CN206626207U - A kind of sucker vacuum valve structure for climbing robot - Google Patents
A kind of sucker vacuum valve structure for climbing robot Download PDFInfo
- Publication number
- CN206626207U CN206626207U CN201720279772.2U CN201720279772U CN206626207U CN 206626207 U CN206626207 U CN 206626207U CN 201720279772 U CN201720279772 U CN 201720279772U CN 206626207 U CN206626207 U CN 206626207U
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- vacuum
- sucker
- valve
- distribution ring
- passage
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Abstract
The utility model discloses a kind of sucker vacuum valve structure for climbing robot, vacuum cup mechanism including vacuum valve system and on vacuum valve system, the vacuum valve system includes bearing block, bearing, key, mandrel, sprocket wheel and the first nut, the mandrel is arranged on bearing block by bearing, the sprocket wheel is by key connection on mandrel, and the sprocket wheel is fixed on one end of mandrel by the first nut；The vacuum cup mechanism includes sucker, vacuum cavity, inlet valve and vent valve, the sucker is connected on vacuum cavity, vacuum passage is offered in the vacuum cavity, the inlet valve and vent valve are arranged on vacuum passage, the utility model realizes the automatic distributing of sucker using pure mechanic structure, without pipeline is separately configured for each sucker, greatly reduces valve actuating mechanism and is taken up space, reduce robot overall weight, make robot to climb wall more reliable.
Description
Technical field
Crawler belt sucker type wall climbing robot is the utility model is related to, more particularly to a kind of sucker for climbing robot
Vacuum valve structure.
Background technology
The vacuum distribution of crawler belt sucker type wall climbing robot sucker relies on magnetic valve more at present, real using Electromagnetic Control means
The automatic opening and closing of existing magnetic valve, and each there is single pipeline to connect between sucker and vavuum pump.Robot is transporting
During dynamic, sucker may cause the winding and interference between each sucker pipeline, this is just to Caterpillar transmission mechanism with caterpillar drive
Design propose higher requirement, transmission mechanism certainly will be increasingly complex, causes the increase of robot overall weight.And big weight meeting
The wall performance of climbing of robot is affected greatly, or even excessive gravitational moment can be not enough to the negative-pressure adsorption power of vacuum cup
The absorption of robot is supported, causes it to fall.
Utility model content
Problem to be solved in the utility model is to provide a kind of sucker vacuum valve structure for climbing robot, and it is adopted
The automatic distributing of sucker is realized with pure mechanic structure, without pipeline is separately configured for each sucker, greatly reduces valve actuating mechanism
Taken up space, reduce robot overall weight, make robot to climb wall more reliable.
To reach above-mentioned purpose, technical scheme is used by the utility model solves above-mentioned technical problem：One kind is used for
The sucker vacuum valve structure of climbing robot, including vacuum valve system and the vacuum cup mechanism on vacuum valve system,
The vacuum valve system includes bearing block, bearing, key, mandrel, sprocket wheel and the first nut, and the mandrel passes through
Bearing is arranged on bearing block, and the sprocket wheel is by key connection on mandrel, and the sprocket wheel is fixed on core by the first nut
One end of axle；
The vacuum cup mechanism includes sucker, vacuum cavity, inlet valve and vent valve, and the sucker is connected to vacuum chamber
On body, vacuum passage is offered in the vacuum cavity, the inlet valve and vent valve are arranged on vacuum passage.
Further, the bearing is deep groove ball bearing, and the deep groove ball bearing is arranged in bearing block, positioned at bearing block
End face is fixed with bearing cap, and vacuum distribution ring shell is also threaded with the bearing block, outside the vacuum distribution ring
Quiet distribution ring quiet distribution ring and vacuum in is additionally provided with outside vacuum in shell, and the mandrel passes through outer quiet distribution ring and interior quiet distribution ring.
Further, spring base, the first compression spring and dynamic distribution ring are arranged with the mandrel, the spring base passes through spiral shell
Nail is fixed, and first compression spring is located at and is close in spring base, the dynamic distribution ring by the thrust of the first compression spring
Outside vacuum in quiet distribution ring.
Further, the dynamic distribution ring inboard end face is circumferentially provided with eight counterbores, and the distribution ring side has
Eight communicate radial hole with counterbore, are equipped with the first push rod in each radial hole, are covered positioned at the lower end of first push rod
Provided with piston, first push rod moves back and forth in radial hole, and the distribution ring shell end face is provided with cam path, is located at
Roller is provided with the cam path, the roller is rolled in distribution ring shell edge cam groove.
Further, the sucker is provided with antislip ring, bottom sealing ring and vacuum passage sealing ring, the antislip ring and bottom
Portion's sealing ring is located at the one side that sucker contacts with wall, and the vacuum passage sealing ring is located at one that sucker contacts with vacuum passage
Face.
Further, the vacuum passage includes vertical vacuum passage and horizontal vacuum passage, the vertical vacuum passage and
Horizontal vacuum passage is interconnected, and the inlet valve is arranged on the top of vertical vacuum passage, and the vent valve is arranged on level
The side of vacuum passage.
Further, air-breathing plug and the second compression spring are additionally provided with the vertical vacuum passage, the air-breathing is blocked up
Head is arranged on vertical vacuum passage by the second compression spring.
Further, expanding plug and the 3rd compression spring are additionally provided with the horizontal vacuum passage, the expanding plug leads to
The 3rd compression spring is crossed to be arranged on horizontal vacuum passage.
Further, the second push rod, the external leverage of the second push rod are fixedly connected with the expanding plug.
Further, the upper end of the inlet valve is provided with the second nuts and washers, and the sucker passes through the second nuts and washers
It is fixed on crawler belt, the valve of the inlet valve upper end is plugged on the first push rod.
Compared with prior art, the technical solution of the utility model has the following advantages that：1st, the utility model uses pure machine
Tool structure realizes the automatic distributing of sucker, without pipeline is separately configured for each sucker, greatly reduces valve actuating mechanism institute duty
Between, reduce robot overall weight, make robot to climb wall more reliable；2nd, continued using pure mechanic structure and vacuum source
Work, realize the fixed point pumping of vacuum cup and deflate, substantially reduce mechanical complications and fuselage weight, and have and necessarily may be used
By property.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the utility model embodiment；
Fig. 2 is the sectional view of the utility model embodiment vacuum valve system；
Fig. 3 is the overall structure diagram of the utility model embodiment vacuum cup mechanism；
Fig. 4 is the sectional view of the utility model embodiment vacuum cup mechanism；
Fig. 5 is the A portions partial enlarged drawing of the utility model embodiment.
In figure：First nut 1, sprocket wheel 2, spring base 3, the first compression spring 4, dynamic distribution ring 5, piston 6, the first push rod 7,
Vacuum distribution ring shell 8, outer quiet distribution ring 9, interior quiet distribution ring 10, bearing block 11, deep groove ball bearing 12, bearing cap 13, mandrel
14th, sucker 15, vacuum passage sealing ring 16, vacuum cavity 17, inlet valve 18, air-breathing plug 19, the second nut 20, packing ring 21,
Vent valve 22, the second push rod 23, leverage 24, the 3rd compression spring 25, expanding plug 26, bottom sealing ring 27, antislip ring
28th, bearing 29, key 30, vacuum passage 31, screw 32, counterbore 33, cam path 34, roller 35, vertical vacuum passage 36, level are true
Empty passage 37, the second compression spring 38, radial hole 39.
Embodiment
With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.Below
Embodiment is used to illustrate the utility model, but is not limited to the scope of the utility model.
As Figure 1-5, a kind of sucker vacuum valve structure for climbing robot provided by the utility model, including
Vacuum valve system and the vacuum cup mechanism on vacuum valve system, the vacuum valve system include bearing block 11, axle
29, key 30, mandrel 14, the nut 1 of sprocket wheel 2 and first are held, the mandrel 14 is arranged on bearing block 11 by bearing 29, the chain
Wheel 2 is connected on mandrel 14 by key 30, and the sprocket wheel 2 is fixed on one end of mandrel 14 by the first nut 1；The vacuum
Sucking disc mechanism includes sucker 15, vacuum cavity 17, inlet valve 18 and vent valve 22, and the sucker 15 is connected to vacuum cavity 17
On, vacuum passage 31 is offered in the vacuum cavity 17, the inlet valve 18 and vent valve 22 are arranged on vacuum and led to
On road 31, the bearing 29 is deep groove ball bearing 12, and the deep groove ball bearing 12 is arranged in bearing block 11, positioned at bearing block 11
End face be fixed with bearing cap 13, vacuum distribution ring shell 8 is also threaded with the bearing block 11, positioned at the vacuum point
With quiet distribution ring 10 in quiet distribution ring 9 and vacuum is additionally provided with outside vacuum in ring shell 8, the mandrel 14 passes through outer quiet distribution ring 9
With interior quiet distribution ring 10, spring base 3, the first compression spring 4 and dynamic distribution ring 5, the spring base 3 are arranged with the mandrel 14
Fixed by screw 32, first compression spring 4 is located at passes through the first compression spring 4 in spring base 3, the dynamic distribution ring 5
Thrust be close to outside vacuum in quiet distribution ring 9, the dynamic 5 inboard end face of distribution ring is circumferentially provided with eight counterbores 33, institute
State the side of distribution ring 5 and have eight and communicate radial hole 39 with counterbore 33, being equipped with first in each radial hole 33 pushes away
Bar 7, piston 6 being arranged with positioned at the lower end of first push rod 7, first push rod 7 moves back and forth in radial hole 33,
The end face of distribution ring shell 8 is provided with cam path 34, is provided with roller 35 in the cam path 34, the roller 35 is distributing
Rolled in the edge cam groove 34 of ring shell 8, the sucker 15 is provided with antislip ring 28, bottom sealing ring 27 and vacuum passage
Sealing ring 16, the antislip ring 28 and bottom sealing ring 27 are located at the one side that sucker 15 contacts with wall, and the vacuum passage is close
Seal 16 is located at the one side that sucker 15 contacts with vacuum passage 17, and the vacuum passage 31 includes vertical vacuum passage 36 and level
Vacuum passage 37, the vertical vacuum passage 36 and horizontal vacuum passage 37 are interconnected, and the inlet valve 18 is arranged on vertically
The top of vacuum passage 36, the vent valve 22 are arranged on the side of horizontal vacuum passage 37, positioned at the vertical vacuum passage
The compression spring 38 of air-breathing plug 19 and second is additionally provided with 36, the air-breathing plug 19 is arranged on perpendicular by the second compression spring 38
On straight vacuum passage 36, the compression spring 25 of expanding plug 26 and the 3rd, the deflation are additionally provided with the horizontal vacuum passage 37
Plug 26 is arranged on horizontal vacuum passage 37 by the 3rd compression spring 25, is fixedly connected with the expanding plug 26
Second push rod 23, the external leverage 24 of the second push rod 23, the upper end of the inlet valve 18 are provided with the second nut 20 and pad
Circle 21, the sucker 15 is fixed on crawler belt by the second nut 20 and packing ring 21, the valve grafting of the upper end of inlet valve 18
On the first push rod 7.
A kind of sucker vacuum valve structure for climbing robot that the present embodiment is provided, it uses pure mechanic structure real
The automatic distributing of existing sucker 15, without pipeline is separately configured for each sucker 15, greatly reduces valve actuating mechanism and is taken up space, subtracted
Little Liao robots overall weight, make robot climbs that wall is more reliable, real using pure mechanic structure and the continuous firing of vacuum source
The fixed point pumping and deflation of existing vacuum cup 15, substantially reduce mechanical complications and fuselage weight, and have certain reliability.
During work, vacuum valve system is installed on robot front fuselage, motor drive shaft operating, so that dynamic distribution ring
5 and sprocket wheel 2 continuously run, sprocket wheel 2 drives crawler belt to continuously run, therefore is fixed on the vacuum cup 15 of crawler belt with caterpillar drive, the
Under cam path 34 and dynamic distribution ring 5 of one push rod 7 on vacuum distribution ring shell 8 limit jointly, while gyration is done,
Also reciprocating in the radial hole 39 of dynamic distribution ring 5, the round tube hole of interior quiet distribution ring 10 docks with vacuum pipe interface, very
Vacant duct leads to the vavuum pump of outside, keeps vavuum pump continuous firing, therefore the arc-shaped through-hole of outer quiet distribution ring 9 and interior quiet distribution ring
10 round tube hole remains vacuum state, and dynamic distribution ring 5 is in vacuum its eight cycle alternations of counterbore 33 due to rotating
State or non-vacuum, and vacuum cup 15 with caterpillar drive to just being docked with the first push rod 7, subsequent first push rod 7 with
While sucker 15 turns round jointly, the first push rod 7 is extrapolated, and suction nozzle is further goed deep into the first push rod 7；The sucker 15 and vacuum
Passage 31 is connected, and starts to be evacuated, and air-breathing plug 19 moves upwards, and vertical vacuum passage 36 is opened, and horizontal vacuum passage 37 is kept
Closure；Pumping finishes, and the suction nozzle of sucker 15 leaves the first push rod 7, and vertical vacuum passage 36 closes with horizontal vacuum passage 37, inhales
Disk 15 keeps adsorbed state；Sucker 15 moves to robot afterbody, and rear-mounted installation triggers the leverage 24 of sucker 15, the
Two push rods 23 are moved out, and horizontal vacuum passage 37 is opened, and are communicated in sucker 15 with air, terminate adsorbed state.
Described above is only preferred embodiment of the present utility model, it is noted that for the common skill of the art
For art personnel, on the premise of the utility model technical principle is not departed from, some improvements and modifications can also be made, these change
Enter and retouch and also should be regarded as the scope of protection of the utility model.
Claims (10)
1. a kind of sucker vacuum valve structure for climbing robot, it is characterised in that including vacuum valve system and positioned at vacuum
Vacuum cup mechanism on valve system,
The vacuum valve system includes bearing block (11), bearing (29), key (30), mandrel (14), sprocket wheel (2) and the first nut
(1), the mandrel (14) is arranged on bearing block (11) by bearing (29), and the sprocket wheel (2) is connected to core by key (30)
On axle (14), and the sprocket wheel (2) is fixed on one end of mandrel (14) by the first nut (1)；
The vacuum cup mechanism includes sucker (15), vacuum cavity (17), inlet valve (18) and vent valve (22), the sucker
(15) it is connected on vacuum cavity (17), vacuum passage (31), the air-breathing is offered in the vacuum cavity (17)
Valve (18) and vent valve (22) are arranged on vacuum passage (31).
A kind of 2. sucker vacuum valve structure for climbing robot according to claim 1, it is characterised in that the axle
It is deep groove ball bearing (12) to hold (29), and the deep groove ball bearing (12) is arranged in bearing block (11), positioned at bearing block (11)
End face is fixed with bearing cap (13), and vacuum distribution ring shell (8) is also threaded with the bearing block (11), positioned at described true
It is additionally provided with outside vacuum that quiet distribution ring (10), the mandrel (14) pass through in quiet distribution ring (9) and vacuum in empty distribution ring shell (8)
Outer quiet distribution ring (9) and interior quiet distribution ring (10).
A kind of 3. sucker vacuum valve structure for climbing robot according to claim 2, it is characterised in that the core
Spring base (3), the first compression spring (4) and dynamic distribution ring (5) are arranged with axle (14), the spring base (3) passes through screw
(32) fixed, first compression spring (4) is located at passes through the first compression spring in spring base (3), the dynamic distribution ring (5)
(4) thrust is close to outside vacuum on quiet distribution ring (9).
4. a kind of sucker vacuum valve structure for climbing robot according to claim 3, it is characterised in that described dynamic
Distribution ring (5) inboard end face is circumferentially provided with eight counterbores (33), and distribution ring (5) side has eight and counterbore
(33) radial hole (39) is communicated, the first push rod (7) is equipped with each radial hole (33), positioned at first push rod (7)
Lower end be arranged with piston (6), first push rod (7) moves back and forth in radial hole (33), the distribution ring shell
(8) end face is provided with cam path (34), is provided with roller (35) in the cam path (34), the roller (35) is outside distribution ring
Rolled in shell (8) edge cam groove (34).
5. according to a kind of sucker vacuum valve structure for climbing robot according to claim 1, it is characterised in that institute
State sucker (15) and be provided with antislip ring (28), bottom sealing ring (27) and vacuum passage sealing ring (16), the antislip ring (28)
It is located at the one side that sucker (15) contacts with wall with bottom sealing ring (27), the vacuum passage sealing ring (16) is located at sucker
(15) one side contacted with vacuum passage (17).
6. according to a kind of sucker vacuum valve structure for climbing robot according to claim 1, it is characterised in that institute
Stating vacuum passage (31) includes vertical vacuum passage (36) and horizontal vacuum passage (37), the vertical vacuum passage (36) and water
Flat vacuum passage (37) is interconnected, and the inlet valve (18) is arranged on the top of vertical vacuum passage (36), the vent valve
(22) it is arranged on the side of horizontal vacuum passage (37).
7. according to a kind of sucker vacuum valve structure for climbing robot according to claim 6, it is characterised in that position
Air-breathing plug (19) and the second compression spring (38), the air-breathing plug (19) are additionally provided with described on vacuum passage (36) vertically
It is arranged on by the second compression spring (38) on vertical vacuum passage (36).
8. according to a kind of sucker vacuum valve structure for climbing robot according to claim 6, it is characterised in that institute
State and expanding plug (26) and the 3rd compression spring (25) are additionally provided with horizontal vacuum passage (37), the expanding plug (26) passes through
3rd compression spring (25) is arranged on horizontal vacuum passage (37).
9. according to a kind of sucker vacuum valve structure for climbing robot according to claim 8, it is characterised in that position
In being fixedly connected with the second push rod (23), the external leverage of second push rod (23) (24) on the expanding plug (26).
10. according to a kind of sucker vacuum valve structure for climbing robot according to claim 6, it is characterised in that
The upper end of the inlet valve (18) is provided with the second nut (20) and packing ring (21), the sucker (15) by the second nut (20) and
Packing ring (21) is fixed on crawler belt, and the valve of inlet valve (18) upper end is plugged on the first push rod (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720279772.2U CN206626207U (en) | 2017-03-17 | 2017-03-17 | A kind of sucker vacuum valve structure for climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720279772.2U CN206626207U (en) | 2017-03-17 | 2017-03-17 | A kind of sucker vacuum valve structure for climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206626207U true CN206626207U (en) | 2017-11-10 |
Family
ID=60209727
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720279772.2U Expired - Fee Related CN206626207U (en) | 2017-03-17 | 2017-03-17 | A kind of sucker vacuum valve structure for climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206626207U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108626443A (en) * | 2017-03-17 | 2018-10-09 | 南京聚特机器人技术有限公司 | A kind of sucker vacuum valve structure for climbing robot |
| CN110215164A (en) * | 2018-03-02 | 2019-09-10 | 科沃斯机器人股份有限公司 | The rotating direction control method and progress control method of clean robot, clean robot |
| CN110916555A (en) * | 2019-12-03 | 2020-03-27 | 陕西科技大学 | Crawler-type mobile device and glass curtain wall cleaning robot based on vacuum chuck |
-
2017
- 2017-03-17 CN CN201720279772.2U patent/CN206626207U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108626443A (en) * | 2017-03-17 | 2018-10-09 | 南京聚特机器人技术有限公司 | A kind of sucker vacuum valve structure for climbing robot |
| CN110215164A (en) * | 2018-03-02 | 2019-09-10 | 科沃斯机器人股份有限公司 | The rotating direction control method and progress control method of clean robot, clean robot |
| CN110916555A (en) * | 2019-12-03 | 2020-03-27 | 陕西科技大学 | Crawler-type mobile device and glass curtain wall cleaning robot based on vacuum chuck |
| CN110916555B (en) * | 2019-12-03 | 2021-07-27 | 陕西科技大学 | Crawler-type mobile device and glass curtain wall cleaning robot based on vacuum chuck |
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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: 20171110 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |