CN203974995U - A kind of pneumatic six sufficient wall climbing robots - Google Patents
A kind of pneumatic six sufficient wall climbing robots Download PDFInfo
- Publication number
- CN203974995U CN203974995U CN201420307888.9U CN201420307888U CN203974995U CN 203974995 U CN203974995 U CN 203974995U CN 201420307888 U CN201420307888 U CN 201420307888U CN 203974995 U CN203974995 U CN 203974995U
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- cylinder
- sucker
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- wall climbing
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Abstract
The utility model relates to a kind of pneumatic six sufficient wall climbing robots, comprise controller, cylinder, sucker, vacuum valve, electromagnetic valve, controller control moving line, on controller, be provided with start stop switch, electromagnetic valve is arranged on control cylinder motion on cylinder, vacuum valve is arranged on the degree of vacuum of controlling sucker on sucker, and cylinder and sucker interconnect, and the rise and fall of control cylinder drive vacuum valve to open and close to control the adhesive of sucker.Compared with prior art, the utility model antijamming capability is strong; Comprehensive, perfect in shape and function, applicability is strong, adsorbs and makes to be subject to many condition restriction such as operating environment, strained condition greatly to reduce, thereby expanded range of use with the form of sucker group.
Description
Technical field
The utility model belongs to climbing robot, especially relates to a kind of pneumatic six sufficient wall climbing robots.
Background technology
Since entering 21 century, robot is all widely used and develops in all trades and professions, and its research and application level have become the important symbol of a national economic strength and Sci-Tech Level.Along with the development of pneumatics, the application of pneumatic robot is also extensive gradually, in some special application scenarios, as safety, building, national defence, etc., require that reliable operation, volume are little, the pneumatic climbing robot of flexible movements, especially in the research of wall climbing robot.Wall climbing robot is the one of specialized robot, is a kind of automated machine device that carries out operations specific in the situations such as severe, danger, the limit, is nowadays more and more subject to people's attention.For making it perfect as early as possible, the research of wall climbing robot is become to one of focus of robotics development.Wall climbing robot has obtained application in fields such as nuke industry, petrochemical industry, building industry, fire department, ship building industry at present.
Utility model content
The purpose of this utility model is exactly to provide a kind of antijamming capability strong in order to overcome the defect that above-mentioned prior art exists, comprehensive, perfect in shape and function, and range of use is pneumatic six sufficient wall climbing robots widely.
The purpose of this utility model can be achieved through the following technical solutions:
A kind of pneumatic six sufficient wall climbing robots, comprise controller, cylinder, sucker, vacuum valve, electromagnetic valve,
Described controller control moving line is provided with start stop switch on controller,
Described electromagnetic valve is arranged on control cylinder motion on cylinder,
Described vacuum valve is arranged on the degree of vacuum of controlling sucker on sucker,
Described cylinder and sucker interconnect, and the rise and fall of control cylinder drive vacuum valve to open and close to control the adhesive of sucker.
Described cylinder and sucker are equipped with 6, a sucker of the corresponding connection of each cylinder, and every two cylinders and sucker form a coupling assembling, are parallel to each other and are three rows' settings.
Between coupling assembling, also interconnect the craspedodrome cylinder of connecting rod via controller control or turn to cylinder to keep straight on or left and right turn motion through connecting rod.
Described sucker is through cylinder control in the vertical direction fore and aft motion.
Compared with prior art, the utility model antijamming capability is strong; Comprehensive, perfect in shape and function, applicability is strong, adsorbs many condition restriction such as making to be subject to operating environment (comprising obstacle, surface deficiency, the conversion of face face, curved surface degree etc.), strained condition and greatly reduces, thereby expanded range of use with the form of sucker group.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model;
Fig. 2 is structural representation of the present utility model.
In figure, 1 is that the first cylinder, 2 is that the second cylinder, 3 is that the 3rd cylinder, 4 is that four-cylinder, 5 is that the 5th cylinder, 6 is that the 6th cylinder, 7 is that the first sucker, 8 is that the second sucker, 9 is that the 3rd sucker, 10 is that the 4th sucker, 11 is that the 5th sucker, 12 is that the 6th sucker, 13 is craspedodrome cylinder for turning to cylinder, 14.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is elaborated.
Embodiment
A kind of pneumatic six sufficient wall climbing robots, its structure as shown in Figure 1, mainly comprise controller, cylinder, sucker, vacuum valve, electromagnetic valve, controller control moving line wherein, on controller, be provided with start stop switch, electromagnetic valve is arranged on control cylinder motion on cylinder, and vacuum valve is arranged on the degree of vacuum of controlling sucker on sucker, cylinder and sucker interconnect, and the rise and fall of control cylinder drive vacuum valve to open and close to control the adhesive of sucker.
In the present embodiment, cylinder and sucker are equipped with 6, in Fig. 1, and a sucker of the corresponding connection of each cylinder, every two cylinders and sucker form a coupling assembling, are parallel to each other and are three rows' settings.Between coupling assembling, also interconnect through connecting rod, via controller controlled motion drives sucker to move all around.Sucker is through cylinder control in the vertical direction fore and aft motion.
The sequence of motion of robot adopts following steps:
Initial condition is that 6 suckers are all pull-in on wall.
The concrete steps that straight line moving motion realizes are as follows:
(1) first by controlling electromagnetic valve by the 3rd sucker 9, the 4th sucker 10 vacuum breakings of robot, the 3rd cylinder 3, four-cylinder 4 rise, i.e. the craspedodrome state of climbing robot;
(2) first suckers 7, the 6th sucker 12 vacuum breakings, the first cylinder 1, the 6th cylinder 6 rise, and craspedodrome cylinder 14 stretches out, and the first cylinder 1, the 6th cylinder 6 decline, the first sucker 7, the 6th sucker 12 adhesives, realize the first cylinder 1, the corresponding robot foot of the 6th cylinder 6 moves forward;
(3) second suckers 8, the 5th sucker 11 vacuum breakings, the second cylinder 2, the 5th cylinder 5 rise, and craspedodrome cylinder 14 is retracted, and the second cylinder 2, the 5th cylinder 5 decline, the second sucker 8, the 5th sucker 11 adhesives, realize the second cylinder 2, the corresponding robot foot of the 5th cylinder 5 moves forward;
(4) repeat above step and can realize robot continuous linear walking movement.
The concrete steps that in craspedodrome motion process, divertical motion is realized are as follows:
(1) first by controlling electromagnetic valve, the 3rd cylinder 3, the four-cylinder 4 of robot are declined, the 3rd sucker 9, the 4th sucker 10 adhesives, the first sucker 7, the second sucker 8, the 5th sucker 11, the 6th sucker 12 vacuum breakings, the first cylinder 1, the second cylinder 2, the 5th cylinder 5, the 6th cylinder 6 rise;
(2) turn to cylinder 13 to stretch out (contraction), main connecting panel turns an angle with respect to the 3rd cylinder 3, the corresponding pin connecting panel conter clockwise (cw) of four-cylinder 4, realizes (right-hand rotation);
(3) first cylinders 1, the second cylinder 2, the 5th cylinder 5, the 6th cylinder 6 decline, the first sucker 7, the second sucker 8, the 5th sucker 11, the 6th sucker 12 sucker adhesives, and robot is got back to 6 suckers and is all pull-in on the initial condition on wall.
Specifically describe again below: craspedodrome cylinder 14 major control robots are kept straight on, now state is that the 3rd cylinder 3, four-cylinder 4 rise, the first sucker 7, the second sucker 8, the 5th sucker 11, the 6th sucker 12 adhesives, craspedodrome cylinder 14 advance while elongation (working direction is that the 5th cylinder 5 points to the first cylinder 1 direction), when contraction, retreat, therefore keep straight on when initial condition, cylinder 13 can not (can only shrink in ultimate elongation, retreat) or limit contraction (can only extend, advance) state.
Turn to cylinder 13 major control robots to turn to, now state is that the first cylinder 1, the second cylinder 2, the 5th cylinder 5, the 6th cylinder 6 decline, the 3rd sucker 9, the 4th sucker 10 sucker adhesives, while turning to cylinder 13 to extend, turn left, when contraction, turn right, therefore turn to when initial condition cylinder 13 not shrink (can only extend) state in ultimate elongation (can only shrink) or the limit.
Claims (4)
1. pneumatic six sufficient wall climbing robots, is characterized in that, this climbing robot comprises controller, cylinder, sucker, vacuum valve, electromagnetic valve,
Described controller control moving line is provided with start stop switch on controller,
Described electromagnetic valve is arranged on control cylinder motion on cylinder,
Described vacuum valve is arranged on the degree of vacuum of controlling sucker on sucker,
Described cylinder and sucker interconnect, and the rise and fall of control cylinder drive vacuum valve to open and close to control the adhesive of sucker.
2. the pneumatic six sufficient wall climbing robots of one according to claim 1, it is characterized in that, described cylinder and sucker are equipped with 6, a sucker of the corresponding connection of each cylinder, every two cylinders and sucker form a coupling assembling, are parallel to each other and are three rows' settings.
3. the pneumatic six sufficient wall climbing robots of one according to claim 2, is characterized in that, also interconnect the craspedodrome cylinder of connecting rod via controller control or turn to cylinder to keep straight on or left and right turn motion between coupling assembling through connecting rod.
4. the pneumatic six sufficient wall climbing robots of one according to claim 2, is characterized in that, described sucker is through cylinder control in the vertical direction fore and aft motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420307888.9U CN203974995U (en) | 2014-06-10 | 2014-06-10 | A kind of pneumatic six sufficient wall climbing robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420307888.9U CN203974995U (en) | 2014-06-10 | 2014-06-10 | A kind of pneumatic six sufficient wall climbing robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203974995U true CN203974995U (en) | 2014-12-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420307888.9U Expired - Fee Related CN203974995U (en) | 2014-06-10 | 2014-06-10 | A kind of pneumatic six sufficient wall climbing robots |
Country Status (1)
| Country | Link |
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| CN (1) | CN203974995U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105109570A (en) * | 2015-08-24 | 2015-12-02 | 广西大学 | Feet-type robot |
| CN105835974A (en) * | 2016-04-27 | 2016-08-10 | 华北科技学院 | Multifunctional level and step carrier |
| CN107310654A (en) * | 2016-04-26 | 2017-11-03 | 广西大学 | The foot of one kind six climbs the dual-purpose climbing robot of wall pole-climbing |
| CN107512322A (en) * | 2017-09-02 | 2017-12-26 | 佛山市龙远科技有限公司 | A kind of Climbing Robot |
| CN114321140A (en) * | 2021-12-21 | 2022-04-12 | 苏州绿的谐波传动科技股份有限公司 | Vacuum negative pressure adsorption device and multi-legged robot |
-
2014
- 2014-06-10 CN CN201420307888.9U patent/CN203974995U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105109570A (en) * | 2015-08-24 | 2015-12-02 | 广西大学 | Feet-type robot |
| CN107310654A (en) * | 2016-04-26 | 2017-11-03 | 广西大学 | The foot of one kind six climbs the dual-purpose climbing robot of wall pole-climbing |
| CN105835974A (en) * | 2016-04-27 | 2016-08-10 | 华北科技学院 | Multifunctional level and step carrier |
| CN107512322A (en) * | 2017-09-02 | 2017-12-26 | 佛山市龙远科技有限公司 | A kind of Climbing Robot |
| CN114321140A (en) * | 2021-12-21 | 2022-04-12 | 苏州绿的谐波传动科技股份有限公司 | Vacuum negative pressure adsorption device and multi-legged 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 |
Granted publication date: 20141203 Termination date: 20200610 |
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| CF01 | Termination of patent right due to non-payment of annual fee |