203937754U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104071244A (en) * | 2014-05-15 | 2014-10-01 | 苏州工业园区职业技术学院 | Sucking disk pneumatic circuit for wall climbing robot |
| CN104590416A (en) * | 2014-12-12 | 2015-05-06 | 华南理工大学 | Vacuum negative pressure adsorption system and method for multi-legged wall climbing robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141112 Termination date: 20170515 |