CN210389215U

CN210389215U - Vacuum adsorption device of individual soldier climbing robot

Info

Publication number: CN210389215U
Application number: CN201921276684.2U
Authority: CN
Inventors: 金常伟; 刘涛; 常建; 李金玉; 周建; 王晓飞
Original assignee: Beijing Lingtian Intelligent Equipment Group Co Ltd
Current assignee: Beijing Lingtian Intelligent Equipment Group Co Ltd
Priority date: 2019-08-07
Filing date: 2019-08-07
Publication date: 2020-04-24
Anticipated expiration: 2029-08-07

Abstract

The utility model relates to a vacuum adsorption device of individual soldier climbing robot, which comprises an adsorption device body for adsorbing a wall surface, an air exhaust device for communicating the adsorption device body and extracting gas from a cavity between the wall surface and the adsorption device body, and a pressure discharge structure which is arranged on the adsorption device body and communicates the adsorption device body and the atmosphere; the pressure discharge structure comprises a pressure discharge port and a cover seal, wherein the pressure discharge port is arranged on the adsorption device body and is communicated with the adsorption device body and the atmosphere, the exhaust switch of the pressure discharge port is connected to the adsorption device body in a rotating mode, the plane where the pressure discharge port is located is parallel to the plane where the pressure discharge port is located, and the surface of the pressure discharge port, facing the exhaust switch, is attached to and slides along the edge of the pressure discharge port. The air exhaust device continuously provides adsorption force for the adsorption device body, so the adsorption device body is relatively stable in connection with the wall surface, and the mode of opening the air exhaust switch in a rotating mode is simple and convenient, so that the adsorption force of the adsorption device body is relieved and recovered.

Description

Vacuum adsorption device of individual soldier climbing robot

Technical Field

The utility model relates to an adsorption equipment especially relates to a vacuum adsorption equipment of individual soldier climbing robot.

Background

The basic principle of vacuum adsorption is specifically as follows: the two objects form a closed cavity in a surrounding mode, then the air in the cavity is exhausted in an extraction or extrusion mode, so that the air pressure in the two cavities is smaller than the atmospheric pressure, and the two objects can be adsorbed together under the action of the atmospheric pressure.

Take an adsorption equipment who adsorbs the wall as an example, enclose between adsorption equipment body and the wall and form inclosed cavity, be provided with the extraction opening on the air exhaust equipment body, air exhaust equipment outwards takes out the gas from the extraction opening by the cavity between wall and adsorption equipment body and the wall in, make the cavity internal gas pressure between adsorption equipment body and the wall reduce, then seal the extraction opening, and make air exhaust equipment stop work, because the cavity internal gas pressure between adsorption equipment body and the wall is less than atmospheric pressure, so the adsorption equipment body can adsorb on the wall, the adsorption equipment body can the bearing atress, be connected the object with the wall.

The above prior art has the following technical problems: because the wall surface is difficult to smooth, fine gaps can exist between the adsorption device body and the wall surface, and the gaps can make the connection between the adsorption device body and the wall surface unstable; the way of relieving the adsorption equipment body adsorption affinity is generally for opening the extraction opening and making the cavity communicate inside and outside, and the process of recovering the adsorption equipment body adsorption affinity needs to bleed again, seal the extraction opening, and is comparatively inconvenient.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a vacuum adsorption device of individual soldier climbing robot, its advantage lies in that it adsorbs stably, removes adsorption equipment's adsorption affinity and resumes adsorption equipment's adsorption affinity all comparatively convenient.

The above utility model discloses an above-mentioned utility model purpose can realize through following technical scheme:

a vacuum adsorption device of an individual soldier climbing robot comprises an adsorption device body for adsorbing a wall surface, an air extractor communicated with the adsorption device body and used for extracting gas from a cavity between the wall surface and the adsorption device body, and a pressure discharge structure arranged on the adsorption device body and used for communicating the adsorption device body with the atmosphere; arrange and press the structure including setting up on the adsorption equipment body and communicate the adsorption equipment body with atmospheric row's pressure port and be used for covering and seal arrange the exhaust switch of pressure port, arrange the uncovered edge of pressure port on the coplanar, the exhaust switch rotate connect in on the adsorption equipment body and rotate the place plane and be on a parallel with the uncovered edge place plane of pressure port, the exhaust switch towards arrange the face of pressure port and arrange the laminating of pressure port edge and slide and be connected.

By adopting the technical scheme, the adsorption device body is buckled on the wall surface, the closed cavity is formed between the adsorption device body and the wall surface, and the air exhaust device continuously works and exhausts air from the cavity between the adsorption device body and the wall surface outwards, so that even if the closed cavity formed by the adsorption device and the wall body in a surrounding way has a gap due to unsmooth wall surface, the adsorption force between the adsorption device body and the wall surface cannot be reduced due to the continuous air exhaust of the air exhaust device, and the connection between the adsorption device body and the wall surface is stable; when the adsorption force of the adsorption device needs to be relieved, the exhaust switch is rotated to prevent the adsorption device from covering the closed pressure discharge port, so that the adsorption device does not adsorb a wall surface any more, and when the adsorption force of the adsorption device body needs to be restored, the exhaust switch is rotated to enable the adsorption device body to cover the closed pressure discharge port again.

The utility model discloses further set up to: the adsorption device body sets up the sucking disc into the rectangle, the uncovered edge outside of sucking disc sets up to the butt portion that rectangular ring plate form just was used for the butt wall, butt portion and wall butt department are provided with the seal structure that is used for improving butt portion and wall butt department leakproofness.

Through adopting above-mentioned technical scheme, the butt portion be provided with and do benefit to sucking disc butt wall, the setting of seal structure can improve the sealed effect of the airtight cavity that sucking disc and wall enclose.

The utility model discloses further set up to: arrange and press the mouth to set up the round hole that deviates from one side of wall at the adsorption equipment body, the exhaust switch sets up to the water droplet shaped plate, and the connecting cylinder of perpendicular to exhaust switch face has been erect to the less tip an organic whole of exhaust switch, be provided with on the adsorption equipment body and insert in the connecting cylinder and slide the connecting axle of joining in marriage with the connecting cylinder, the great tip of exhaust switch is arranged towards the face laminating of row's pressure mouth and is opened the edge and slide and connect.

Through adopting above-mentioned technical scheme, realize through the cooperation of connecting cylinder and connecting axle that the air discharge switch slides with row's pressure port and be connected, simple structure sets up the convenience.

The utility model discloses further set up to: a torsion spring in a compression state is arranged between the connecting cylinder and the connecting shaft, and a fixed limiting column abutted against one side of the exhaust switch is arranged on the adsorption device body.

Through adopting above-mentioned technical scheme, the exhaust switch can the fixed spacing post of butt under the effect of torsional spring elasticity to make the one-way opening of exhaust switch intelligence, and remove the power of opening the exhaust switch after the exhaust switch is opened and exhaust switch can automatic re-setting under the effect of elasticity of torsional spring, thereby further improved the security of row's of pressing the structure.

The utility model discloses further set up to: the adsorption device body is also provided with an exhaust pipe used for being communicated with an air exhaust device, and the exhaust pipe and the pressure discharge port are located on the same side of the adsorption device body.

Through adopting above-mentioned technical scheme, with exhaust tube and row pressure port setting at adsorption equipment body homonymy, then open row pressure port and carry out the pressure when starting air exhaust device and bleed, external atmosphere can flow to the exhaust tube through shorter route to made things convenient for the row and pressed the process.

The utility model discloses further set up to: the air extracting device is a vacuum pump, an air inlet of the vacuum pump is communicated and connected with the adsorption device body, and an air outlet of the vacuum pump is directly communicated with the atmosphere.

Through adopting above-mentioned technical scheme, bleed through the vacuum pump, it is convenient and suction force is stronger to set up.

The utility model discloses further set up to: and the air inlet of the vacuum pump is communicated and connected with the adsorption device body through a vacuum corrugated pipe.

Through adopting above-mentioned technical scheme, connect vacuum pump and adsorption equipment body through vacuum bellows, make vacuum pump and adsorption equipment body needn't the lug connection, improved the maneuverability of adsorption equipment body, vacuum bellows intensity is higher and be difficult to the pressurized damage simultaneously.

The utility model discloses further set up to: the plate-shaped fluctuation part is integrally erected on the plate surface of the exhaust switch positioned on the outer side.

Through adopting above-mentioned technical scheme, through the portion of stirring can be more convenient open the air discharge switch.

To sum up, the utility model discloses a beneficial technological effect does:

1. the air exhaust device continuously provides adsorption force to enable the adsorption device body to adsorb a wall surface stably, and meanwhile, the pressure discharge port and the exhaust switch enable the adsorption device body to conveniently release the adsorption force and recover the adsorption force;

2. the automatic reset structure of the exhaust switch improves the use safety of the pressure discharge structure;

3. the arrangement of the abutting part and the sealing ring improves the sealing performance of the abutting part between the sucker and the wall surface.

Drawings

FIG. 1 is a schematic diagram of the overall structure of a vacuum adsorption power assisting device of an individual climbing robot;

FIG. 2 is a schematic structural view of a structure for showing a side of the suction cup facing away from a wall surface;

FIG. 3 is a schematic structural diagram of a structure for showing the suction cup on the side close to the wall surface;

fig. 4 is a partially enlarged view of a portion a of fig. 3;

FIG. 5 is a schematic view for showing the internal structure of the sucker;

FIG. 6 is a schematic view of the interior of the backpack;

fig. 7 is a schematic system structure diagram of an intelligent safety management system of an individual climbing robot.

In the figure, 1, a suction cup; 11. an abutting portion; 13. an air exhaust pipe; 14. a handle; 15. a pressure discharge port; 151. thickening part; 152. fixing the limiting column; 153. a blocking shaft; 1531. a position-resisting sheet; 1532. a second return spring; 16. an exhaust switch; 161. a connecting cylinder; 162. a toggle part; 17. a connecting shaft; 18. a connecting member; 181. a plug; 182. a connecting pin; 1821. a rotating ring; 183. a first return spring; 19. a pressure lever; 191. pressing the shaft; 192. a support frame; 2. a vacuum pump; 21. an air extraction motor; 211. a vacuum bellows; 3. a power source; 4. a backpack; 5. pedaling; 51. a connecting ring; 52. connecting ropes; 53. a connecting frame; 6. an intelligent security management system; 61. an air pressure detection module; 611. a vacuum gauge; 62. a temperature detection module; 63. an electric quantity detection module; 641. a display unit.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

The utility model discloses use on an individual soldier scrambles the robot vacuum adsorption booster unit and be used for providing the adsorption affinity for an individual soldier scrambles the robot vacuum adsorption booster unit, it is right to combine an individual soldier to scramble the robot vacuum adsorption booster unit below the utility model discloses explain.

Referring to fig. 1, a vacuum adsorption booster unit of individual soldier climbing robot, including two adsorption equipment that are used for adsorbing the wall, respectively for two adsorption equipment provide two air exhaust devices of adsorption affinity, be used for removing two sets of pressure structures of adsorption equipment's adsorption affinity respectively.

Referring to fig. 2 and 3, adsorption equipment sets up to sucking disc 1 of rectangle, and 1 uncovered border of sucking disc sets up to rectangular annular plate-like butt portion 11, and in 1 use of sucking disc, 1 uncovered orientation wall of sucking disc is provided with the seal structure that is used for improving

butt portion

11 and 11 partial leakproofness of wall butt portion between butt portion 11 and the wall, and butt portion 11 butt wall to form airtight cavity between messenger's sucking disc 1 and the wall.

In one embodiment, the sealing structure is a rectangular ring-shaped foam (not shown) matched with the abutting part 11 in shape, the foam is arranged to make the abutting part 11 have certain elasticity in abutting against the wall surface, and the foam can also fill the gap between the abutting part 11 and the wall surface, so that the sealing performance of the abutting part 11 and the wall surface is improved.

Further, if the wall is the brick wall, then the junction of fragment of brick on the wall has great space, the space between wall and butt portion 11 can't be filled to the elasticity of foam cotton itself this moment, so set up seal structure into the cross-section for C shape and by outer to the soft rubber circle of interior parcel butt portion 11, the rubber circle is provided with the hemisphere arch (not shown in the figure) that the interval was arranged on the face towards the wall, protruding high 4-5MM, protruding pressurized deformation can plug up the leakproofness of brick seam in order to improve sucking disc 1 and brick wall junction when sucking disc 1 adsorbs the brick wall.

One side of the sucker 1 departing from the wall surface is provided with an exhaust pipe 13 communicated with an air extractor, the air extractor is used for extracting air from the closed cavity formed between the sucker 1 and the wall surface through the exhaust pipe 13, so that negative pressure is formed in the closed cavity formed between the sucker 1 and the wall surface, and the sucker 1 is attached to the wall surface.

One side that sucking disc 1 deviates from the wall still is provided with the handle 14 of C type, and 14 both ends of handle respectively with the integrative fixed connection in one side that sucking disc 1 deviates from the wall, sucking disc 1 adsorbs the wall, and special type operation personnel are held handle 14 and are scrambleed with the help of the adsorption affinity of sucking disc 1.

Referring to fig. 1 and 6, the evacuation device is provided as a vacuum pump 2. The vacuum pumps 2 are provided with two vacuum pumps 2, the air inlets of the two vacuum pumps 2 are respectively communicated with the exhaust pipes 13 of the two suckers 1 through soft vacuum corrugated pipes 211, and the air outlets of the two vacuum pumps 2 are directly connected with the atmosphere and exhaust the gas pumped out by the vacuum pumps 2 into the atmosphere. All be provided with in two vacuum pumps 2 and bleed motor 21 and provide power for vacuum pump 2, same military project level power 3 is all connected to two vacuum pump 2's the motor 21 that bleeds, power 3 is the motor 21 power supply of bleeding, the work of motor 21 that bleeds provides power for vacuum pump 2, vacuum pump 2 outwards bleeds by the airtight cavity of formation between sucking disc 1 and the wall in, form the negative pressure in the airtight cavity that forms between messenger's sucking disc 1 and the wall to make sucking disc 1 adhere to on the wall.

In order to bring convenience to the special operating personnel to carry the power supply 3 and the two vacuum pumps 2, the power supply 3 and the two vacuum pumps 2 are arranged in the backpack 4 in a centralized manner, the backpack 4 is arranged to be a backpack 4, a binding belt (not shown in the figure) for binding the waist of the special operating personnel is arranged on the backpack 4, and the suction cup 1 and the vacuum corrugated pipe 211 are arranged outside the backpack 4 so that the special operating personnel can carry the backpack 4 to hold the suction cup 1 to perform climbing action.

Referring to fig. 2 and 3, the pressure discharge structure includes a pressure discharge opening 15 provided at a side of the suction cup 1 facing away from the wall surface and an air discharge switch 16 for closing the pressure discharge opening 15.

Specifically, the pressure discharge port 15 is a circular hole formed in the suction cup 1, a circular-ring-plate-shaped thickened portion 151 is integrally arranged on the outer side of the edge of the pressure discharge port 15, the outer surface of the thickened portion 151 is a smooth plane parallel to the surface of the suction cup 1, which is far away from the wall surface, and the thickened portion 151 is used for enhancing the structural strength and thickness of the suction cup 1 around the pressure discharge port 15; exhaust switch 16 represents for the water droplet shaped plate, exhaust switch 16 less tip deviates from the face of wall on an organic whole erect connecting cylinder 161 and exhaust switch 16 on correspond the connecting cylinder 161 position seted up the connecting hole that internal diameter and connecting cylinder 161 internal diameter are the same, sucking disc 1 deviates from the face of wall an organic whole have erect connecting axle 17, connecting axle 17 passes the connecting hole and inserts connecting cylinder 161 and rotate with connecting cylinder 161 and be connected, make exhaust switch 16 rotate the surface that the place plane is on a parallel with thickening portion 151 and deviates from the surface of wall, the face that exhaust switch 16 is great tip is close to the wall is connected with the face laminating of thickening portion 151 deviating from the wall to slide.

A torsion spring (not shown in the figure) is arranged between the connecting cylinder 161 and the connecting shaft 17, one side of the thickened portion 151 is provided with a fixed limiting column 152 which integrally stands on the surface of the thickened portion 151 departing from the wall surface, in a normal state, the torsion spring is in a pressed state, one side of the larger end of the exhaust switch 16 abuts against the fixed limiting column 152, and the larger end of the exhaust switch 16 covers the closed exhaust pressure port 15.

Still integrative toggle portion 162 that is provided with on the air discharge switch 16, toggle portion 162 shows that an organic whole erects in the air discharge switch 16 strip board and this strip board one end and the integrative fixed connection of connecting cylinder 161 on deviating from the face of wall, people can stir air discharge switch 16 through the direction that toggle portion 162 left fixed spacing post 152 mutually, thereby make the great tip of air discharge switch 16 not cover and seal pressure discharge port 15, make the space between sucking disc 1 and the wall pass through pressure discharge port 15 intercommunication atmosphere, thereby can't form the negative pressure that makes sucking disc 1 adsorb the wall in the space between messenger sucking disc 1 and the wall.

It can be understood that, in order to facilitate the special operator to toggle the exhaust switch 16, the exhaust switch 16 is arranged above the handle 14 and the fixed limiting column 152 is arranged above the exhaust switch 16, so that the special operator can toggle the pressure-discharging switch downwards to complete the pressure-discharging process of the suction cup 1, which is more convenient; meanwhile, in order to maintain the pressure discharge effect of the pressure discharge port 15, the pressure discharge port 15 is disposed close to the suction pipe 13.

Referring to fig. 3, 4 and 5, in order to improve the safety of the suction cup 1 and prevent the danger of opening the exhaust switch 16 by the misoperation of special operators, a self-locking structure for locking the state that the exhaust switch 16 closes the exhaust pressure port 15 is arranged on the suction cup 1.

Specifically, be provided with on the thickening portion 151 and be close to wall one side by sucking disc 1 and wear to the fender axle 153 that sucking disc 1 deviates from wall one side along perpendicular wall direction, fender axle 153 slides with thickening portion 151 airtight and connects in the one side relative with fixed spacing post 152.

The suction cup 1 is also provided at its lower edge with a connecting element 18 for connection to the foot peg 5. The connecting piece 18 is integrally arranged on a circular ring-shaped block of the sucker 1 deviating from the wall surface, one side of the circular ring-shaped block, which passes through the sucker 1, is arranged to be a plane attached to the outer surface of the sucker 1, and the axis of a circular through hole in the circular ring-shaped connecting piece 18 is parallel to the longer side of the sucker 1, and the end part of the circular through hole below the circular through hole is sealed. The connecting piece 18 is connected with a cylindrical plug 181 with the axis coaxial with the inner circular through hole of the connecting piece 18 in a sliding manner, the part of the plug 181 close to the closed circular through hole of the connecting piece 18 is a truncated cone-shaped shrinking head, and the smaller end part of the truncated cone-shaped shrinking head faces the closed circular through hole of the connecting piece 18. A connecting pin 182 for connecting the connecting piece 18 and the plug 181 is coaxially arranged in the connecting piece 18 and the plug 181 in a penetrating way, and the plug 181 and the connecting pin 182 are also connected in a sliding way.

A first return spring 183 in a compressed state is arranged between the plug 181 and the closed end of the circular through hole in the connecting element 18, under the elastic force of the first return spring 183, the plug 181 tends to be separated from the connecting element 18, so that the two ends of the connecting pin 182 are both provided with clamping structures which are respectively abutted against the plug 181 and the connecting element 18, the clamping structures are integrally and coaxially arranged on the connecting pin 182 and are cylindrical members with outer diameters larger than that of the connecting pin 182, the connecting pin 182 is further rotatably connected with a rotating ring 1821, one side of the rotating ring 1821 and the connecting pin 182 are rotatably connected between the end part of the connecting pin 182 below and the end part of the connecting element 18 below, and the length direction of the connecting pin 182 is coincided with the diameter of the rotating ring 1821.

The rotating ring 1821 is connected with a waist-shaped connecting ring 51, the rotating ring 1821 and the connecting ring 51 are sleeved with each other, the connecting ring 51 is connected with the pedal 5 through a connecting rope 52, in this embodiment, the connecting rope 52 is a soft steel wire rope, two ends of which are respectively fixedly connected with the pedal 5 and the connecting ring 51. Ergonomic setting is prevented to pedal 5, including a plane that supplies the people to trample and supply the people tiptoe to stretch into and place and carry out the concave surface that supports the position to the people tiptoe, the plane both sides of the uncovered one side towards of concave surface that supplies the people tiptoe to stretch into have erect link 53, link 53 shows that uncovered decurrent C shape and this C shape lie in the middle part of top and are provided with the connecting hole that supplies go-between 51 to pass, also be provided with a connecting ring 51 on link 53 promptly, the wire rope both ends are all connected respectively through go-between 51 and pedal 5 and connecting piece 18. In the use, the uncovered of people's tiptoe through link 53 extends in the concave surface that supplies people's tiptoe to put into of pedal 5, and link 53 corresponds the position of people's heel this moment, and wire rope connects on sucking disc 1, and sucking disc 1 adsorbs on the wall to make pedal 5 can the bearing atress, supply the people to trample.

A pressure lever 19 is arranged in the suction cup 1, a support frame 192 is arranged on the side surface, close to the wall surface, of the suction cup 1, the middle part of the pressure lever 19 is rotatably connected with the support frame 192, and the plane where the pressure lever 19 rotates is perpendicular to the wall surface. The end of the blocking shaft 153 on the side of the suction cup 1 close to the wall surface is fixedly provided with a position-resisting sheet 1531, a second return spring 1532 in a compressed state is arranged between the position-resisting sheet 1531 and the side of the suction cup 1 close to the wall surface, and the end of the blocking shaft 153 provided with the position-resisting sheet 1531 tends to move towards the wall surface under the elastic force of the second return spring 1532; one end of the pressing rod 19 abuts against the end of the blocking shaft 153 where the abutting piece 1531 is arranged to form an abutting position against the blocking shaft 153 to prevent the blocking shaft 153 from separating from the suction cup 1, but the end of the pressing rod 19 abutting against the blocking shaft 153 is far away from the surface of the suction cup 1 close to the wall surface under the action of the elastic force of the second return spring 1532 to make the other end of the blocking shaft 153 retract into the thickened portion 151 to prevent the exhaust process of the exhaust switch 16 from forming a limit.

The other end of the pressure lever 19 is provided with a pressure shaft 191 which penetrates through the sucker 1 from the inside of the sucker 1 along the direction vertical to the wall surface to the outside of the sucker 1 and is connected with the sucker 1 in an airtight sliding manner, and the pressure shaft 191 is positioned at the end part, outside the sucker 1, of the connecting piece 18 and abuts against the smaller end part of the plug 181.

Under the normal state, under the action of the elastic force of the first return spring 183, the plug 181 is located at the highest position, so that the pressing shaft 191 can extend into the connecting piece 18 and abut against the smaller end part of the plug 181, and at this time, under the action of the elastic force of the second return spring 1532, the end part of the blocking shaft 153, which is provided with the abutting piece 1531, abuts against the pressing rod 19 towards the wall surface, so that the other end of the pressing rod 19 tilts upwards to abut against the pressing shaft 191, so that the pressing shaft 191 extends into the connecting piece 18, and at this time, the end part of the blocking shaft 153, which is far away from the sucker 1, retracts into the thickened part 151, and the; when a user steps on the pedal 5, the pedal 5 is subjected to the gravity of the user so that the plug 181 overcomes the elastic force of the first reset spring 183 to move downwards, the outer diameter of the position, abutted to the pressing shaft 191, of the plug 181 in the moving process is gradually increased, so that the pressing shaft 191 is abutted to the wall surface, the other end of the pressing shaft 191 is abutted to the pressing rod 19 so that the pressing rod 19 is far away from one end of the pressing shaft 191 and approaches to the sucker 1, namely, the end, abutted to the blocking shaft 153, of the pressing rod 19 is abutted to the blocking shaft 153 to enable the blocking shaft 153 to extend out of the thickened portion 151, so that the exhaust switch 16 cannot be opened, namely, the exhaust switch 16 of the sucker 1 cannot be opened when the pedal 5 connected with the sucker 1 bears the force, only when the pedal 5 connected with the sucker 1 does not bear the force, the exhaust switch 16 on the sucker 1 can be opened.

It should be noted that the directions "up" and "down" are relative to the absolute positions of the power assisting device in the vertical direction when the special operator operates the power assisting device, and are not relative to the absolute positions when the device is placed at will.

Referring to fig. 1 and 7, the power assisting device further comprises an intelligent safety management system 6 for monitoring the working state of each part of the device in real time, wherein the intelligent safety management system 6 comprises an air pressure detection module 61 for detecting the air pressure in the sucker 1, a temperature detection module 62 for detecting the temperature of the air suction motor 21, an electric quantity detection module 63 for detecting the electric quantity of the power supply 3, a display module for displaying the detected data value and a prompt alarm module for prompting and alarming when the value is abnormal.

The air pressure detection module 61 comprises two vacuum meters 611 which are respectively arranged on one side of the two suckers 1, which is away from the wall surface, and are respectively used for detecting the negative pressure in the suckers 1, the two vacuum meters 611 are respectively connected with an angle transmitter to convert the air pressure value measured by the vacuum meters 611 into an electric signal output responding to the angle variable of the vacuum meters 611, and the air pressure detection module 61 outputs two air pressure detection signals respectively corresponding to the air pressure values in the two suckers 1.

The temperature detection module 62 includes two temperature sensors that contact the two pumping motors 21 respectively and are used for acquiring the temperature transmitter of the pumping motor 21 with the temperature model of HYDZ-HT100 in real time, and the two temperature transmitters output two temperature detection signals in response to the temperatures of the two pumping motors 21 respectively.

The power detection module 63 is configured as an STC3100 battery monitor chip, which is coupled to the power supply 3 and outputs a power detection signal responsive to the amount of power of the power supply 3.

The air pressure detecting module 61, the temperature detecting module 62 and the electric quantity detecting module 63 are all coupled to the same central processing unit, and the central processing unit receives the first air pressure detecting signal, the second air pressure detecting signal, the first temperature detecting signal, the second temperature detecting signal and the electric quantity detecting signal.

The display module shows for all coupling central processing unit and be used for showing two sucking discs 1 respectively and correspond two display element 641 of air bleed motor 21 and power 3 electric quantity, two display element 641 set up respectively in two sucking discs 1 deviate from wall one side for the people to watch and all include three display screen that is used for showing different data respectively that sets up side by side. The two display units 641 respectively display the air pressure value in the suction cup 1, the temperature value of the air suction motor 21 and the electric quantity value of the power supply 3 corresponding to the display unit 641, and the special operator can directly monitor the air pressure value of the suction cup 1, the temperature of the air suction motor 21 corresponding to the suction cup 1 and the electric quantity value of the power supply 3 through the display unit 641 on the suction cup 1.

The prompting alarm module comprises a temperature comparison unit, an air pressure comparison unit, an electric quantity comparison unit, a voice alarm unit, two red LED lamps, two green LED lamps, two buzzers and a loudspeaker, wherein the temperature comparison unit, the air pressure comparison unit, the electric quantity comparison unit and the voice alarm unit are integrated in the central processing unit, and the two red LED lamps, the two green LED lamps, the two buzzers and the loudspeaker are coupled with the central.

Particularly, each sucker 1 is provided with a group of red LED lamps, green LED lamps and a buzzer, the loudspeaker is set as an earphone worn by a person, and the voice alarm module is internally stored with pre-recorded alarm voice information.

The air pressure comparison unit is internally provided with an early warning air pressure value and an alarming air pressure value, when the air pressure detection signal is higher than the early warning air pressure value, the central processing unit drives the air pressure detection signal to work and early warn corresponding to the buzzer on the sucker 1, and when the air pressure detection signal is higher than the alarming air pressure value, the central processing unit drives the air pressure detection suction signal to drive the loudspeaker to perform voice alarm; in this embodiment, the early warning air pressure value is set to-15 Kpa and the warning air pressure value is set to-5 Kpa.

The temperature comparison unit is internally provided with an early warning temperature value and an alarm temperature value, when the temperature detection signal is higher than the preset temperature value, the central processing unit drives a buzzer on the sucker 1 connected with the air exhaust motor 21 corresponding to the temperature detection signal to work and early warn, and when the temperature detection signal is higher than the alarm temperature value, the central processing unit drives a loudspeaker to perform voice alarm; in this embodiment, the early warning temperature value is set to 100 ℃ and the alarm temperature value is set to 120 ℃.

The electric quantity comparison unit is internally provided with an early warning electric quantity value and an alarm electric quantity value, when an electric quantity detection signal is lower than the early warning electric quantity value, the central processing unit drives the buzzers on the two suckers 1 to work for early warning, and when the electric quantity detection signal is lower than the alarm electric quantity value, the central processing unit drives the loudspeaker to perform voice alarm; in the present embodiment, the warning electric quantity value is set to 30%, and the warning electric quantity value is set to 20%.

When the sucker 1 works normally, the central processing unit drives the green light on the sucker 1 to flash; when the signal corresponding to the sucker 1 is abnormal, namely the normal working range jumps to the early warning or even alarming range, the green light on the sucker 1 corresponding to the fault signal stops flashing, and the red light starts to flash.

It should be noted that the intelligent safety management system 6 is also coupled to the power supply 3 and powered by the power supply 3, and the power switch of the intelligent safety management system 6 is linked with the power switches of the two pumping motors 21, that is, the intelligent safety management system 6 will work only when the pumping motors 21 work.

In the specific working process: the closing device of the special operator is connected with the electric switch, so that two air extracting motors 21 and the intelligent safety management system 6 work, the backpack 4 is carried, the handles 14 on the suckers 1 are respectively held by two hands, one sucker 1 is buckled on the wall surface firstly, after the pressure of the sucker 1 is lower than an adsorption set value, the adsorption force of the sucker 1 is enough, at the moment, a foot is stepped on a pedal 5 of the sucker 1 on the adsorption wall surface, the self-locking structure locks the state of an air exhausting switch 16 on the sucker 1 until the air exhausting switch can not be opened, the other sucker 1 is buckled on the position, higher than the previous sucker 1, on the wall surface and adsorbs the wall surface, the other foot of the special operator is stepped on the pedal 5 corresponding to the higher sucker 1, at the moment, the foot on the pedal 5 of the lower sucker 1 is lifted, the locking of the state of the air exhausting switch 16 by the lower sucker 1 is released, the special operator manually dials 16 to release, when the air pressure value of the lower sucker 1 is higher than the set value, the sucker 1 can be taken down from the wall surface by force, the sucker 1 at the lower position is taken down and placed at the high position of another sucker 1, and the processes are repeated, so that the climbing is performed.

In this embodiment, the adsorption set point and the take-off set point of the above-described process are set to-15 KPA and-5 KPA, respectively. The special operating personnel can monitor the state of the sucker 1 in real time through the intelligent safety management system 6, and the intelligent safety management system 6 can also perform early warning and alarming when the working state of the device is abnormal, so that the safety of the device is improved.

In the process, the special operating personnel climb the wall surface by means of the adsorption force of the sucker 1, the hands and the feet have acting points, and the hands and the feet are used for climbing, so that the climbing process of the wall surface is facilitated.

The embodiment of this specific implementation mode is the preferred embodiment of the present invention, not limit according to this the utility model discloses a protection scope, so: all equivalent changes made according to the structure, shape and principle of the utility model are covered within the protection scope of the utility model.

Claims

1. The utility model provides a vacuum adsorption device of individual soldier climbing robot which characterized in that: the wall surface adsorption device comprises an adsorption device body for adsorbing a wall surface, an air exhaust device which is communicated with the adsorption device body and is used for exhausting air from a cavity between the wall surface and the adsorption device body, and a pressure discharge structure which is arranged on the adsorption device body and is used for communicating the adsorption device body with the atmosphere; arrange and press the structure including setting up on the adsorption equipment body and communicate adsorption equipment body and atmospheric row pressure mouth (15) and be used for covering and seal arrange exhaust switch (16) of pressure mouth (15), arrange and press the uncovered edge of mouth (15) on the coplanar, exhaust switch (16) rotate connect in on the adsorption equipment body and rotate the place plane and be on a parallel with row and press mouthful (15) uncovered edge place plane, exhaust switch (16) are towards arranging the face of pressing mouthful (15) and arranging pressure mouthful (15) edge laminating and slide and be connected.

2. The vacuum adsorption device of the individual soldier climbing robot of claim 1, characterized in that: the adsorption device body sets up to sucking disc (1) of rectangle, the uncovered edge outside of sucking disc (1) sets up to rectangular ring plate shape and is used for butt portion (11) of wall, butt portion (11) are provided with the seal structure that is used for improving butt portion and wall butt portion leakproofness with wall butt department.

3. The vacuum adsorption device of the individual soldier climbing robot of claim 1, characterized in that: arrange and press mouth (15) to set up to seting up the round hole on one side that the adsorption equipment body deviates from the wall, exhaust switch (16) set up to the water droplet shaped plate, and exhaust switch (16) less tip an organic whole erects connecting cylinder (161) of perpendicular to exhaust switch (16) face, be provided with on the adsorption equipment body insert in connecting cylinder (161) and slide with connecting cylinder (161) and join in marriage connecting axle (17) that join in marriage, exhaust switch (16) great tip orientation is arranged and is pressed the face laminating of mouth (15) and open edge of mouth (15) and slide and connect.

4. The vacuum adsorption device of the individual soldier climbing robot of claim 3, characterized in that: be provided with the torsional spring of compression state between connecting cylinder (161) and connecting axle (17), be provided with fixed spacing post (152) of butt air discharge switch (16) one side on the adsorption equipment body.

5. The vacuum adsorption device of the individual soldier climbing robot of claim 1, characterized in that: the adsorption device is characterized in that an exhaust pipe (13) used for being communicated with an air exhaust device is further arranged on the adsorption device body, and the exhaust pipe (13) and the pressure discharge port (15) are located on the same side of the adsorption device body.

6. The vacuum adsorption device of the individual soldier climbing robot of claim 1, characterized in that: the air extracting device is a vacuum pump (2), an air inlet of the vacuum pump (2) is communicated and connected with the adsorption device body, and an air outlet of the vacuum pump (2) is directly communicated with the atmosphere.

7. The vacuum adsorption device of the individual soldier climbing robot of claim 6, characterized in that: and the air inlet of the vacuum pump (2) is communicated and connected with the adsorption device body through a vacuum corrugated pipe (211).

8. The vacuum adsorption device of the individual soldier climbing robot of claim 3, characterized in that: the plate-shaped toggle part (162) is integrally erected on the plate surface of the exhaust switch (16) positioned on the outer side.