CN206155609U - Wall climbing robot's passive negative pressure is adsorbed enough suitable for smooth -wall - Google Patents
Wall climbing robot's passive negative pressure is adsorbed enough suitable for smooth -wall Download PDFInfo
- Publication number
- CN206155609U CN206155609U CN201621084733.9U CN201621084733U CN206155609U CN 206155609 U CN206155609 U CN 206155609U CN 201621084733 U CN201621084733 U CN 201621084733U CN 206155609 U CN206155609 U CN 206155609U
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- Prior art keywords
- extension spring
- passive
- sucker
- wall
- pressure
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Abstract
The utility model discloses a wall climbing robot's passive negative pressure is adsorbed enough suitable for smooth -wall. Passive sucking disc passes through the connecting axle and dials the rotor to be connected, dials and is equipped with the pressure ring between rotor and the sucking disc, is equipped with the auxiliary frame on the pressure ring, ensures that the position of pressure ring is stable. Dial and ensure to contact through the auto -lock extension spring between rotor and the pressure ring always, and the contact segment of group rotor and pressure ring is cam structure. The link of being connected with the robot main part still is equipped with on the connecting axle, the both sides of link respectively dockingundocking extension spring no. 1 with extension spring no. 2 breaks away from. The other end and the pressure ring edge connection that break away from extension spring no. 1 break away from the other end and sucking disc edge connection of extension spring no. 2. Through the auto -lock extension spring, break away from extension spring no. 1 and break away from the combined action of extension spring no. 2, when the wall is gone up in the initial laminating of passive sucking disc, pressure ring and wall certain contained angle will appear. The utility model discloses the during operation is dialled to change and to be realized stable adsorb of passive sucking disc on smooth -wall through dialling the rotor forward, the contained angle through utilizing pressure ring and wall simultaneously, dial the rotor reverse dial to change can realize that the original place of passive sucking disc on smooth -wall breaks away from the function to make the passive sucking disc can wide application on wall climbing robot.
Description
Technical field
This utility model is related to climbing robot field, specifically a kind of climbing robot suitable for hydraulically smooth surface
Passive negative-pressure adsorption foot.
Background technology
With developing rapidly for roboticses, the climbing robot for belonging to field of special robots all takes in each occasion
Obtained and be widely applied and develop.Climbing robot realizes that in different ways position is stablized according to application scenario wall situation
Function.For example rough surface by draught head that vacuum pump is produced it is stable be attached to wall, in ferromagnetic surface by electricity
The stable folder for being attached to wall, clamping raised rock by claw mechanism on rugged crag of the magnetic force of Magnet or permanent magnet
Holding force it is stable be attached to wall.The negative pressure that sucker disclosed in Chinese patent 201510747519.0 is produced by self-deformation
Difference can be stable absorption on hydraulically smooth surface, compare the sucker that absorption is realized by negative pressure pump, such sucker have continue it is steady
Surely the advantages of adsorbing, not having noise.But the disengaging due to can not preferably realize sucker and wall, therefore such sucker climbing
Wall robot field be not used widely.External connecting negative pressure device is not needed to provide negative pressure when working due to such sucker, because
Such sucker is referred to as passive sucker by this in this utility model.The climbing robot for being applied to hydraulically smooth surface at present is generally adopted
Sucker adds external connecting negative pressure device to realize adsorption function.Disclose a kind of suitable for smooth wall in Chinese patent 201510246530.9
The negative-pressure adsorption foot of the climbing robot in face, the sucker in the absorption foot controls the state switching of electromagnetic valve by sucker, by
Realize absorption, detachment function in external connecting negative pressure source.But the inventive structure is complex, external connecting negative pressure adsorbent equipment is existed and made an uproar
The shortcomings of sound, vibrations.
The content of the invention
In order to make full use of stable absorption advantage of the passive sucker on hydraulically smooth surface, overcome in prior art by external
Negative pressure device realizes sustained sound, continuous vibration, the baroque deficiency that hydraulically smooth surface adsorption function is brought, and this practicality is new
Type provides a kind of simple structure, the passive negative-pressure adsorption departed from without the need for external connecting negative pressure device, achievable stable absorption and original place
Foot.The absorption can make full use of enough common sucker in the strong advantage of smooth surface absorption affinity, while it is difficult to solve passive sucker
The shortcoming of disengaging, eliminates external connecting negative pressure device, simplifies overall structure, reduces cost.
The technical scheme in the invention for solving the technical problem is：
A kind of passive negative-pressure adsorption foot of the climbing robot suitable for hydraulically smooth surface, including passive sucker, pressure rings, dial
Rotor, connecting shaft, self-locking extension spring, disengaging extension spring one, disengaging extension spring two, link and auxiliary stand, in the passive sucker
Between be the intermediate cylinder with connecting hole, have a boss with through hole on the edge of passive sucker side；The connecting shaft
Connecting hole through passive sucker intermediate cylinder is connected with passive sucker, and the middle face of connecting shaft overlaps with face in passive sucker, even
The two ends of spindle are equipped with switch piece；The pressure for compressing passive sucker edge is mounted between the switch piece and passive sucker
Ring, switch piece is connected with pressure rings by self-locking extension spring, it is ensured that switch piece can be contacted all the time with pressure rings, switch piece with
Pressure rings contact portion is cam structure；Auxiliary stand is installed, connecting shaft is located at auxiliary stand composition in the pressure rings
In track, auxiliary stand both ensure that stablizing for pressure ring position again limited the track that connecting shaft can only be constituted in auxiliary stand
Interior movement；The link for being connected with robot body is also equipped with the connecting shaft, the both sides of link connect respectively de-
From extension spring one and disengaging extension spring two；The other end for departing from extension spring one is connected with the pressure rings edge of homonymy, departs from extension spring two
The other end be connected with the boss at the passive sucker edge of homonymy；The disengaging extension spring one, disengaging extension spring two are distributed in passive suction
The both sides of disk, and depart from extension spring one, depart from extension spring two in one plane, while the plane is mutually perpendicular to connecting shaft.
Passive sucker is initially fitted in after hydraulically smooth surface by pressing force, and passive sucker is capable of achieving smooth by switch piece forward direction switch
Stable absorption on wall, while being capable of achieving original place of the passive sucker on hydraulically smooth surface by the reverse switch of switch piece departs from work(
Energy.
Further, the passive sucker is referred to just can stably adsorb on hydraulically smooth surface without the need for external connecting negative pressure device
Sucker.
Further, the pressure rings are initial in passive sucker under the collective effect for departing from extension spring one, departing from extension spring two
During laminating Smooth wall, there is certain angle between the pressure rings and wall of passive negative-pressure adsorption foot.Meanwhile, switch piece is just
The side that the summit that switch piece steering pressure ring forms angle with wall is located is referred to switch, the reverse switch of switch piece is referred to
Turn to contrary side.
Beneficial effect
The utility model proposes a kind of climbing robot suitable for hydraulically smooth surface passive negative-pressure adsorption foot, this is passive
Negative-pressure adsorption foot rotates forward drive sucker mediate cylindrical and lifts upwards after sucker initially fits upper wall surface by switch piece
Rise, suction cup interior forms negative pressure cavity, while the opposition that sucker deformation is produced passes to connection by mediate cylindrical
Axle, then pressure rings are passed to by the switch piece at connecting shaft two ends, the final active force for strengthening pressure rings to sucker edge.In switch
Pressure rings are tapered into the angle of wall during piece forward direction switch, when positive switch is completed, angle vanishing, and pressure rings
Sucker edge is pressed against completely on wall, the sealing of sucker edge is enhanced, while the self-locking extension spring on switch piece guarantees
Position after switch piece switch is stablized, and improves the absorption stability of the passive negative-pressure adsorption foot.During the reverse switch of switch piece,
Sucker mediate cylindrical declines, and the negative pressure and cavity value of suction cup interior is gradually lowered, sucker deformation fades away, pressure rings and sucker
Edge action power fades away, and switch piece continues reverse switch, by the collective effect for departing from extension spring one, departing from extension spring two, will
Peel off from wall with the sucker edge that be connected of extension spring two is departed from, and peel off position gradually from edge to the movement of sucker center, directly
Depart to sucker.
Description of the drawings
Fig. 1 is the schematic diagram of this utility model sucker
Fig. 2 is the schematic diagram of this utility model pressure rings
Fig. 3 is that this utility model sucker is initially fitted the front view of wall state
Fig. 4 is that this utility model sucker is initially fitted the axonometric chart of wall state
Fig. 5 is the schematic diagram that whole adsorption module stablizes adsorbed state after this utility model switch piece forward direction switch
Fig. 6 is the schematic diagram that whole adsorption module realizes original place disengaged position after the reverse switch of this utility model switch piece
In figure：
1. the axle sleeve 8. of 2. pressure rings of sucker, 3. switch piece, 4. rolling bearing, 5. self-locking extension spring, 6. connecting shaft 7. connects
Frame 9. departs from extension spring 1 and departs from the auxiliary stand of extension spring 2 11.
Specific embodiment
Below in conjunction with accompanying drawing this utility model is described further with specific embodiment.
As Figure 1-Figure 4, the middle part of the sucker 1 is provided with hole cylinder body, and connecting shaft 6 passes through the hole connecting sucker
1 and link 8, and connecting shaft 6 can rotate relative to sucker 1；The two ends of the connecting shaft 6 are equipped with respectively by tight fit
One switch piece 3, so that it is guaranteed that during switch, both sides switches piece 3 can synchronous switch, while leading between switch piece 3 and link 8
Cross axle sleeve 7 and ensure relative position；Two rolling bearings 4 are housed, respectively as the forward and reverse switch of switch piece 3 on the switch piece 3
When stressed member；The pressure rings 2 are located between sucker 1 and switch piece 3, concentric between pressure rings 2 and sucker 1, it is ensured that pressure
Power ring 2 can uniformly exert a force to the edge of sucker 1, and the both sides of pressure rings 2 are connected by self-locking extension spring 5 with switch piece 3, while certainly
Lock extension spring 5 in the presence of, pressure rings 2 all the time with the cam profile part contact of switch piece 3；Described one end for departing from extension spring 1
It is hooked on the hole at the edge of pressure rings 2, the other end is hooked on the reserved hole in the side of link 8；Described one end for departing from extension spring 2 10
It is hooked on the hole of sucker edge boss, the other end is hooked on the reserved hole of the opposite side of link 8；Above-mentioned all of extension spring is being installed
All there is certain pretightning force afterwards.
As shown in Fig. 3, Fig. 5, after sucker 1 fits upper wall surface, in self-locking extension spring 5, depart from extension spring 1, depart from extension spring 10
Collective effect under, pressure rings 2 are contacted all the time with the cam profile of switch piece 3, during the switch clockwise of switch piece 3, pressure
Ring 2 is gradually fitted and goes up sucker, while the cylinder that switch piece 3 passes through the middle part of 6 lifting sucker of connecting shaft 1, so that in sucker
Portion forms negative pressure cavity, and sucker 1 stably adsorbs on wall；After switch 3 complete switch of piece, pressure rings 2 push down completely sucker 1
Edge, sucker 1 reaches maximum adsorption power state, while in the presence of self-locking extension spring 5, the holding that switch piece 3 can be stable
In the position.
As shown in fig. 6, when switch 3 switch counterclockwise of piece, the column part rising height of sucker 1 is gradually lowered, sucker
Internal negative pressure cavity is gradually reduced, and pressure rings 2 are gradually reduced to the pressure at the edge of sucker 1；When the column part lifting height of sucker 1
Degree is when being wholly absent, whole adsorption module return to sucker 1 initially laminating wall when state；When switch piece 3 continues counterclockwise
During switch, under self-locking extension spring 5, the collective effect for departing from extension spring 1, departing from extension spring 10, depart from extension spring 2 10 and pass through the side of sucker 1
The projection section of edge by the corresponding edge of sucker 1 take off from wall from；With the further switch counterclockwise of switch piece 3, sucker 1 and wall
Gradually move from edge to center at the disengaging position in face；After switch piece 3 completes switch counterclockwise, the disengaging position of sucker 1 is arrived
Up to the center of sucker 1, sucker 1 loses absorbability, realizes original place disengaging.
Claims (3)
1. the passive negative-pressure adsorption foot of a kind of climbing robot suitable for hydraulically smooth surface, it is characterised in that：Including passive sucker,
Pressure rings, switch piece, connecting shaft, self-locking extension spring, disengaging extension spring one, disengaging extension spring two, link and auxiliary stand, it is described passive
The centre of sucker is the intermediate cylinder with connecting hole, there is a boss with through hole on the edge of passive sucker side；Institute
State connecting shaft to be connected with passive sucker through the connecting hole of passive sucker intermediate cylinder, middle face and the face in passive sucker of connecting shaft
Overlap, the two ends of connecting shaft are equipped with switch piece；It is mounted between the switch piece and passive sucker for compressing passive sucker side
The pressure rings of edge, switch piece is connected with pressure rings by self-locking extension spring, it is ensured that switch piece can be contacted all the time with pressure rings,
Switch piece is cam structure with pressure rings contact portion；Auxiliary stand is installed, connecting shaft is located at auxiliary in the pressure rings
Frame composition track in, auxiliary stand both ensure that pressure ring position stablize again limit connecting shaft can only be in auxiliary stand group
Into track in move；The link for being connected with robot body, the both sides point of link are also equipped with the connecting shaft
Other dockingundocking extension spring one and disengaging extension spring two；The other end for departing from extension spring one is connected with the pressure rings edge of homonymy, takes off
The other end from extension spring two is connected with the boss at the passive sucker edge of homonymy；The disengaging extension spring one, disengaging extension spring two are distributed
In the both sides of passive sucker, and depart from extension spring one, depart from extension spring two in one plane, while the plane is mutual with connecting shaft
Vertically；After passive sucker is initially fitted in hydraulically smooth surface by pressing force, passive suction is capable of achieving by switch piece forward direction switch
Stable absorption of the disk on hydraulically smooth surface, while being capable of achieving original of the passive sucker on hydraulically smooth surface by the reverse switch of switch piece
Ground detachment function.
2. the passive negative-pressure adsorption foot of the climbing robot suitable for hydraulically smooth surface according to claim 1, its feature exists
In：The sucker to be referred to and just can stably adsorb the sucker on hydraulically smooth surface without the need for external connecting negative pressure device.
3. the passive negative-pressure adsorption foot of the climbing robot suitable for hydraulically smooth surface according to claim 1, its feature exists
In：The pressure rings are initially fitted Smooth wall under the collective effect for departing from extension spring one, departing from extension spring two in passive sucker
When, there is certain angle between the pressure rings and wall of passive negative-pressure adsorption foot；Meanwhile, switch piece forward direction switch refers to switch
The side that the summit that piece steering pressure ring forms angle with wall is located, the reverse switch of switch piece is referred to and turns to contrary one
Side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621084733.9U CN206155609U (en) | 2016-09-28 | 2016-09-28 | Wall climbing robot's passive negative pressure is adsorbed enough suitable for smooth -wall |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621084733.9U CN206155609U (en) | 2016-09-28 | 2016-09-28 | Wall climbing robot's passive negative pressure is adsorbed enough suitable for smooth -wall |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206155609U true CN206155609U (en) | 2017-05-10 |
Family
ID=58652456
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621084733.9U Expired - Fee Related CN206155609U (en) | 2016-09-28 | 2016-09-28 | Wall climbing robot's passive negative pressure is adsorbed enough suitable for smooth -wall |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206155609U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106347515B (en) * | 2016-09-28 | 2018-07-13 | 钱琴 | The passive negative-pressure adsorption foot of climbing robot suitable for hydraulically smooth surface |
-
2016
- 2016-09-28 CN CN201621084733.9U patent/CN206155609U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106347515B (en) * | 2016-09-28 | 2018-07-13 | 钱琴 | The passive negative-pressure adsorption foot of climbing robot suitable for hydraulically smooth surface |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170510 Termination date: 20200928 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |