CN210389240U - Vacuum adsorption device of special individual soldier climbing robot - Google Patents
Vacuum adsorption device of special individual soldier climbing robot Download PDFInfo
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- CN210389240U CN210389240U CN201921276682.3U CN201921276682U CN210389240U CN 210389240 U CN210389240 U CN 210389240U CN 201921276682 U CN201921276682 U CN 201921276682U CN 210389240 U CN210389240 U CN 210389240U
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Abstract
The utility model relates to a vacuum adsorption device of a special individual soldier climbing robot, which comprises an attachment disc, wherein one side of the attachment disc is provided with a cavity, one side of the attachment disc, which is far away from the cavity, is provided with a handle, the attachment disc is provided with an air passing hole in a penetrating way, and the attachment disc is also connected with an exhaust tube connected with an air exhaust device; the exhaust tube with adhere to and slide between the dish and be connected with the arm-tie that runs through and set up the connecting hole, the arm-tie is kept away from handle one side still is connected with the closing plate, the closing plate slides through the spliced pole and adheres to the dish and is connected, and closing plate up end flushes with the arm-tie up terminal surface, and lower terminal surface is higher than the lower terminal surface of arm-tie, forms out of gas chamber between arm-tie and the attached dish. The utility model has the advantages of the device can control the attachment disc to exhaust or evacuate, and the operation is more simple and convenient.
Description
Technical Field
The utility model belongs to the technical field of mechanical and specifically relates to a vacuum adsorption device of special type individual soldier climbing robot is related to.
Background
At present, a human body is generally required to climb a wall to carry out fire fighting or rescue operation in the fire fighting or armed police fighting and rescue operation, and the human body climbs to a roof to carry out fire fighting or rescue operation under the condition of no sound. But at present in the climbing operation, more methods are through bare-handed climbing or adopt the auxiliary mode of hook rope to climb the wall, but this kind of mode is all comparatively laborious for climbing personnel. Therefore, the adsorption type climbing power assisting device of the special individual climbing robot appears in the market later, the power assisting device adsorbs an attachment disc provided with a cavity onto a wall body by utilizing the vacuum adsorption effect, but the power assisting device needs to realize the climbing of the attachment disc on the wall surface, and firstly needs to realize the adsorption and separation of the attachment disc and the wall surface, namely the cavity is communicated with the atmosphere to exhaust or is sealed with the atmosphere to evacuate, so that the control is very important, the existing air exhausting and evacuating are basically performed through respective control pieces, and the operation is complex.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a just can control the adhesion disc through a device and exhaust or manage to find time, operate the vacuum adsorption equipment of the special type individual soldier climbing robot of more simple and convenient individual soldier climbing robot.
The above utility model discloses an above-mentioned utility model purpose can realize through following technical scheme: a vacuum adsorption device of a special individual soldier climbing robot comprises an attachment disc, wherein a cavity is formed in one side of the attachment disc, a handle is arranged on one side of the attachment disc, which is far away from the cavity, a gas passing hole is formed in the attachment disc in a penetrating mode, and the attachment disc is further connected with a gas extraction pipe connected with a gas extraction device;
the exhaust tube with adhere to and slide between the dish and be connected with the arm-tie that runs through and set up the connecting hole, the arm-tie is kept away from handle one side still is connected with the closing plate, the closing plate slides through the spliced pole and adheres to the dish and is connected, and closing plate up end flushes with the arm-tie up terminal surface, and lower terminal surface is higher than the lower terminal surface of arm-tie, forms out of gas chamber between arm-tie and the attached dish.
Through adopting above-mentioned technical scheme, when needs adhere to dish and wall and adsorb, the pulling arm-tie, make the connecting hole, aspirating hole and air passing hole intercommunication, play evacuating device and carry out the evacuation operation to the cavity this moment, make to present negative pressure state in the cavity, realize the absorption between adhering to dish and the wall body, when needs will adhere to dish and wall body separation, the pulling arm-tie, make the closure separate exhaust tube and go out the air cavity and cross the air passing hole intercommunication, make cavity and atmosphere intercommunication exhaust, thereby realize the separation of adhering to dish and wall body, this vacuum adsorption equipment only needs the push-and-pull arm-tie just can realize cavity and atmosphere or aspirating tube intercommunication, thereby realize the absorption or the separation between adhering to dish and the wall body, play the effect of climbing assistance, easy operation is convenient.
The utility model discloses further set up to: the exhaust tube is fixedly connected with the attaching disc through a connecting plate, the pull plate is arranged between the connecting plate and the attaching disc, the connecting plate is fixedly connected with the attaching disc through a connecting column, and a vent hole is formed in the position, corresponding to the exhaust tube, of the connecting plate.
Through adopting above-mentioned technical scheme, when needing to adhere to the dish and be attached to on the wall body, pulling arm-tie for connecting hole, air vent, exhaust tube and air passing hole intercommunication, evacuating device adsorbs the cavity this moment.
The utility model discloses further set up to: the vacuum adsorption device further comprises a return spring, one end of the return spring is fixedly connected with one side, close to the handle, of the pulling plate, the other end of the return spring is fixedly connected with the attachment disc, and the connecting hole, the vent hole, the exhaust tube and the air passing hole are communicated in a natural state of the return spring.
Through adopting above-mentioned technical scheme, so set up for after air passing hole and play air cavity intercommunication when pulling down the arm-tie, when will attach to dish climbing again with the wall body is absorbent, directly loosen the arm-tie, make the arm-tie under return spring's effect, exhaust tube and air passing hole intercommunication directly realize managing to find time of cavity, make to attach dish and wall body absorption, easy operation is convenient.
The utility model discloses further set up to: the vacuum adsorption device also comprises a self-locking assembly for positioning the pulling plate, wherein the self-locking assembly comprises a positioning hole formed in the attachment disc and a positioning pin positioned in the positioning hole, and the positioning pin is also connected with a driving piece for driving the positioning pin to slide in the positioning hole;
when the exhaust pipe is communicated with the air passing hole, the positioning pin extends out of the positioning hole under the driving of the driving piece to be abutted against the pulling plate, and when the air passing hole is communicated with the atmosphere, the positioning pin is in the positioning hole under the driving of the driving piece.
Through adopting above-mentioned technical scheme, the setting of auto-lock subassembly can carry on spacingly to the arm-tie under the state of managing to find time, prevents that its gliding from influencing the process of evacuation, still can not influence the process of pulling the arm-tie so that adhere to dish and wall body separation simultaneously.
The utility model discloses further set up to: the driving piece comprises a ball and a pull rod, the ball is connected with one end, far away from the pull plate, of the positioning pin, the pull rod is connected with the attachment disc in a sliding mode, a connecting shaft is fixedly connected to one side, far away from the pull plate, of the pull rod, and the connecting shaft extends out of the attachment disc and is connected with the attachment disc in a sliding mode;
the pull rod is provided with an arc-shaped groove for rolling the ball at one end close to the positioning hole, and the depth of the arc-shaped groove is gradually reduced along the direction close to the pull plate.
By adopting the technical scheme, when the cavity needs to be vacuumized, the connecting shaft is pulled towards the direction far away from the pull plate, the connecting shaft drives the pull rod to move towards the direction far away from the pull plate, the arc-shaped groove slides along the balls, and the balls in the arc-shaped groove reduce along with the depth of the arc-shaped groove, so that the positioning pin moves towards the direction far away from the press plate in the positioning hole until the pull rod is abutted to the positioning plate; when the cavity is required to be communicated with the atmosphere, the force to the connecting shaft is removed, so that the pull rod moves towards the direction close to the pull plate under the action of the reset spring, the arc-shaped groove slides along the ball until the positioning pin is positioned in the positioning hole, and the limiting effect on the pull plate is lost.
The utility model discloses further set up to: a limiting spring is sleeved on the positioning pin, a limiting ring is fixedly connected to one end of the positioning pin, which is close to the ball, and the limiting spring is fixedly connected with the limiting ring;
the positioning holes comprise a first positioning hole and a second positioning hole, the limiting ring and the limiting spring are located in the first positioning hole, the inner diameter of the first positioning hole is larger than that of the second positioning hole, and a positioning step is formed between the first positioning hole and the second positioning hole.
Through adopting above-mentioned technical scheme, so set up when making the locating pin slide in the locating hole, the ball is in the arc wall all the time, prevents that both from taking place to break away from or the skew.
The utility model discloses further set up to: the fixing device is characterized in that a positioning plate is fixedly connected to one side, far away from the handle, of the attachment disc, a return spring is arranged between the positioning plate and one end, far away from the pull plate, of the pull rod, the return spring is connected to the connecting shaft in a sleeved mode, one end of the return spring is fixedly connected with the pull rod, and the other end of the return spring is fixedly connected with the positioning plate.
Through adopting above-mentioned technical scheme, reset spring's setting makes only need drop-down connecting axle to make the locating pin stretch out the locating hole and carry on spacingly to the arm-tie, when needing to break away from locating pin and arm-tie, only needs loosen the connecting axle for the pull rod slides under reset spring's effect, makes the locating pin be in the locating hole lose to the arm-tie spacing can.
The utility model discloses further set up to: the positioning plate is fixedly connected with the attachment disc through a pressing plate, the pressing plate is fixedly connected with the attachment disc, a sliding cavity in which the pull rod slides is formed between the pressing plate and the attachment disc, and the length of the pull rod is smaller than that of the sliding cavity.
Through adopting above-mentioned technical scheme, so set up, realize the rigid coupling between positioning disk and the attached plate, and can realize sliding and limiting displacement of pull rod and attached plate.
The utility model discloses further set up to: one end of the pull rod, which is close to the pull plate, is grooved to form a limiting step, the arc-shaped groove is formed in the limiting step, and the limiting step is lower than the pull plate.
Through adopting above-mentioned technical scheme, so set up and to realize that the pull rod slides to can realize that the locating pin can stretch out the locating hole and fix a position with control piece.
The utility model discloses further set up to: and a groove is formed at one end of the pull rod, which is far away from the pull plate, to form a supporting step, and the connecting shaft and the return spring are positioned on the supporting step.
Through adopting above-mentioned technical scheme, the setting of supporting the step can support connecting axle and reset spring, simultaneously, still can not influence sliding of pull rod.
To sum up, the utility model discloses a beneficial technological effect does:
1. the vacuum adsorption or separation of the attachment disc and the wall body can be controlled only by pulling the pulling plate through the arrangement of the pulling plate and the sealing plate with the air outlet cavity, and the operation is simple and convenient;
2. the utility model can realize automatic reset after pulling the pulling plate downwards through the arrangement of the return spring, so that the cavity of the attachment plate is communicated with the atmosphere to realize exhaust;
3. the utility model discloses the setting of well auto-lock subassembly can realize the location to the arm-tie, prevents that the arm-tie from sliding downwards and influencing the evacuation operation of adhering to the dish.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a structure embodying projections of the present invention;
FIG. 3 is a schematic structural view of a control member embodied in the present invention;
FIG. 4 is a schematic view showing the connection between the arc-shaped groove and the positioning pin according to the present invention;
FIG. 5 is a schematic structural view of a self-locking assembly embodying the present invention;
FIG. 6 is a schematic view of the structure embodying the arc-shaped slot of the present invention;
fig. 7 is a schematic view showing a connection relationship between the connection shaft and the foot support according to the present invention.
In the figure, 1, a disc is attached; 11. positioning holes; 111. a first positioning hole; 112. a second positioning hole; 12. air passing holes; 13. a handle; 14. an air exhaust pipe; 15. a connecting member; 151. a connecting plate; 16. a protrusion; 2. a control member; 21. pulling a plate; 211. hole drawing; 22. a closing plate; 221. an air outlet cavity; 23. connecting columns; 3. a self-locking assembly; 31. positioning pins; 32. a drive member; 321. a ball bearing; 322. a pull rod; 3221. an arc-shaped slot; 3222. a limiting step; 3223. supporting a step; 33. a connecting shaft; 34. a return spring; 35. positioning a plate; 36. a limiting spring; 37. a limiting ring; 4. pressing a plate; 41. a sliding cavity; 5. pedaling; 51. a pedal portion; 52. a connecting portion; 6. and pulling a rope.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1, for the utility model discloses a special type individual soldier climbing robot's vacuum adsorption device, including adhering to dish 1, evacuator, control 2 and auto-lock subassembly 3, adhere to dish 1 one side and be provided with the cavity, the opposite side be provided with handle 13 and with evacuator intercommunication exhaust tube 14, adhere to still running through on the dish 1 and seted up gas pocket 12, control 2 control gas pocket 12 and exhaust tube 14 intercommunication or with atmospheric air intercommunication. The self-locking assembly 3 positions the control part 2, so that when the air passing hole 12 is communicated with the exhaust tube 14, the control part 2 is positioned to prevent the control part from sliding, and the vacuum adsorption process is damaged.
When the climbing device is used, a climbing person holds the handle 13, when the attachment disc 1 needs to be adsorbed on a wall body, the air passing hole 12 is communicated with the air exhaust pipe 14 through operation of the control piece 2, and further communicated with the evacuation device, air in a cavity between the attachment disc 1 and the wall body is evacuated through the evacuation device to be in a negative pressure state, so that the air is adsorbed on the wall body, and the climbing person can be borne; when needs will attach to dish 1 and take off, when making air vent 12 and atmosphere intercommunication through control 2, realize the vacuum state of cavity and be destroyed to with attaching to dish 1 and wall body separation, so circulation can realize attaching to the absorption or the separation of dish 1 and wall body, and then can provide the support for the climbing personnel climbing in-process on the wall body, play the effect of helping hand.
Adhere to dish 1 and can choose for use the vacuum chuck who adopts the foam cotton preparation, also can choose for use the vacuum chuck who adopts the rubber material preparation, because the vacuum chuck who adopts the foam cotton preparation is easily by the fish tail when using, the vacuum chuck who adopts the rubber material preparation simultaneously still has high temperature resistance, can operate under the high temperature condition, consequently adheres to dish 1 priority in this application scheme and adopts by the preparation of rubber material to form. Further, consider that the dish 1 that adheres to in this application scheme still can be used for the wall that has the brickwork joint, in order to guarantee to adhere to and guarantee the sealing performance of cavity closely between dish 1 and the brickwork joint, as shown in fig. 2, it still is provided with a plurality of crisscross hemispherical bulges 16 that set up still to adhere to dish 1 and the brickwork joint laminating department of adopting the preparation of rubber material, hemispherical bulge 16 is to being close to the protruding of wall direction and is penetrated, its hemispherical bellied radius is 4-5mm, thereby when will adhere to dish 1 and laminate on the wall, hemispherical bulge 16 is in the brickwork joint, can realize adhering to the closely laminating between dish 1 and the brickwork joint, thereby guarantee the sealing performance of cavity.
As shown in fig. 1 and 3, the air exhaust pipe 14 is fixedly connected with the attachment plate 1 through a connecting piece 15, the connecting piece 15 comprises a connecting column 23 fixedly connected with the attachment plate 1, a connecting plate 151 is fixedly connected between the connecting column 23 and the air exhaust pipe 14, and a vent hole is formed in the connecting plate 151 corresponding to the air exhaust pipe 14. The control part 2 comprises a pulling plate 21 and a closing plate 22 which are positioned between the connecting plate 151 and the attachment disc 1, a pulling hole 211 is formed in one side, close to the handle 13, of the pulling plate 21, a connecting hole is formed in the pulling plate 21 in a penetrating mode and positioned between the pulling hole 211 and the closing plate 22, and in a natural state, the air exhaust pipe 14, the air vent hole, the connecting hole and the air passing hole 12 are in through connection, so that the air exhaust pipe 14 is used for exhausting air from the cavity to manufacture a negative pressure state, and the attachment disc 1 is adsorbed on a wall body.
One end of the closing plate 22 is integrally connected with the pulling plate 21, the other end of the closing plate is fixedly connected with the attachment disc 1 through the connecting column 23, the upper end face of the closing plate 22 is flush with the upper end face of the pulling plate 21, and the lower end face of the closing plate 22 is higher than the lower end face of the pulling plate 21, so that an air outlet cavity 221 is formed between the pulling plate 21 and the attachment disc 1. The handle 13 is pulled by hand, so that the control part 2 integrally slides towards the direction close to the handle 13, at the moment, the closing plate 22 closes the air exhaust pipe 14, the air passing hole 12 is communicated with the air outlet cavity 221, the cavity can be communicated with the atmospheric air, the negative pressure state in the cavity is damaged, and the attachment disc 1 is separated from the wall body.
When the attachment plate 1 needs to be attached to the wall again after rising after the pulling plate 21 is pulled down to communicate the air passing hole 12 with the atmosphere, the pulling plate 21 needs to be slid upward again, so that the air passing hole 12 and the suction pipe 14 are communicated again, in order to reduce the number of manual operations, the attachment plate 1 is also provided with a return component which comprises a return spring, the return spring is arranged in a way that the pull plate 21 is stretched to close the handle 13 so that the closing plate 22 closes the exhaust pipe 14, the air outlet cavity 221 is communicated with the air through hole 12, when the air passing holes 12 are required to be communicated with the air exhaust pipe 14, the stretching effect on the pulling plate 21 is only required to be lost, the pulling plate 21 slides and resets towards the direction far away from the handle 13 under the action of the return spring, the air passing hole 12 is communicated with the air exhaust pipe 14 again, and the pedal 5 is stressed to enable the positioning pin 31 to position the pulling plate 21. Namely, the return spring only needs to return the pull plate 21 stretched downward upward. Therefore, the return spring only needs to be fixedly connected with one end of the pulling plate 21 close to the control part 2 and one end of the pulling plate far away from the control part 2 and the attachment disc 1, and the pulling plate 21 stretching downwards slides upwards to return.
As shown in fig. 3 and 4, the self-locking assembly 3 includes a positioning hole 11 formed in the attachment plate 1 and a positioning pin 31 (see fig. 6) located in the positioning hole 11, the self-locking assembly 3 further includes a driving member 32 for driving the positioning pin 31 to slide in the positioning hole 11, when the driving member 32 drives the positioning pin 31 to extend out of the positioning hole 11, the positioning pin 31 abuts against the pulling plate 21 to position the pulling plate 21, so as to prevent the pulling plate from sliding downwards, position the pulling plate 21 during a vacuum-pumping process, and maintain a state that a cavity of the attachment plate 1 is communicated with an evacuation device.
As shown in fig. 3 and 5, the driving member 32 includes a pull rod 322 slidably connected to the attachment plate 1 and a connecting shaft 33 fixedly connected to an end of the pull rod 322 remote from the pull plate 21, and the connecting shaft 33 extends out of the attachment plate 1 and slidably connected to the attachment plate 1. The two ends of the pull rod 322 are grooved towards the direction close to one side of the pulling plate 21 to form a limiting step 3222 and a supporting step 3223, respectively, the limiting step 3222 is located at one end close to the pulling plate 21, and the supporting step 3223 is located at the other end. With reference to fig. 4 and 5, a ball 321 is fixedly connected to one end of the positioning pin 31 away from the pulling plate 21, an arc groove 3221 for the ball 321 to roll is formed on the limiting step 3222, and the depth of the arc groove 3221 gradually decreases along the direction close to the pulling plate 21. When the pulling plate 21 needs to be positioned, the connecting shaft 33 is pulled, the connecting shaft 33 drives the pulling rod 322 to move towards the direction away from the pulling plate 21, the arc groove 3221 slides along the ball 321, and the ball 321 in the arc groove 3221 decreases along with the depth of the arc groove 3221, so that the positioning pin 31 moves towards the direction away from the pressing plate 4 in the positioning hole 11 until the pulling rod 322 abuts against the positioning plate 35, and the pulling plate 21 is positioned.
The self-locking assembly 3 further comprises a positioning plate 35, the positioning plate 35 is fixedly connected with the attachment disc 1 through a pressing plate 4, is sleeved with the connecting shaft 33 and is connected with the attachment disc in a sliding mode, a sliding cavity 41 for the sliding of the pull rod 322 is formed between the pressing plate 4 and the attachment disc 1, and the length of the pull rod 322 is smaller than that of the sliding cavity 41. A return spring 34 is further arranged between the positioning plate 35 and one end of the pull rod 322 far away from the hole pull plate 21, and the connecting shaft 33 and the return spring 34 are positioned on the supporting step 3223. One end of the return spring 34 is fixedly connected with the positioning plate 35, the other end is fixedly connected with the pull rod 322, and when the return spring 34 is in a natural state, the ball 321 is positioned on one side of the arc groove 3221 far away from the pull plate 21. The arrangement of the return spring 34 enables the return spring 34 to be compressed when the pulling connecting shaft 33 slides towards the direction far away from the pulling plate 21, when the pulling plate 21 needs to be positioned, the connecting shaft 33 is directly loosened, the pull rod 322 slides towards the direction close to the pulling plate 21 under the action of the return spring 34, the ball 321 slides in the arc groove 3221 until the return spring 34 is in a natural state, at the moment, the ball 321 is located on the side, far away from the pulling plate 21, of the arc groove 3221, the positioning pin 31 is located in the positioning hole 11, the positioning effect on the pulling plate 21 is lost, and the connecting shaft 33 at the position can also play a role in positioning and guiding in the stretching process of the return spring 34.
As shown in fig. 6, a limiting ring 37 is further fixed to an outer peripheral surface of one end of the positioning pin 31 close to the ball 321, a limiting spring 36 is sleeved on the positioning pin 31, the limiting spring 36 is fixed to the limiting ring 37 (see fig. 3), the positioning hole 11 includes a first positioning hole 111 and a second positioning hole 112, the first positioning hole 111 is communicated with the arc groove 3221, an inner diameter of the first positioning hole 111 is larger than an inner diameter of the second positioning hole 112, a positioning step is formed between the first positioning hole 111 and the second positioning hole 112, the limiting spring 36 and the limiting ring 37 are located in the first positioning hole 111, the positioning step has a limiting effect on the limiting spring 36, the limiting spring 36 and the limiting ring 37 are arranged such that the positioning pin 31 is always located in the positioning hole 11 during a process in which the positioning pin 31 moves in a direction away from or close to the pressure plate 4, i.e. during a process in which the positioning pin 31 slides in the positioning, and the ball 321 is always in the arc groove 3221, preventing the two from being disengaged or offset.
As shown in fig. 7, the connecting shaft 33 is connected with the pull rope 6, and the sliding of the connecting shaft 33 and the pull rod 322 can be controlled directly by controlling the pull rope 6, so that the positioning is realized, and the operation is simple and convenient. When this auto-lock subassembly 3 is applied to in individual soldier climbing booster unit, 6 one end of stay cord and connecting axle 33 rigid coupling, the other end and the pedal 5 rigid coupling among the individual soldier climbing booster unit, the pedal includes pedal portion 51 and connecting portion 52, stay cord 6 is connected with connecting portion 52. When needs are fixed a position the arm-tie 21, step on pedal portion 51, connecting portion 52 receives decurrent power, connecting axle 33 receives drive locating pin 31 under the effect of downward pulling force at stay cord 6 and stretches out locating hole 11 and fix a position arm-tie 21, thereby guarantee the vacuum adsorption process, when needs lose the positioning action to arm-tie 21, the foot removes the effort to pedal portion 51, connecting axle 33 loses the atress, under reset spring 34's effect, pull rod 322 is towards being close to arm-tie 21 direction motion, lose the limiting displacement to arm-tie 21. Whether the pulling plate 21 is positioned or not can be controlled by whether the pedal part 51 is stressed or not.
The implementation principle of the embodiment is as follows: when a climber climbs, one attachment disc 1 is adsorbed on a wall body, the foot on the same side treads the pedal 5, the pull rope 6 is dragged to enable the connecting shaft 33 and the pressing plate 4 to move downwards, the positioning pin 31 extends out of the positioning hole 11 to position the pulling plate 21, at the moment, the air passing hole 12 is communicated with the air exhaust pipe 14, the cavity is evacuated to be in a negative pressure state through the evacuation device, the attachment disc 1 is adsorbed on the wall surface to bear the climber, the same operation is carried out to adsorb the other attachment disc 1 on the wall body, then one foot and the pedal 5 are lifted, the pull rope 6 loses stress to lose the positioning of the pulling plate 21 of the attachment disc 1 on the same side, the pulling plate 21 on the same side is pulled, the sealing plate 22 seals the air exhaust pipe 14, the air passing hole 12 is communicated with the air outlet cavity 221, the attachment disc 1 after air exhaust is separated from the wall body, the attachment disc 1 after air exhaust is attached to a higher part of the wall, the air passing hole 12 is communicated with the air exhaust pipe 14 under the action of the return spring, then the foot on the same side steps on the pedal 5 to position the pulling plate 21, the vacuumizing operation is carried out, the attachment disc 1 is attached to the wall, and then the steps are repeated to finish the climbing operation.
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 (10)
1. The utility model provides a special type individual soldier climbing robot's vacuum adsorption device which characterized in that: the air exhaust device comprises an attachment disc (1) with a cavity formed in one side, a handle (13) is arranged on one side, away from the cavity, of the attachment disc (1), air passing holes (12) are formed in the attachment disc (1) in a penetrating mode, and the attachment disc (1) is further connected with an air exhaust pipe (14) connected with an air exhaust device;
exhaust tube (14) with it is connected with arm-tie (21) that runs through and seted up the connecting hole to slide between adhering to dish (1), arm-tie (21) are kept away from handle (13) one side still is connected with closing plate (22), closing plate (22) slide with adhering to dish (1) through spliced pole (23) and are connected, and closing plate (22) up end flushes with arm-tie (21) up end, and the lower terminal surface is higher than the lower terminal surface of arm-tie (21), forms between arm-tie (21) and adhering to dish (1) and goes out gas cavity (221).
2. The special type individual soldier climbing robot's vacuum adsorption equipment of claim 1, characterized in that: the air exhaust pipe (14) is fixedly connected with the attaching disc (1) through a connecting plate (151), the pulling plate (21) is located between the connecting plate (151) and the attaching disc (1), the connecting plate (151) is fixedly connected with the attaching disc (1) through a connecting column (23), and a vent hole is formed in the position, corresponding to the air exhaust pipe (14), of the connecting plate (151).
3. The special type individual soldier climbing robot's vacuum adsorption equipment of claim 1, characterized in that: the vacuum adsorption device further comprises a return spring, one end of the return spring is fixedly connected with one side, close to the handle (13), of the pulling plate (21), the other end of the return spring is fixedly connected with the attachment disc (1), and the connecting hole, the vent hole, the exhaust pipe (14) and the air passing hole (12) are communicated in a natural state of the return spring.
4. The special type individual soldier climbing robot's vacuum adsorption equipment of claim 1, characterized in that: the vacuum adsorption device further comprises a self-locking assembly (3) for positioning the pulling plate (21), wherein the self-locking assembly (3) comprises a positioning hole (11) formed in the attachment disc (1) and a positioning pin (31) positioned in the positioning hole (11), and the positioning pin (31) is further connected with a driving piece (32) for driving the positioning pin (31) to slide in the positioning hole (11);
when the air exhaust pipe (14) is communicated with the air passing hole (12), the positioning pin (31) extends out of the positioning hole (11) to be abutted against the pulling plate (21) under the driving of the driving piece (32), and when the air passing hole (12) is communicated with the atmosphere, the positioning pin (31) is positioned in the positioning hole (11) under the driving of the driving piece (32).
5. The special type individual soldier climbing robot's vacuum adsorption device of claim 4, characterized in that: the driving piece (32) comprises a ball (321) and a pull rod (322), the ball (321) is connected with one end, far away from the pulling plate (21), of the positioning pin (31), the pull rod (322) is connected with the attachment disc (1) in a sliding mode, a connecting shaft (33) is fixedly connected to one side, far away from the pulling plate (21), of the pull rod (322), and the connecting shaft (33) extends out of the attachment disc (1) and is connected with the attachment disc (1) in a sliding mode;
one end of the pull rod (322) close to the positioning hole (11) is provided with an arc-shaped groove (3221) for the ball (321) to roll, and the depth of the arc-shaped groove (3221) is gradually reduced along the direction close to the pull plate (21).
6. The special type individual soldier climbing robot's vacuum adsorption device of claim 5, characterized in that: a limiting spring (36) is sleeved on the positioning pin (31), a limiting ring (37) is fixedly connected to one end, close to the ball (321), of the positioning pin (31), and the limiting spring (36) is fixedly connected with the limiting ring (37);
the positioning hole (11) comprises a first positioning hole (111) and a second positioning hole (112), the limiting ring (37) and the limiting spring (36) are located in the first positioning hole (111), and the inner diameter of the first positioning hole (111) is larger than that of the second positioning hole (112).
7. The special type individual soldier climbing robot's vacuum adsorption device of claim 5, characterized in that: adhere to dish (1) and keep away from handle (13) one side rigid coupling has locating plate (35), locating plate (35) with pull rod (322) are kept away from be provided with reset spring (34) between arm-tie (21) one end, reset spring (34) cup joint in on connecting axle (33), just reset spring (34) one end with pull rod (322) rigid coupling, the other end and locating plate (35) rigid coupling.
8. The special type individual soldier climbing robot's vacuum adsorption device of claim 7, characterized in that: the positioning plate (35) is fixedly connected with the attaching disc (1) through a pressing plate (4), the pressing plate (4) is fixedly connected with the attaching disc (1), a sliding cavity (41) for sliding the pull rod (322) is formed between the pressing plate (4) and the attaching disc (1), and the length of the pull rod (322) is smaller than that of the sliding cavity (41).
9. The special type individual soldier climbing robot's vacuum adsorption device of claim 5, characterized in that: one end of the pull rod (322) close to the pull plate (21) is provided with a groove to form a limiting step (3222), the arc-shaped groove (3221) is formed in the limiting step (3222), and the limiting step (3222) is lower than the pull plate (21).
10. The special type individual soldier climbing robot's vacuum adsorption device of claim 7, characterized in that: one end of the pull rod (322), which is far away from the pull plate (21), is grooved to form a supporting step (3223), and the connecting shaft (33) and the return spring (34) are positioned on the supporting step (3223).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921276682.3U CN210389240U (en) | 2019-08-07 | 2019-08-07 | Vacuum adsorption device of special individual soldier climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921276682.3U CN210389240U (en) | 2019-08-07 | 2019-08-07 | Vacuum adsorption device of special individual soldier climbing robot |
Publications (1)
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110340929A (en) * | 2019-08-07 | 2019-10-18 | 北京凌天世纪控股股份有限公司 | A kind of vacuum absorption device of special type individual soldier's climbing robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110340929A (en) * | 2019-08-07 | 2019-10-18 | 北京凌天世纪控股股份有限公司 | A kind of vacuum absorption device of special type individual soldier's climbing robot |
| CN110340929B (en) * | 2019-08-07 | 2024-03-29 | 北京凌天智能装备集团股份有限公司 | Vacuum adsorption device of special individual climbing robot |
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