CN206545643U - Attached wall climbing robot foot polydisc adaptively adsorbs wall attaching device - Google Patents
Attached wall climbing robot foot polydisc adaptively adsorbs wall attaching device Download PDFInfo
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- CN206545643U CN206545643U CN201720069642.6U CN201720069642U CN206545643U CN 206545643 U CN206545643 U CN 206545643U CN 201720069642 U CN201720069642 U CN 201720069642U CN 206545643 U CN206545643 U CN 206545643U
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Abstract
The utility model is related to a kind of attached wall climbing robot foot polydisc and adaptively adsorbs wall attaching device, it is characterised in that：Support including master cylinders and with master cylinders universal hinging, the rack surface array has multiple negative-pressure adsorption elements, the absorptive element automatically adjusts cylinder by vacuum absorption device and posture and constituted, the posture automatically adjusts cylinder for a hood-like cylinder body, and the vacuum absorption device is set in posture and automatically adjusted in cylinder body；The vacuum absorption device includes the rubber gasket that middle part has cavity, middle part is connected with mandrel on rear side of the rubber gasket, there is the through hole with cavity UNICOM in the middle part of the mandrel, it is simple in construction, reasonable in design that the attached wall climbing robot foot polydisc adaptively adsorbs wall attaching device, be conducive to there is the wall of the various out-of-flatness situations such as groove, hollow, inclination, step, the posture of energy adjust automatically potted component, adapts to the situation of different walls, it is ensured that sealed reliability.
Description
Technical field：
The utility model is related to a kind of attached wall climbing robot foot polydisc and adaptively adsorbs wall attaching device.
Background technology：
Current attached wall climbing robot foot negative-pressure adsorption wall attaching device, mainly by rubber gasket, piston type cylinder
Constituted with the mandrel with centre bore etc..Can changing-over gas cylinder and rapid escape valve, centre bore (A8) at port (A6) place
Place can changing-over vavuum pump and gas cylinder.Operation principle：When needing adherent absorption, wall attaching device is placed on solid wall surface, is entered
Steam vent (A6) connects gas cylinder, and gases at high pressure enter cylinder, promotes outside piston left lateral, extruding rubber gasket (A1)
Edge, makes sealing gasket (A1) form annular seal space between solid wall surface, and centre bore (A8) connects vavuum pump, the air in annular seal space is use up
It may extract out, pressure difference is formed inside and outside annular seal space, produce vacuum adsorption force, wall attaching device is absorbed and fixed on wall, to hold
By the weight of attached wall climbing robot (wall attaching device parallel combination generally is adsorbed by multiple pneumatic negative pressures, the adherent machine of absorption is constituted
Structure, increases bearing capacity).(effect need to be desorbed) when attached wall climbing robot needs to carry sufficient, port (A6) is connected
Rapid escape valve, discharges the gas of piston right chamber, while centre bore (A8) connects high-pressure air source, gases at high pressure enter rubber seal
Bottom is padded, rubber gasket is recovered concave shape, pressure difference is eliminated, adherent suction-operated is released.Existing pneumatic negative pressure absorption
There are three shortcomings in wall attaching device：First, existing pneumatic negative pressure absorption wall attaching device is needed using vacuum pumping formation negative pressure
A set of vacuum pump apparatus is installed, structural complexity and the deadweight of robot is added, while the operating of vavuum pump needs energy,
Increase the installed power and energy consumption of robot.Second, it is close because the outer rim only in circular arc rubber gasket forms sealing surface
Front cover product is smaller, once wall has pitting or uneven, sealed effect is poor, it is difficult to be reliably formed negative pressuren zone.The
Three, using single sealing gasket, it is impossible to adapt to the various out-of-flatness walls of wall inclination, step, cambered surface etc., limit and use model
Enclose.
The content of the invention：
The purpose of this utility model is that providing a kind of attached wall climbing robot foot polydisc adaptively adsorbs wall attaching device,
It is simple in construction, reasonable in design that the attached wall climbing robot foot polydisc adaptively adsorbs wall attaching device, be conducive to exist groove,
The wall of the various out-of-flatness situations such as hollow, inclination, step, the posture of energy adjust automatically potted component, adapts to different walls
Situation, it is ensured that sealed reliability.
The attached wall climbing robot foot polydisc of the utility model adaptively adsorbs wall attaching device, it is characterised in that：Including master
Cylinder and the support with master cylinders universal hinging, the rack surface array have multiple negative-pressure adsorption elements, the absorptive element
Cylinder is automatically adjusted by vacuum absorption device and posture to constitute, the posture automatically adjusts cylinder for a hood-like cylinder body, and the vacuum is inhaled
Adsorption device is set in posture and automatically adjusted in cylinder body；The vacuum absorption device includes the rubber gasket that middle part has cavity,
Middle part is connected with the through hole having in the middle part of mandrel, the mandrel with cavity UNICOM, the through hole back of the body on rear side of the rubber gasket
There is evacuation plunger in insertion through hole from one end of cavity, the mandrel exterior is externally provided with work close to one end of rubber gasket
Plug, be covered with outside one end of rubber gasket outside plunger case, the plunger case be also cased with it is close with piston outer periphery side
The cylinder barrel of laminating, forms on the piston cavity of closing, the cylinder barrel between the cylinder barrel and piston and plunger case and has
Have to be provided between evacuation plunger in the port with piston cavity UNICOM, the plunger case and press spring, the mandrel
There is gap, plunger case is fixedly connected with cylinder barrel, had on the plunger case between periphery wall and plunger case inwall
Make the gas port of piston cavity and gap UNICOM, the gas port is located at piston medial surface.
Further, above-mentioned posture, which automatically adjusts the periphery wall face of cylinder, has dome shape ring, the dome shape ring and branch
Frame is universal hinging.
Further, main piston is provided with above-mentioned master cylinder boxy and is fixedly connected and stretches out outside master cylinder boxy with main piston
Expansion link, the end of the expansion link has bulb, and with the ball recess universal hinging behind support, the master cylinders is provided with
Through hole road for being passed through high pressure gas.
Further, above-mentioned mandrel has inner barrel and is located at the external outer cylinder body of inner cylinder, and evacuation plunger in T shape is stretched
Enter in inner barrel body, fixation is arranged piston outside outer cylinder body.
Further, above-mentioned piston towards one end of rubber gasket be plane.
Further, above-mentioned plunger case is fixedly connected with cylinder barrel.
Further, between above-mentioned piston outer periphery and cylinder barrel plunger and plunger case, between piston and plunger case, are evacuated
Sealing ring is equipped between cylinder.
Operation principle of the present utility model：For smooth wall, master cylinder air inlet promotes support to make each absorptive element
Wall is affixed to, port air inlet promotes the adsorbent equipment of each absorptive element to be affixed to wall, is then connected with port
Air inlet-outlet pipe to cylinder input gases at high pressure, promote piston left lateral, piston during left lateral, first promote spill rubber it is close
The middle part of packing, makes middle part deformation be close to solid wall surface, is then compacted whole rubber gasket and is attached on solid wall surface, rubber
Glue sealing gasket is fully extended out before being compacted to outer rim, can avoid producing fold.Piston is promoting rubber close
When the middle part of packing is to left movement, the mandrel on rubber gasket is connected to also to left movement, when motion closes to an end, plunger
Gas port on cylinder barrel exposes, and the gases at high pressure of piston right chamber are entered the gap sky evacuated between plunger and plunger case by gas port
Between, in the left end formation higher-pressure region for evacuating the big cylinder of plunger, promote evacuation plunger to move right, make between wall and sealing gasket
Through forming volume close to zero cavity volume increase decades of times, the residual air originally in confined space expands, in confined space
Pressure declines, and forms negative pressure, in the inside and outside formation pressure difference of rubber gasket, produces the adherent absorption affinity of negative pressure, is climbed with bearing attached wall
The weight of row robot.For the wall (such as inclined plane, step surface, arcwall face) of out-of-flatness, when support is acted in master cylinder
When lower promotion absorptive element is affixed to wall, wall out-of-flatness, because master cylinder and support are that ball pivot is connected, master cylinder pressure rise
Afterwards, support is adapted to the shape of change automatically, produce Primary regulation.At this moment the absorptive element having can not still be contacted or only with wall
It can partly contact, attitude regulation cylinder intake, promote pneumatic plunger vacuum absorption device to continue to be affixed to wall, due to absorptive element
It is that ball pivot is connected with support, absorptive element defers to least resistance principle adjust automatically posture, it is completely attached to wall, pressure
Rise, makes air inlet-outlet pipe input gases at high pressure to cylinder, promotes piston left lateral, most absorptive elements is close to wall
Vacuum suction is produced, to bear the weight of attached wall climbing robot.
The utility model has advantages below with prior art：First, using the adherent absorption of polydisc, for exist step,
The wall of the defects such as groove, cut, pitting, because these small defects can only influence the suction-operated of a small number of absorptive elements, remaining
Each absorptive element is remained to normally play a role, and adsorption capacity is substantially unaffected；Second, being connected using space ball pivot and support
Connect, support can improve the adaptability to wall with omnidirectional's wing drop in itself；Third, using attitude regulation cylinder, and and support
It is hinged, can have both been stretched to compensate being uneven for wall for Spatial Sphere, omnidirectional can be tilted automatically again, to adapt to wall
The irregularities such as inclination, arc, ladder.Therefore, the utility model proposes wall attaching device, can adjust automatically posture, adapt to each
The situation of different walls is planted, adsorption effect is more preferable.
Brief description of the drawings：
Fig. 1 is the organigram of prior art；
Wherein A1- rubber gaskets；A2- pistons；A3,4-O sealing ring；A5- cylinder barrels；A6- ports；A7- mandrels；
A8- centre bores；
Fig. 2 is organigram of the present utility model；
Fig. 3 is the profile construction schematic diagram of the utility model negative-pressure adsorption element；
Fig. 4 is the utility model negative-pressure adsorption element use state profile construction schematic diagram；
Fig. 5 is that the utility model device uses the organigram on inclined wall；
Fig. 6 is that the utility model device uses the organigram on curved wall；
Fig. 7 is that the utility model device uses the organigram on ladder wall.
Embodiment：
The utility model is described in more detail with reference to the accompanying drawings and detailed description.
The attached wall climbing robot foot polydisc of the utility model adaptively adsorb wall attaching device including master cylinders B4 and with master
The support B2 of cylinder B4 universal hingings, the support B2 surface arrays have multiple negative-pressure adsorption element B1, the absorptive element B1
Cylinder 3 is automatically adjusted by vacuum absorption device B5 and posture to constitute, the posture automatically adjusts cylinder 3 for a hood-like cylinder body, it is described true
Suction adsorption device B5 is set in posture and automatically adjusted in the body of cylinder 3；The vacuum absorption device B5 includes the rubber that middle part has cavity
Glue sealing gasket 19, the rear side of rubber gasket 19 middle part is connected with mandrel 5, and the middle part of mandrel 5 has and cavity UNICOM
Through hole, the through hole has the evacuation plunger 18 in insertion through hole away from one end of cavity, and the outside of mandrel 5 is close close to rubber
One end of packing 19 is externally provided with piston 2, and plunger case 6, the plunger case 6 are covered with outside one end of rubber gasket 19
The outer cylinder barrel 1 for being also cased with being brought into close contact with piston outer periphery side, forms envelope between the cylinder barrel 1 and piston 2 and plunger case 6
There is the port 20 with piston cavity UNICOM, the port 20 is connected into row on the piston cavity closed, the cylinder barrel 1
It is provided with tracheae 13, the plunger case 6 between evacuation plunger 18 and presses spring 10, the mandrel periphery wall and plunger case
Between inwall have gap 22, plunger case is fixedly connected with cylinder barrel, on the plunger case with make piston cavity and
The gas port 23 of gap UNICOM, the gas port 23 is located at piston medial surface.
Further, freely rotate for convenience, the periphery wall face that above-mentioned posture automatically adjusts cylinder has dome shape ring
B6, the dome shape ring B6 and support B2 are universal hinging, by dome shape ring B6 and support B2 universal hingings, make the device
It is adapted to multiple metopes.
Further, main piston B7 is provided with above-mentioned master cylinders B4 bodies and is fixedly connected with main piston and stretches out master cylinder boxy
Outer expansion link B8, the end of the expansion link has bulb B9, with the ball recess universal hinging behind support, the main vapour
Cylinder is provided with the through hole road B10 for being used for being passed through high pressure gas.
Further, above-mentioned mandrel 5 has inner barrel 501 and is located at the external outer cylinder body 502 of inner cylinder, and in T shape takes out
Void column plug is stretched into inner barrel body, and the fixation of the outside of outer cylinder body 502 is arranged piston 2.
Further, above-mentioned piston towards one end of rubber gasket be plane.
Further, above-mentioned plunger case is fixedly connected with cylinder barrel.
Further, between above-mentioned piston outer periphery and cylinder barrel plunger and plunger case, between piston and plunger case, are evacuated
Label 4,7,9,12,14,15,16,17 in sealing ring, i.e. figure are equipped between cylinder.
Operation principle of the present utility model：For smooth wall, master cylinder air inlet promotes support to make each absorptive element
Wall is affixed to, port air inlet promotes the adsorbent equipment of each absorptive element to be affixed to wall, is then connected with port
Air inlet-outlet pipe to cylinder input gases at high pressure, promote piston left lateral, piston during left lateral, first promote spill rubber it is close
The middle part of packing, makes middle part deformation be close to solid wall surface, is then compacted whole rubber gasket and is attached on solid wall surface, rubber
Glue sealing gasket is fully extended out before being compacted to outer rim, can avoid producing fold.Piston is promoting rubber close
When the middle part of packing is to left movement, the mandrel on rubber gasket is connected to also to left movement, when motion closes to an end, plunger
Gas port on cylinder barrel exposes, and the gases at high pressure of piston right chamber are entered the gap sky evacuated between plunger and plunger case by gas port
Between, in the left end formation higher-pressure region for evacuating the big cylinder of plunger, promote evacuation plunger to move right, make between wall and sealing gasket
Through forming volume close to zero cavity volume increase decades of times, the residual air originally in confined space expands, in confined space
Pressure declines, and forms negative pressure, in the inside and outside formation pressure difference of rubber gasket, produces the adherent absorption affinity of negative pressure, is climbed with bearing attached wall
The weight of row robot.For the wall (such as inclined plane, step surface, arcwall face) of out-of-flatness, when support is acted in master cylinder
When lower promotion absorptive element is affixed to wall, wall out-of-flatness, because master cylinder and support are that ball pivot is connected, master cylinder pressure rise
Afterwards, support is adapted to the shape of change automatically, produce Primary regulation.At this moment the absorptive element having can not still be contacted or only with wall
It can partly contact, attitude regulation cylinder intake, promote pneumatic plunger vacuum absorption device to continue to be affixed to wall, due to absorptive element
It is that ball pivot is connected with support, absorptive element defers to least resistance principle adjust automatically posture, it is completely attached to wall, pressure
Rise, makes air inlet-outlet pipe input gases at high pressure to cylinder, promotes piston left lateral, most absorptive elements is close to wall
Vacuum suction is produced, to bear the weight of attached wall climbing robot.
The utility model has advantages below with prior art：First, using the adherent absorption of polydisc, for exist step,
The wall of the defects such as groove, cut, pitting, because these small defects can only influence the suction-operated of a small number of absorptive elements, remaining
Each absorptive element is remained to normally play a role, and adsorption capacity is substantially unaffected；Second, being connected using space ball pivot and support
Connect, support can improve the adaptability to wall with omnidirectional's wing drop in itself；Third, using attitude regulation cylinder, and and support
It is hinged, can have both been stretched to compensate being uneven for wall for Spatial Sphere, omnidirectional can be tilted automatically again, to adapt to wall
The irregularities such as inclination, arc, ladder.Therefore, the utility model proposes wall attaching device, can adjust automatically posture, adapt to each
The situation of different walls is planted, adsorption effect is more preferable.
Claims (7)
1. a kind of attached wall climbing robot foot polydisc adaptively adsorbs wall attaching device, it is characterised in that：Including master cylinders and with
The support of master cylinders universal hinging, the rack surface array has multiple negative-pressure adsorption elements, and the absorptive element is inhaled by vacuum
Adsorption device and posture automatically adjust cylinder composition, and the posture automatically adjusts cylinder for a hood-like cylinder body, the vacuum absorption device set
Posture is located to automatically adjust in cylinder body；The vacuum absorption device includes the rubber gasket that middle part has cavity, the rubber
Middle part is connected with the through hole having in the middle part of mandrel, the mandrel with cavity UNICOM on rear side of sealing gasket, and the through hole is away from cavity
One end has the evacuation plunger in insertion through hole, and the mandrel exterior is externally provided with piston close to one end of rubber gasket, deviated from
The gas for being also cased with being brought into close contact with piston outer periphery side outside plunger case, the plunger case is covered with outside one end of rubber gasket
Cylinder barrel, formed between the cylinder barrel and piston and plunger case has and piston on the piston cavity of closing, the cylinder barrel
The port of inner chamber UNICOM, with evacuating between plunger provided with pressing spring in the plunger case, the mandrel periphery wall and
There is gap, plunger case is fixedly connected with cylinder barrel between plunger case inwall, having on the plunger case makes in piston
Chamber and the gas port of gap UNICOM, the gas port are located at piston medial surface.
2. attached wall climbing robot foot polydisc according to claim 1 adaptively adsorbs wall attaching device, it is characterised in that：
The periphery wall face that the posture automatically adjusts cylinder has dome shape ring, and the dome shape ring is universal hinging with support.
3. attached wall climbing robot foot polydisc according to claim 2 adaptively adsorbs wall attaching device, it is characterised in that：
Provided with main piston and the expansion link for being fixedly connected and being stretched out outside master cylinder boxy with main piston, the expansion link in the master cylinder boxy
End there is bulb, and the ball recess universal hinging behind support, the master cylinders, which is provided with, to be used to be passed through high pressure gas
Through hole road.
4. attached wall climbing robot foot polydisc according to claim 3 adaptively adsorbs wall attaching device, it is characterised in that：
The mandrel has inner barrel and is located at the external outer cylinder body of inner cylinder, and evacuation plunger in T shape is stretched into inner barrel body, outer barrel
External side, which is fixed, is arranged piston.
5. attached wall climbing robot foot polydisc according to claim 3 adaptively adsorbs wall attaching device, it is characterised in that：
The piston towards one end of rubber gasket be plane.
6. attached wall climbing robot foot polydisc according to claim 4 adaptively adsorbs wall attaching device, it is characterised in that：
The plunger case is fixedly connected with cylinder barrel.
7. attached wall climbing robot foot polydisc according to claim 5 adaptively adsorbs wall attaching device, it is characterised in that：
Between the piston outer periphery and cylinder barrel, between piston and plunger case, evacuate and be equipped with sealing between plunger and plunger case
Circle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720069642.6U CN206545643U (en) | 2017-01-20 | 2017-01-20 | Attached wall climbing robot foot polydisc adaptively adsorbs wall attaching device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720069642.6U CN206545643U (en) | 2017-01-20 | 2017-01-20 | Attached wall climbing robot foot polydisc adaptively adsorbs wall attaching device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206545643U true CN206545643U (en) | 2017-10-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720069642.6U Expired - Fee Related CN206545643U (en) | 2017-01-20 | 2017-01-20 | Attached wall climbing robot foot polydisc adaptively adsorbs wall attaching device |
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| CN (1) | CN206545643U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108464756A (en) * | 2018-03-28 | 2018-08-31 | 佛山市多营工业设计有限公司 | A kind of Novel seamless paper ball holder |
| CN109028545A (en) * | 2018-08-01 | 2018-12-18 | 盛世瑶兰（深圳）科技有限公司 | It is a kind of to realize air cleaning unit resistant to lodging using negative-pressure adsorption |
-
2017
- 2017-01-20 CN CN201720069642.6U patent/CN206545643U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108464756A (en) * | 2018-03-28 | 2018-08-31 | 佛山市多营工业设计有限公司 | A kind of Novel seamless paper ball holder |
| CN109028545A (en) * | 2018-08-01 | 2018-12-18 | 盛世瑶兰（深圳）科技有限公司 | It is a kind of to realize air cleaning unit resistant to lodging using negative-pressure adsorption |
| CN109028545B (en) * | 2018-08-01 | 2021-03-30 | 盛世瑶兰（深圳）科技有限公司 | Utilize negative pressure to adsorb air purification device who realizes lodging resistance |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171010 Termination date: 20200120 |