CN206171598U - Sucking disc subassembly and use it climb wall robot - Google Patents
Sucking disc subassembly and use it climb wall robot Download PDFInfo
- Publication number
- CN206171598U CN206171598U CN201620698439.0U CN201620698439U CN206171598U CN 206171598 U CN206171598 U CN 206171598U CN 201620698439 U CN201620698439 U CN 201620698439U CN 206171598 U CN206171598 U CN 206171598U
- Authority
- CN
- China
- Prior art keywords
- sucker
- suction cup
- cup assembly
- bristle
- seal
- 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 sucking disc subassembly and use it climb wall robot, be in including subassembly casing and setting sucking disc on the subassembly casing, be provided with imitative bristle on the sucking disc. The beneficial effects of the utility model are that: through will imitating on the bristle combines current sucking disc subassembly, greatly increased the adsorption efficiency of sucking disc subassembly on the unevenness working face, effectively solved current vacuum chuck and can not adsorb fast and relieve, and adsorbed the problem that can not guarantee the adsorption affinity of sucking disc when relieveing, in addition, the problem of the easy gas leakage when by absorption working face unevenness has still been solved.
Description
Technical field
This utility model belongs to robotics, and in particular to a kind of Suction cup assembly and the wall-climbing machine device using it
People.
Background technology
With the progress of science and technology, industrial robot is widely applied in every field, wherein, Climbing Robot conduct
The robot of operation can be carried out on steep slope, a kind of robot apparatus of high-altitude limit operation can be become with it
Good characteristic is got over, and is widely used in the industries such as nuclear industry, building, fire-fighting.
Climbing Robot wants to carry out operation on steep slope must to possess good adsorption function.At present, on market
The Climbing Robot of appearance relies on vacuum cup to be adsorbed, and carries out absorption using vacuum cup and has a problem that, i.e.,
When metope is very rough, (such as the sound-absorbing wall of recording studio, surface can intentionally make a large amount of irregular projections or using fine and closely woven
Ornamental fine strip shape ceramic tile, thus there are a large amount of gaps in metope), adsorption effect is not fine.
Utility model content
In order to solve prior art presence the problems referred to above, this utility model provide a kind of Suction cup assembly and using its
Climbing Robot.
The technical scheme that this utility model is adopted for：A kind of Suction cup assembly, including assembly housing and it is arranged on described group
Sucker on part housing, is provided with imitative bristle on the sucker.
Preferably, the imitative bristle is uniformly bonded on the sucker.
Preferably, the imitative bristle is made up of the strength dryness bonding material that polypropylene fibre is constructed.
Preferably, the sucker includes sucker skeleton and the first seal that is arranged on the sucker skeleton and second close
Sealing, in a ring, the upper and lower of the sucker skeleton offers respectively cannelure to the sucker skeleton；First sealing
Part and the second seal are relatively arranged on the sucker skeleton, and respectively with the sucker skeleton on cannelure match
Close.
Preferably, the sucker also includes connector, and the imitative bristle is fixed on the connector, the connector with
The sucker skeleton phase clamping.
Preferably, elastomeric layer is additionally provided between the imitative bristle and the connector, the imitative bristle passes through institute
State elastomeric layer to be fixed on the connector.
Preferably, the first seal and the second seal are made by cohesive material or elastomeric material.
Preferably, the thickness of the imitative bristle is not less than the thickness of the first seal.
A kind of Climbing Robot comprising above-mentioned Suction cup assembly, including robot body, performing module, Suction cup assembly, four
Individual roller, motor, crawler belt, vacuum pump, battery and control chamber, the performing module is arranged on the robot body；It is described
Suction cup assembly is horizontally placed on the robot body downside, and is connected with the vacuum pump；Four rollers are arranged at institute
Robot body both sides are stated, and each described roller is driven by a motor；The crawler belt is wrapped in described in four
On roller, and driven by the roller；The battery and the control chamber are both secured to the robot body inner side, and institute
State battery, the motor and the vacuum pump to electrically connect with the control chamber.
The beneficial effects of the utility model are：By the way that imitative bristle is attached on existing Suction cup assembly, considerably increase
Absorbability of the Suction cup assembly on out-of-flatness work surface, efficiently solves existing vacuum cup and is unable to quick adsorption and relieving,
And adsorb when decontroling it cannot be guaranteed that the problem of the absorption affinity of sucker；In addition, also solving when adsorbed work surface out-of-flatness
The problem of easy gas leakage.
Description of the drawings
Fig. 1 is the structural representation of this utility model Suction cup assembly；
Fig. 2 is the profile of this utility model sucker；
Fig. 3 is the structural representation of this utility model Climbing Robot；
Fig. 4 is the internal structure schematic diagram of this utility model Climbing Robot.
In figure：1st, robot body；2nd, performing module；3rd, Suction cup assembly；31st, assembly housing；32nd, sucker；33rd, imitate firm
Hair；34th, connector；35th, first seal；36th, second seal；37th, sucker skeleton；4th, roller；5th, motor；6th, crawler belt；7、
Vacuum pump；8th, battery；9th, control chamber.
Specific embodiment
As shown in figure 1, this utility model provides a kind of Suction cup assembly, including assembly housing 31 and it is arranged on the component
Sucker 32 on housing 31, is provided with imitative bristle 33 on the sucker 32.Four suckers are provided with the present embodiment on housing 31
32.The imitative bristle 33 is uniformly bonded on the sucker 32.The strength dryness that the imitative bristle 33 is constructed by polypropylene fibre
Bonding material is made.
Imitative bristle material, is the strength dryness bonding material using a kind of minimum polypropylene fibre construction of duroplastss quality
Material, every fiber is long 15-20 μm, 0.6 μm of diameter, the strength dryness jointing material that it is adopted-only relative in two contact surfaces
Bonding effect is just produced during slip, this ceaselessly contacts with metope by bristle with Gekko Swinhonis, separates the principle for reaching adsorption effect
Unanimously.
It is further to improve, the sucker 32 include sucker skeleton 37 and be arranged on the sucker skeleton 37 it is first close
Sealing 35 and second seal 36, in a ring, the axial cross section of the sucker skeleton 37 is in " work " word to the sucker skeleton 37
Shape, the upper and lower of sucker skeleton 37 forms respectively cannelure；The first seal 35 and the phase of the second seal 36
To being arranged on the sucker skeleton 37, and it is engaged with the cannelure on the sucker skeleton 37 respectively.
In order that imitative bristle 33 is detachable with sucker 32, the sucker 32 also includes connector 34, and the imitative bristle 33 is consolidated
On the connector 34, the connector 34 and the phase clamping of the sucker skeleton 37.
Further preferred scheme, is additionally provided with elastomeric layer, institute between the imitative bristle 33 and the connector 34
State imitative bristle 33 to be fixed on the connector 34 by the elastomeric layer.
Preferred mode, the first seal 35 and the second seal 36 are by cohesive material or elastomeric material system
Into, and the thickness of the imitative bristle 33 is not less than the thickness of the first seal 35.
Alternatively, it is also possible in the imitative bristle of the irregular direction arrangement in sucker bottom, i.e., suction cup interior except the sealing ring at edge
Irregular strip is made in outer part, and arranges imitative bristle thereon, and because the material elasticity of sucker is good, each bar is outside
Can be in limited range internal vibration under power effect.The air flue of appropriate design sucker air-breathing.Sucker is allowed when gas leakage works, the gas of air inlet
Stream can cause the vibration of bristle material, so as to cause the relative tendency toward sliding of imitative bristle configurations and wall, produce bonding effect.This
When the sucker group of sample works, if metope residing for sucker is good, sucker substantially will not gas leakage, imitative bristle do not work.If should
Metope residing for sucker is irregular, and gas leakage is more serious, then blowby gas stream causes the relative slip of imitative bristle configurations and wall, produces
Bonding effect, the absorption affinity decline problem that effectively solving causes because of gas leakage is not in thus one group of sucker because of residing metope
Environment is bad and whole fails, and then causes mechanical unbalanced scene.Due to imitating the intake resistance produced by bristle configurations,
The work of other gastight suckers in same sucker group can also be made unaffected.
A kind of Climbing Robot comprising above-mentioned Suction cup assembly, including robot body 1, performing module 2, Suction cup assembly 3,
Four rolling 4, motor 5, crawler belt 6, vacuum pump 7, battery 8 and control chamber 9, the performing module 2 is arranged at the robot master
On body 1；The Suction cup assembly 3 is horizontally placed on the downside of the robot body 1, and is connected with the vacuum pump 7；Described in four
Roller 4 is arranged at the both sides of the robot body 1, and each described roller 4 is driven by a motor 5；The shoe
Band 6 is wrapped on four rollers 4, and is driven by the roller 4；The battery 8 and the control chamber 9 are both secured to institute
The inner side of robot body 1 is stated, and the battery 8, the motor 5 and the vacuum pump 7 are electrically connected with the control chamber 9
Connect.
Operation principle is as follows, by vacuum pump to being evacuated in sucker housing, forms sucker housing cavity stronger
Negative pressure, seals against each other so as to passing through sucker and contacting with metope, allows the robot to absorption on metope.When computer sends walking letter
Number when, machine is received after signal, control chamber start working, make motor start running, drive roller rotate so that crawler belt fortune
OK, wall-climbing machine starts walking.Machine employs bionics techniques, and imitative wall is made in part of the suction cup interior in addition to the sealing ring at edge
Brave foot bristle configurations.Its advantage is the high standby absorption affinity for retaining sucker group, improves safety coefficient, such as metope irregularly, can
Prevent sucker gas leakage.Simultaneously sucker group and crawler belt are separate, and such adsorption function and locomotive function are separate, mutually not shadow
Ring, solve the problems, such as that traditional Climbing Robot is turned to difficult, improve motility, the safety of Climbing Robot.
This utility model is not limited to above-mentioned preferred forms, and those of ordinary skill in the art open of the present utility model
Other various forms of products can be all drawn under showing, however, make any change in its shape or structure, it is every with this
Technical scheme as application is same or like, all falls within protection domain of the present utility model.
Claims (6)
1. a kind of Suction cup assembly, it is characterised in that：Including assembly housing (31) and the suction being arranged on the assembly housing (31)
Disk (32), on the sucker (32) imitative bristle (33) is provided with；The sucker (32) is including sucker skeleton (37) and is arranged on institute
The first seal (35) and second seal (36) on sucker skeleton (37) is stated, the sucker skeleton (37) is in a ring, described
The upper and lower of sucker skeleton (37) offers respectively cannelure；The first seal (35) and the second seal
(36) along the axially opposing setting of the sucker skeleton (37), and it is engaged with the cannelure respectively；Also include connector
(34), the imitative bristle (33) is fixed on the connector (34), the connector (34) and sucker skeleton (37) phase
Clamping；Elastomeric layer is additionally provided between the imitative bristle (33) and the connector (34), the imitative bristle (33) passes through
The elastomeric layer is fixed on the connector (34).
2. Suction cup assembly according to claim 1, it is characterised in that：The imitative bristle (33) is uniformly bonded in the sucker
(32) on.
3. Suction cup assembly according to claim 1, it is characterised in that：What the imitative bristle (33) was constructed by polypropylene fibre
Strength dryness bonding material is made.
4. Suction cup assembly according to claim 1, it is characterised in that：The first seal (35) and second sealing
Part (36) is made by cohesive material or elastomeric material.
5. Suction cup assembly according to claim 1, it is characterised in that：The thickness of the imitative bristle (33) is not less than described
The thickness of one sealing member (35).
6. a kind of Climbing Robot of the Suction cup assembly comprising any one of the claims 1 to 5, it is characterised in that：
Including robot body (1), performing module (2), Suction cup assembly (3), four rolling (4), motor (5), crawler belt (6), vacuum pump
(7), battery (8) and control chamber (9),
The performing module (2) is arranged on the robot body (1)；
The Suction cup assembly (3) is horizontally placed on the robot body (1) downside, and is connected with the vacuum pump (7)；
Four rollers (4) are arranged at the robot body (1) both sides, and each described roller (4) by described in one
Motor (5) is driven；
The crawler belt (6) is wrapped on four rollers (4), and is driven by the roller (4)；
The battery (8) and the control chamber (9) are both secured to the robot body (1) inner side, and the battery (8), institute
State motor (5) and the vacuum pump (7) is electrically connected with the control chamber (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620698439.0U CN206171598U (en) | 2016-07-05 | 2016-07-05 | Sucking disc subassembly and use it climb wall robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620698439.0U CN206171598U (en) | 2016-07-05 | 2016-07-05 | Sucking disc subassembly and use it climb wall robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206171598U true CN206171598U (en) | 2017-05-17 |
Family
ID=58673763
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620698439.0U Expired - Fee Related CN206171598U (en) | 2016-07-05 | 2016-07-05 | Sucking disc subassembly and use it climb wall robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206171598U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108420368A (en) * | 2018-05-10 | 2018-08-21 | 西京学院 | A kind of full landform clean robot |
| CN109533960A (en) * | 2018-12-13 | 2019-03-29 | 西安交通大学 | A kind of vacuum suction structure and production method based on gecko biomimetic features auxiliary |
| CN109733873A (en) * | 2018-12-13 | 2019-05-10 | 西安交通大学 | A kind of bionical dry adhesion pick-up structure and preparation process of negative pressure auxiliary |
| CN111359170A (en) * | 2020-04-20 | 2020-07-03 | 山东交通学院 | Swimming auxiliary device |
| CN111959630A (en) * | 2020-08-12 | 2020-11-20 | 苏州永鼎智联科技有限公司 | Modularized bionic wall-climbing robot |
| CN112850444A (en) * | 2021-01-25 | 2021-05-28 | 北京工业大学 | Negative-pressure-driven annular micro-wedge-shaped bristle bundle sucker and preparation method thereof |
| CN114909386A (en) * | 2022-06-02 | 2022-08-16 | 北京航空航天大学 | Bionic adhesion friction microstructure and bionic adhesion friction surface |
-
2016
- 2016-07-05 CN CN201620698439.0U patent/CN206171598U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108420368A (en) * | 2018-05-10 | 2018-08-21 | 西京学院 | A kind of full landform clean robot |
| CN108420368B (en) * | 2018-05-10 | 2021-03-30 | 西京学院 | All-terrain cleaning robot |
| CN109533960A (en) * | 2018-12-13 | 2019-03-29 | 西安交通大学 | A kind of vacuum suction structure and production method based on gecko biomimetic features auxiliary |
| CN109733873A (en) * | 2018-12-13 | 2019-05-10 | 西安交通大学 | A kind of bionical dry adhesion pick-up structure and preparation process of negative pressure auxiliary |
| CN111359170A (en) * | 2020-04-20 | 2020-07-03 | 山东交通学院 | Swimming auxiliary device |
| CN111359170B (en) * | 2020-04-20 | 2021-04-06 | 山东交通学院 | Swimming auxiliary device |
| CN111959630A (en) * | 2020-08-12 | 2020-11-20 | 苏州永鼎智联科技有限公司 | Modularized bionic wall-climbing robot |
| CN112850444A (en) * | 2021-01-25 | 2021-05-28 | 北京工业大学 | Negative-pressure-driven annular micro-wedge-shaped bristle bundle sucker and preparation method thereof |
| CN112850444B (en) * | 2021-01-25 | 2022-04-08 | 北京工业大学 | Negative-pressure-driven annular micro-wedge-shaped bristle bundle sucker and preparation method thereof |
| US11660731B2 (en) | 2021-01-25 | 2023-05-30 | Beijing University Of Technology | Negative pressure driven sucking disc for annular wedge-shaped microstructure and preparation method of negative pressure driven sucking disc |
| CN114909386A (en) * | 2022-06-02 | 2022-08-16 | 北京航空航天大学 | Bionic adhesion friction microstructure and bionic adhesion friction 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: 20170517 Termination date: 20180705 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |