CN205889202U - Vacuum adsorption wall climbing robot that derusts - Google Patents
Vacuum adsorption wall climbing robot that derusts Download PDFInfo
- Publication number
- CN205889202U CN205889202U CN201620684643.7U CN201620684643U CN205889202U CN 205889202 U CN205889202 U CN 205889202U CN 201620684643 U CN201620684643 U CN 201620684643U CN 205889202 U CN205889202 U CN 205889202U
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- CN
- China
- Prior art keywords
- climbing robot
- working chamber
- vac sorb
- main body
- pneumatic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model relates to a robotechnology field is a vacuum adsorption wall climbing robot that derusts particularly, including vacuum adsorption subassembly, working chamber main part and pneumatic capstan, the wall climbing robot bottom is equipped with the vacuum adsorption subassembly, and the vacuum adsorption subassembly cooperates the evacuation through vacuum pump wherein for the working chamber main part on vacuum adsorption subassembly upper portion forms the negative pressure cavity, and working chamber main part top is equipped with multiunit sandblast water spray and connects, and working chamber main part both sides are equipped with the pneumatic capstan, and the pneumatic capstan removes through pneumatic motor's the directional control wall climbing robot that admits air. This device passes through the evacuation of vacuum adsorption subassembly, forms the negative pressure cavity in messenger's working chamber body cavity, utilizes atmospheric pressure to overlay whole wall climbing robot at the rust cleaning surface of the work, and just installation check valve on the working chamber body makes its automatically regulated air leakage to the stability of guaranteed vacuum degree is adsorbed reliably, adopts the rust cleaning mode that water sand is mixed, and cleaning efficiency is high, effectively increases its working area, practices thrift the environmental protection.
Description
[technical field]
This utility model is related to robotics, specifically a kind of vac sorb wall-climbing robot for removing rust.
[background technology]
The techniques such as Ship Building and Repairing rust cleaning are to evaluate the important indicator of maintenance of the vessel quality, and rust cleaning efficiency is impact maintenance of the vessel
One of principal element of amount and cost.In the manufacture of these Large-Scale Equipments of ship, particularly in repair and maintenance operation, eliminate rust demand
Prominent, apparel rust cleaning work area is big, working space is complicated, and the scope of operation has plane, facade etc., causes to eliminate rust difficulty relatively
Greatly.Domestic at present in this respect main, by being accomplished manually, suffers from the drawback that and problem:
(1) fixing tool rust cleaning problem: such as track, the mobile rust cleaning of overhead traveling crane, spraying special plane or robot arm, and large-scale displacement
The manufacture means of machine moving station rust cleaning, fixture system manufacturing schedule length, cost are high, equipment configuration are lacked flexible.To large-scale
In-site installation does not have adaptability with the maintenance of the equipment of operation, substantially can only manually weld job.
(2) problem that artificial rust cleaning exists: because workpiece is larger, generally require and build scaffold, welding efficiency is low, the amount of labour
Greatly, usual work under bad environment or danger, quality hardly results in guarantee.
(3) move the problem of rust removing robot presence at present: mostly the walking mechanism of existing creeping-type robot is magnetic suck
Wheeled or crawler type (or wheel shoe formula), do not possess obstacle detouring locomotive function；Rust cleaning motion is typically designed as crosshead shoe knot
Structure, does not have flexible location space, and the attitude in Working motion and sports coordination difference are continuously transported it is impossible to meet complicated track
Dynamic stationarity and Gesture；Current creeping-type rust removing robot is caused not yet to have application.
For solving the problems, such as the rust cleaning of Large-Scale Equipment or natural assembling manufacturing all positon station, in the urgent need to develop long away from
From, on a large scale complex job face can complete labyrinth eliminate rust job task wall machine is climbed based on the autonomous rust cleaning of robot system
Device people.
[utility model content]
This utility model is the variety of problems occurring for artificial rust cleaning existing in above-mentioned inspection and repair of ship descaling process,
And the problem according to rust removing robot presence mobile in market, a kind of vac sorb wall-climbing robot for removing rust is proposed.
In order to solve the above problems, design a kind of vac sorb wall-climbing robot for removing rust, including vac sorb assembly, work
Cavity main body and pneumatic capstan, described climbing robot bottom is provided with vac sorb assembly, and vac sorb assembly is through vacuum therein
Pump coordinates evacuation so that the work cavity main body on vac sorb assembly top forms negative pressure cavity, described working chamber body top
It is provided with multigroup sandblasting water connector, work cavity main body both sides are provided with pneumatic capstan, and pneumatic capstan passes through the airintake direction control of air motor
Climbing robot processed moves.
Described pneumatic capstan is set in pneumatic wheel motor installation set one end, and the pneumatic wheel motor installation set other end is fixed on work
Make on the starter motor fixed mount of cavity main body side wall, in described pneumatic wheel motor installation set cavity, be equiped with air motor.
The upper end of described work cavity main body is equipped with the check-valves of the air leakage automatically adjusting in working chamber body cavity.
Described working chamber body top is connected to upper junction plate, and the outer peripheral surface of described upper junction plate passes through installing plate admittedly
Surely be connected to outside annular and keep off frame, upper junction plate inner peripheral surface is provided with lifting bolt and the upper gear framework being arranged in parallel, upper gear framework it
Between be connected by installing plate.
The lower chamber bottom of described work cavity main body is connected to rubber blanket.
This utility model compared with the existing technology, has an advantage in that: this device passes through vac sorb assembly evacuation, makes work
Make to be formed negative pressure cavity in the body cavity body of chamber, overlayed whole climbing robot in rust cleaning working surface using atmospheric pressure, and
Check-valves are installed so as to automatically adjust air leakage in working chamber body upper end, thus ensureing the stability of vacuum, adsorption reliability；
Pneumatic capstan that both sides are provided with drives climbing robot to move, and controls the airintake direction of air motor to control robot to turn
To arm walking function is freely climbed in realization；Using the rust cleaning mode of water sand mixing, coordinate high-pressure hydraulic pump, rust cleaning efficiency is high, to hydraulic pressure
Requirement low, be effectively increased its work area, resource repeat utilize, economical environment-protective.
[brief description]
Fig. 1 is structural representation of the present utility model；
Fig. 2 is front view of the present utility model；
Fig. 3 is side view of the present utility model；
Fig. 4 is top view of the present utility model；
Fig. 5 is the internal structure schematic diagram of pneumatic capstan in this utility model；
Fig. 6 is vac sorb assembly partial schematic diagram in this utility model；
In figure: 1. outside the pneumatic wheel motor installation set 3. air motor fixed mount 4. vac sorb assembly 5. of pneumatic capstan 2.
On gear frame 6. pneumatic joint fixed plate, 7. upper junction plate, 8. installing plate 9. upper plate 10., gear framework 11. check-valves 12. hang
Collar bolt 13. sandblasting water connector 14. work cavity main body 15. air motor, 16. lower chamber 17. rubber blanket.
[specific embodiment]
The utility model is described in further detail below in conjunction with the accompanying drawings, the structure of this device and the principle people professional to this
For be very clearly.It should be appreciated that specific embodiment described herein is only in order to explain this utility model, and without
In restriction this utility model.
Referring to Fig. 1 and Fig. 4, vac sorb wall-climbing robot for removing rust includes vac sorb assembly, work cavity main body and pneumatic
Wheel, climbing robot bottom is provided with vac sorb assembly, and vac sorb assembly coordinates evacuation through vacuum pump therein so that true
The work cavity main body on empty absorbent module top forms negative pressure cavity, and the lower chamber bottom of work cavity main body is connected to rubber blanket, sees Fig. 6,
Whole climbing robot is therefore overlayed on the work surface by climbing robot by atmospheric pressure.Robot cavity upper end is installed
Check-valves, automatically adjust air leakage, thus ensureing the stability of vacuum.
Working chamber body top is provided with multigroup sandblasting water connector, and the upper end of work cavity main body is equipped with automatically adjusting working chamber
The check-valves of the air leakage in body cavity, automatically adjust air leakage, thus ensureing the stability of vacuum.Work cavity main body top
Portion is connected to upper junction plate, and the outer peripheral surface of upper junction plate is connected to outside annular by installing plate fixation and keeps off frame, upper junction plate inner ring table
Face is provided with lifting bolt, in order to connect catching device, catching device is connected on the safe hoisting ring of climbing robot it is ensured that climbing arm
The safety in malfunctions such as pressure reduction inefficacies for the robot.Upper junction plate surface is additionally provided with the upper gear framework being arranged in parallel, upper gear
It is connected by installing plate between framework.Upper gear framework and outer gear frame are used for anticollision.
Work cavity main body both sides are provided with pneumatic capstan, and its partial enlarged drawing is shown in Fig. 5, and pneumatic capstan is set in pneumatic wheel motor and installs
Set one end, the pneumatic wheel motor installation set other end is fixed on the starter motor fixed mount of working chamber main body wall, pneumatic capstan horse
Reach and in installation set cavity, be equiped with air motor, pneumatic capstan control climbing robot mobile by the airintake direction of air motor and
Turn to.Air motor select high power, high torque, slow-speed of revolution motor, overcome due to negative pressure of vacuum formed sliding friction and
Self gravitation, realizes freely climbing arm walking function.Because in outside work, pneumatic system need not carry out anti-water management, in addition,
, compared with electro-motor, moment of torsion is big for air motor, and small volume is lightweight.
This device adopts the rust cleaning mode of water sand mixing, and cooperation high-pressure hydraulic pump carries out operation, if only being removed with water under high pressure
Rust, needs to reach the pressure of 300mpa, and technical difficulty is big, high cost, and the operating type rust cleaning efficiency of this device is high, and to hydraulic pressure
Requirement low；Climbing robot adopts the operation simultaneously of multiple shower nozzles, increases effective work area, and the material such as residue, water and sand
May be recovered, recycling, economize on resources.
Claims (5)
1. a kind of vac sorb wall-climbing robot for removing rust, including vac sorb assembly, work cavity main body and pneumatic capstan, its feature exists
It is provided with vac sorb assembly in described climbing robot bottom, vac sorb assembly coordinates evacuation through vacuum pump therein,
The work cavity main body making vac sorb assembly top forms negative pressure cavity, and described working chamber body top is provided with multigroup sandblasting spray
Water swivel, work cavity main body both sides are provided with pneumatic capstan, and pneumatic capstan controls climbing robot to move by the airintake direction of air motor
Dynamic.
2. as claimed in claim 1 a kind of vac sorb wall-climbing robot for removing rust it is characterised in that described pneumatic capstan suit
In pneumatic wheel motor installation set one end, the starter motor that the pneumatic wheel motor installation set other end is fixed on working chamber main body wall is solid
Determine on frame, in described pneumatic wheel motor installation set cavity, be equiped with air motor.
3. as claimed in claim 1 a kind of vac sorb wall-climbing robot for removing rust it is characterised in that described work cavity main body
Upper end equipped with the air leakage automatically adjusting in working chamber body cavity check-valves.
4. as claimed in claim 1 a kind of vac sorb wall-climbing robot for removing rust it is characterised in that described work cavity main body
Top is connected to upper junction plate, and the outer peripheral surface of described upper junction plate is connected to outside annular by installing plate fixation and keeps off frame, upper connection
Plate inner peripheral surface is provided with lifting bolt and the upper gear framework being arranged in parallel, and is connected by installing plate between upper gear framework.
5. as claimed in claim 1 a kind of vac sorb wall-climbing robot for removing rust it is characterised in that described work cavity main body
Lower chamber bottom be connected to rubber blanket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620684643.7U CN205889202U (en) | 2016-06-30 | 2016-06-30 | Vacuum adsorption wall climbing robot that derusts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620684643.7U CN205889202U (en) | 2016-06-30 | 2016-06-30 | Vacuum adsorption wall climbing robot that derusts |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205889202U true CN205889202U (en) | 2017-01-18 |
Family
ID=57771473
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620684643.7U Expired - Fee Related CN205889202U (en) | 2016-06-30 | 2016-06-30 | Vacuum adsorption wall climbing robot that derusts |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205889202U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106938692A (en) * | 2017-03-04 | 2017-07-11 | 浙江大学 | Noncontact negative-pressure adsorption climbs wall detection means under water |
| CN112758272A (en) * | 2019-05-24 | 2021-05-07 | 傅梅英 | Crawling robot and using method |
| CN114475842A (en) * | 2022-02-23 | 2022-05-13 | 华中科技大学 | Double-layer flexible adsorption cavity for negative pressure type wall-climbing robot |
-
2016
- 2016-06-30 CN CN201620684643.7U patent/CN205889202U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106938692A (en) * | 2017-03-04 | 2017-07-11 | 浙江大学 | Noncontact negative-pressure adsorption climbs wall detection means under water |
| CN106938692B (en) * | 2017-03-04 | 2018-11-20 | 浙江大学 | Non-contact negative-pressure adsorption climbs wall detection device under water |
| CN112758272A (en) * | 2019-05-24 | 2021-05-07 | 傅梅英 | Crawling robot and using method |
| CN114475842A (en) * | 2022-02-23 | 2022-05-13 | 华中科技大学 | Double-layer flexible adsorption cavity for negative pressure type 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 |
Granted publication date: 20170118 Termination date: 20190630 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |