CN210550269U - Climbing robot with adsorption structure - Google Patents
Climbing robot with adsorption structure Download PDFInfo
- Publication number
- CN210550269U CN210550269U CN201921667670.3U CN201921667670U CN210550269U CN 210550269 U CN210550269 U CN 210550269U CN 201921667670 U CN201921667670 U CN 201921667670U CN 210550269 U CN210550269 U CN 210550269U
- Authority
- CN
- China
- Prior art keywords
- organism
- inner chamber
- boats
- climbing
- pressure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a climbing robot with adsorption structure relates to the technical field of marine engineering auxiliary appliances, and it includes the organism, sets up the cleaning device who is used for polishing the boats and ships surface on the organism and sets up the adsorption equipment of drive organism and the laminating of boats and ships surface on the organism, the inner chamber has been seted up on the organism, adsorption equipment including set up in inner chamber opening border towards the sucking disc on boats and ships surface side, with the vacuum tube of inner chamber intercommunication, with the negative pressure source of vacuum tube intercommunication and with the pressure stabilizing valve that is used for of inner chamber atmospheric pressure of inner chamber intercommunication, cleaning device clearance boats and ships surface's old coat with lacquer when sucking disc and the laminating of boats and ships surface. The utility model discloses have the effect that reduces the pollution to the environment in order to reduce the work load of later stage clearance.
Description
Technical Field
The utility model belongs to the technical field of the technique of marine engineering auxiliary machinery and specifically relates to a climbing robot with adsorption structure is related to.
Background
At present, ships are vehicles which can be sailed or moored in water for transportation or operation, and have different technical performances, equipment and structural types according to different use requirements. The protective paint on the surface of a common ship is easy to damage and fall off in the long-term use process, and when a paint coat falls, the inner metal surface is in direct contact with seawater, so that the oxidation and corrosion of metal are accelerated, and the appearance and the service life of the ship are easily influenced.
Aiming at the problems, the existing method mainly removes the damaged paint skin on the surface of the ship in a manual polishing mode, and then maintenance personnel uniformly spray the exposed part of the ship, so that the service life of the ship body is prolonged.
The above prior art solutions have the following drawbacks: the leather scraps that produce when the old leather lacquer of artifical polishing splashes easily to scatter under the influence of external wind-force, cause the pollution to the environment with this, the work load of increase later stage clearance.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a climbing robot with adsorption structure can reduce the pollution to the environment, reduces the work load of later stage clearance.
The above utility model discloses an above-mentioned utility model purpose can realize through following technical scheme:
the utility model provides a climbing robot with adsorption structure, includes the organism, sets up the cleaning device who is used for polishing the boats and ships surface on the organism and sets up the adsorption equipment of drive organism and the laminating of boats and ships surface on the organism, set up the inner chamber on the organism, adsorption equipment is including setting up in the sucking disc of inner chamber opening border towards boats and ships surface side, with the vacuum tube of inner chamber intercommunication, with the negative pressure source of vacuum tube intercommunication and with the pressure stabilizing valve that is used for stabilizing inner chamber atmospheric pressure of inner chamber intercommunication, cleaning device clears up the old coat on boats and ships surface when sucking disc and the laminating of boats and ships surface.
By adopting the technical scheme, the negative pressure source is used for extracting gas in the vacuum tube so as to generate negative pressure in the inner cavity, so that the machine body is attached to the surface of the ship, the part to be cleaned on the surface of the ship enters the cleaning range of the cleaning device, the cleaning device cleans the old paint coat so as to separate from the surface of the ship and discharge the old paint coat out of the inner cavity along the vacuum tube under the suction action of the vacuum tube, so that the environment pollution caused by the scattering of fragments is avoided, and the workload of later cleaning is reduced; and the sucking disc improves the leakproofness of inner chamber, reduces gaseous leakage, avoids the organism to drop and influences the clearance of old leather lacquer, and the surge damping valve is used for stabilizing the atmospheric pressure of inner chamber, avoids atmospheric pressure to hang down and influences the removal of organism to this makes things convenient for the removal of organism, thereby enlarges cleaning device's clearance scope, improves the efficiency of clearance.
The utility model discloses further set up to: the surge damping valve comprises a circular air inlet pipe communicated with the inner cavity, a circular adjusting plate arranged in the air inlet pipe in a sliding mode, a limiting ring arranged on the air inlet pipe and far away from one end of the inner cavity, and an elastic part arranged between the adjusting plate and the limiting ring so that the adjusting plate abuts against the limiting ring tightly, one side of the limiting ring is connected with the air inlet pipe in a sealing mode, and the inner diameter of the adjusting plate is between the inner diameter of the air inlet pipe and the inner diameter of the limiting ring.
By adopting the technical scheme, when the air pressure in the inner cavity is too low, the air pressure difference between the two sides of the adjusting plate is increased, the air pressure enables the adjusting plate to overcome the elastic force of the elastic piece to move so as to enable the adjusting plate and the limiting ring to generate air gaps, the inner diameter of the adjusting plate is between the inner diameter of the air inlet pipe and the inner diameter of the limiting ring, so that an air inlet channel is formed between the adjusting plate and the limiting ring, the air outside the machine body enters the inner cavity along the adjusting plate, the air gaps of the limiting ring and the air inlet pipe, so that the air pressure is increased, the phenomenon that the air pressure is too low to enable the sucking disc to be tightly attached to the surface of the ship is avoided, so that the friction force between the sucking disc and the surface of the ship is reduced to facilitate.
The utility model discloses further set up to: be provided with the double-screw bolt on the regulating plate, the one end of double-screw bolt slides with the organism and is connected and its other end slides and overlaps and be equipped with the fender dish, one side and the elastic component butt of fender dish and its opposite side are provided with the nut with double-screw bolt threaded connection.
By adopting the technical scheme, the blocking disc is pushed to move when the screw cap rotates, so that the length of the elastic piece is adjusted, the elasticity of the elastic piece on the adjusting plate is adjusted, the critical air pressure value of the inner cavity of the channel for air inlet of the pressure stabilizing valve is adjusted, and the application range of the robot is expanded.
The utility model discloses further set up to: be provided with the determine module on the organism, the determine module is including setting up on the spacing ring by the pressure detector of the pressure between adjust plate and the spacing ring of being used for of adjust plate one side, being connected with the controller in order to receive the signal of telecommunication and setting up the pilot lamp on the organism with the pressure detector electricity, the controller is connected with the pilot lamp electricity, and output indicating signal when the pressure that pressure detector detected is greater than the setting value, the controller is received and is responded to indicating signal control pilot lamp and light.
Through adopting above-mentioned technical scheme, the sucking disc reduces the adsorption affinity on boats and ships surface when the internal gas pressure of inner chamber is too high, make the organism produce the hidden danger that falls easily, consequently, detect the pressure value of regulating plate and spacing ring through pressure detector, the pressure value of regulating plate and spacing ring increases when the pressure differential value of regulating plate both sides reduces, pressure detector output indicator when the pressure value of regulating plate and spacing ring increases to when exceeding the setting value, the controller is received and is responded to the pilot signal and control the pilot lamp and is lighted, go to increase the power of vacuum pump or shut down the maintenance with this suggestion operating personnel, thereby reduce the hidden danger that the organism falls.
The utility model discloses further set up to: the sucking disc includes the friction circle and sets up the elastic sleeve between friction circle and inner chamber opening border, the inboard passageway and the inner chamber intercommunication of elastic sleeve and its channel width evenly increase progressively towards inner chamber side, the friction circle can be dismantled with the elastic sleeve and be connected.
By adopting the technical scheme, the friction ring is used for reducing the abrasion between the machine body and the surface of the ship when the machine body moves, and the friction ring is detachably connected with the elastic sleeve, so that the friction ring is convenient to replace; the setting of elastic sleeve is used for making the friction circle to support tight boats and ships surface with this leakproofness that improves the inner chamber, reduces the loss of pressure, reduces the operating load of vacuum pump, and the inboard passageway of elastic sleeve and inner chamber intercommunication and its channel width evenly increase progressively towards inner chamber side to this structural stability who improves the elastic sleeve, avoids the elastic sleeve to receive the extrusion to buckle crooked and lead to the opening of inner chamber to the skew, thereby avoids the opening of inner chamber to the skew and influence cleaning device's normal clearance towards the skew.
The utility model discloses further set up to: the side of the machine body edge, which is positioned on the periphery of the friction ring, is provided with a plurality of wear-resistant strips in a surrounding manner, the wear-resistant strips and the friction ring are positioned on the same surface, and the wear-resistant strips are opposite to the surface of the ship at intervals when the friction ring is abutted against the surface of the ship.
By adopting the technical scheme, the machine body is easy to shake when moving, the edge of the machine body is easy to contact with the surface of a ship to generate abrasion at the moment, the surface of the ship and the edge of the machine body are separated by the wear-resistant strip, and the action of the machine body is buffered, so that the abrasion of the machine body is reduced; when the friction ring is abutted to the surface of the ship, the wear-resistant strips are opposite to the surface of the ship at intervals, so that when the friction ring is rubbed with the ship, the wear-resistant strips are opposite to the surface of the ship at intervals, and the moving resistance of the ship body is reduced.
The utility model discloses further set up to: the vacuum tube is communicated with the side wall of the bottom of the inner cavity, and the pressure stabilizing valve is communicated with the side wall of the top of the inner cavity.
Through adopting above-mentioned technical scheme, when producing the air gap between regulating plate and the spacing ring, the air enters into the inner chamber along the intake pipe, and intake pipe opening and vacuum tube opening are vertical relative to this improves clastic conveying efficiency.
The utility model discloses further set up to: the elastic sleeve is provided with the collar towards one side of inner chamber, wear to be equipped with the bolt on the collar, the bolt pass friction ring, elastic sleeve in proper order and with collar threaded connection.
Through adopting above-mentioned technical scheme, the bolt passes friction ring, elastic sleeve and with collar thread connection to this fixed friction ring and elastic sleeve, because elastic material such as elastic sleeve adoption rubber for the elastic sleeve makes the friction ring take place to drop easily when directly passing through bolted connection with the friction ring, consequently avoids droing of friction ring through the clamping-force and the frictional force of collar and friction ring, improves the operating stability of friction ring.
The utility model discloses further set up to: be provided with climbing mechanism on the organism, climbing mechanism including rotate set up in climbing wheel on the organism and set up the drive climbing wheel pivoted driving piece on the organism, climbing wheel protrusion organism surface just with boats and ships surface rolling connection.
Through adopting above-mentioned technical scheme, driving piece drive climbing wheel rotates, climbing wheel and boats and ships surperficial roll relatively, the boats and ships surface is hugged closely under the effect of the negative pressure that the organism produced at the inner chamber, make the frictional force increase on climbing wheel and boats and ships surface, drive the organism and advance along boats and ships surface when making this climbing wheel rotate, sand-blasting gun spun sand rubs with the old paint skin on boats and ships surface simultaneously, with this old paint skin of wearing away, with this scope of polishing that enlarges the organism, improve old paint skin efficiency of polishing.
The utility model discloses further set up to: the climbing wheels are at least two and are symmetrically distributed on two sides of the machine body, the driving piece comprises a servo motor which is arranged on the machine body and drives the climbing wheels to rotate forward and backward, and when the climbing wheels on two sides of the machine body rotate reversely, the machine body deviates from the original advancing direction.
Through adopting above-mentioned technical scheme, servo motor drives the climbing wheel rotation of organism both sides and removes in order to drive the organism, and the setting of a plurality of climbing wheels has increased the area of contact on organism and boats and ships surface simultaneously to this improves the stability of organism operation, and changes when climbing wheel both sides servo motor's the direction of advance of organism when turning to in opposite directions, polishes the position according to the condition adjustment of the actual region of polishing with this convenience, improves the suitability.
To sum up, the utility model discloses a beneficial technological effect does:
the negative pressure source enables the inner cavity to generate negative pressure, so that the machine body is attached to the surface of the ship through the sucking disc, the part to be cleaned on the surface of the ship enters the cleaning range of the cleaning device, the old paint skin is conveniently cleaned to be separated from the surface of the ship and is discharged out of the inner cavity along the vacuum tube under the suction action of the vacuum tube, the environment pollution caused by the scattering of fragments is avoided, and the workload of later cleaning is reduced;
the air pressure difference between the two sides of the adjusting plate enables the adjusting plate to overcome the elasticity of the elastic piece to move so that an air gap is generated between the adjusting plate and the limiting ring, an air inlet channel is formed between the adjusting plate and the limiting ring, and air outside the machine body enters the inner cavity along the air inlet pipe so as to increase the air pressure and avoid the phenomenon that the suction cup is too tightly attached to the surface of the ship due to too low air pressure, so that the friction force between the suction cup and the surface of the ship is reduced to facilitate the movement of the machine body, the cleaning range of the cleaning device is expanded, and the cleaning efficiency is improved;
the setting of elastic sleeve is used for making the friction circle to support tight boats and ships surface with this leakproofness that improves the inner chamber, reduces the loss of pressure, reduces the operating load of vacuum pump, and the inboard passageway of elastic sleeve and inner chamber intercommunication and its channel width evenly increase progressively towards inner chamber side to this structural stability who improves the elastic sleeve, avoids the elastic sleeve to receive the extrusion to buckle crooked and lead to the opening of inner chamber to the skew, thereby avoids the opening of inner chamber to the skew and influence cleaning device's normal clearance towards the skew.
Drawings
FIG. 1 is a schematic overall structure diagram of the first embodiment;
FIG. 2 is a schematic side view of the first embodiment, mainly showing the vacuum tube;
FIG. 3 is a schematic diagram of an exploded structure of the first embodiment, mainly showing the elastic sheath;
FIG. 4 is an enlarged partial schematic view of portion A of FIG. 3;
fig. 5 is a circuit schematic of the controller of the second embodiment;
fig. 6 is a schematic partial structure diagram of the second embodiment, mainly showing a pressure detector.
Reference numerals: 1. a body; 11. an inner cavity; 2. a cleaning device; 21. a sand blasting gun; 3. an adsorption device; 31. a suction cup; 311. a friction ring; 312. an elastic sleeve; 313. a mounting ring; 314. a support sheet; 32. wear resistant strips; 33. a vacuum tube; 4. a pressure maintaining valve; 41. an air inlet pipe; 42. an adjusting plate; 43. a stud; 431. a catch tray; 432. a nut; 44. a limiting ring; 45. an elastic member; 5. a climbing mechanism; 51. climbing wheels; 52. a drive member; 53. a servo motor; 6. a detection component; 61. a pressure detector; 62. and a controller.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The first embodiment is as follows: referring to fig. 1, for the utility model discloses a climbing robot with adsorption structure, including organism 1, set up the cleaning device 2 that is used for polishing the boats and ships surface on organism 1 and set up drive organism 1 on organism 1 and the adsorption equipment 3 of the laminating of boats and ships surface and set up the climbing mechanism 5 that is used for driving organism 1 to remove on organism 1. The machine body 1 is provided with a capsule-shaped inner cavity 11, the opening of the inner cavity 11 is opposite to the surface of the ship, and as shown in a combined figure 2, the cleaning device 2 comprises a sand blasting gun 21 communicated with the inner cavity 11 and a sand blaster communicated with the sand blasting gun 21.
The opening of the sand blasting gun 21 is vertically opposite to the surface of the ship, the opening direction of the sand blasting gun 21 is vertical to the surface of the opening of the inner cavity 11, and the sand blasting gun 21 adopts a hose, so that the machine body 1 can be conveniently moved, and the resistance force applied during moving is reduced. The sand blaster adopts an MT-6050 sand blaster, provides kinetic energy for the transmission of sand grains, so that the sand grains conveniently enter the inner cavity 11 through the sand blasting gun 21 and finally impact on the surface of a ship, and the old paint coat on the surface of the ship is ground.
Referring to fig. 2 and 3, the suction device 3 includes a suction cup 31 disposed on the opening side of the cavity 11 facing the ship surface, a vacuum tube 33 communicating with the cavity 11, and a negative pressure source (not shown) communicating with the vacuum tube 33, and the cleaning device 2 cleans the old paint on the ship surface when the suction cup 31 is attached to the ship surface. The negative pressure source adopts a vacuum pump, is placed on the ground and is used for extracting gas in the vacuum tube 33 so as to enable the vacuum tube 33 to be in a negative pressure state, and further enable the inner cavity 11 to be in a negative pressure state, so that the atmospheric pressure pushing machine body 1 is tightly attached to the surface of the ship, and the machine body 1 is prevented from falling.
The suction cup 31 comprises a friction ring 311, an elastic sleeve 312 arranged between the friction ring 311 and the opening edge of the inner cavity 11, and a supporting sheet 314 arranged between the friction ring 311 and the elastic sleeve 312. The opening of the inner cavity 11, the elastic sleeve 312 and the friction ring 311 are in the same shape and are in the shape of an annular runway, and the supporting sheet 314 is square. The elastic sleeve 312 is made of rubber, and the arrangement of the elastic sleeve 312 is used for enabling the friction ring 311 to be tightly pressed against the surface of the ship, so that the sealing performance of the inner cavity 11 is improved, the pressure loss is reduced, and the operation load of the vacuum pump is reduced.
The inner side channel of the elastic sleeve 312 is communicated with the inner cavity 11, and the width of the channel is uniformly increased towards the inner cavity 11 side, so that the elastic sleeve 312 is approximately horn-shaped, the structural stability of the elastic sleeve 312 is improved, the elastic sleeve 312 is prevented from being extruded, bent and inclined to cause the deviation of the opening of the inner cavity 11, and the normal cleaning of the cleaning device 2 is prevented from being influenced by the deviation of the opening of the inner cavity 11.
The friction ring 311 is made of plastic and is abutted against the surface of the ship to reduce the abrasion of the body 1 and the surface of the ship when moving. The side of the elastic sleeve 312 facing the inner cavity 11 is provided with a mounting ring 313. The mounting ring 313 is in the shape of an annular runway, and bolts penetrate through the mounting ring 313, sequentially penetrate through the friction ring 311 and the elastic sleeve 312, and are in threaded connection with the mounting ring 313.
Because the elastic sleeve 312 is made of an elastic material, the friction ring 311 is easily separated when the elastic sleeve 312 and the friction ring 311 are directly connected through a bolt. Therefore, the mounting ring 313 is made of aluminum alloy, the friction ring 311 and the elastic sleeve 312 are fixed through the clamping force and the friction force of the mounting ring 313 and the friction ring 311, and meanwhile, the arrangement of the bolts facilitates the replacement of the friction ring 311 after being seriously abraded.
When the body 1 moves, the body 1 is prone to shake, and at this time, the edge of the body 1 is prone to contact with the surface of the ship and wear, so that a plurality of wear-resistant strips 32 are arranged around the periphery of the friction ring 311 at the edge of the body 1, and the wear-resistant strips 32 are long and distributed in four directions of the friction ring 311 at equal angular intervals. Wear-resisting strip 32 adopts polyurethane, and polyurethane has good wearability to this extension its life, through wear-resisting strip 32 separation boats and ships surface and organism 1 border, cushions the action of organism 1 simultaneously, reduces the wearing and tearing of organism 1. The wear-resistant strips 32 are on the same plane as the friction ring 311, and when the friction ring 311 rubs against the ship, the wear-resistant strips 32 are opposite to the ship surface at intervals, so that the resistance of the movement of the machine body 1 is reduced.
The servo motor 53 has a function of forward and reverse rotation, and an output shaft thereof is coaxially fixed with the climbing wheel 51, so as to drive the climbing wheel 51 to rotate, thereby driving the machine body 1 to move on the surface of the ship. And when the machine body 1 moves, the adsorption device 3 keeps the running state, so that the machine body 1 is tightly attached to the surface of the ship under the action of the negative pressure of the inner cavity 11, and the cleaning device 2 is convenient to clean different areas of the surface of the ship. The rotation axes of the output shafts of the four servo motors 53 are parallel to each other, and when the four servo motors 53 all rotate in the same direction, the machine body 1 moves along a linear trajectory. When the rotation directions of the servo motors 53 on the two sides of the machine body 1 are opposite, the advancing direction of the machine body 1 deviates, so that the grinding position can be adjusted by a maintainer conveniently according to the actual grinding area, and the applicability is improved.
Referring to fig. 3 and 4, the adsorption device 3 further includes a pressure stabilizing valve 4 communicated with the inner cavity 11 for stabilizing the air pressure of the inner cavity 11. The surge damping valve 4 includes a circular inlet pipe 41 communicated with the inner cavity 11, a circular adjusting plate 42 slidably disposed in the inlet pipe 41, a limit ring 44 disposed on the inlet pipe 41 and far from one end of the inner cavity 11, and an elastic member 45 disposed between the adjusting plate 42 and the limit ring 44 to make the adjusting plate 42 abut against the limit ring 44. The inner diameter of the adjusting plate 42 is between the inner diameter of the inlet pipe 41 and the inner diameter of the stop ring 44, so that an air gap is left between the edge of the adjusting plate 42 and the inner wall of the inlet pipe 41. The limiting ring 44 is annular, one side of the limiting ring 44 is connected to the air inlet pipe 41 in a sealing manner, and the adjusting plate 42 abuts against the opening edge of the limiting ring 44 when moving to isolate the air inlet pipe 41 from the outside.
When the air pressure in the inner cavity 11 is too low, the air pressure difference between the two sides of the adjusting plate 42 increases, and the atmospheric pressure moves the adjusting plate 42 against the elastic force of the elastic member 45 to generate an air gap between the adjusting plate 42 and the stop ring 44. And the inner diameter of the regulating plate 42 is between the inner diameter of the air inlet pipe 41 and the inner diameter of the limiting ring 44, so that an air inlet channel is formed between the regulating plate 42 and the limiting ring 44, and air outside the machine body 1 enters the inner cavity 11 along the air gap between the regulating plate 42 and the limiting ring 44 and the channel between the regulating plate 42 and the air inlet pipe 41, so that the air pressure is increased, the phenomenon that the suction cup 31 is attached to the surface of the ship too tightly due to too low air pressure is avoided, the friction force between the suction cup 31 and the surface of the ship is reduced to facilitate the movement of the machine body 1, the cleaning range of the cleaning device 2 is expanded, and the cleaning efficiency is improved.
The air inlet pipe 41 is welded and fixed with the top of the machine body 1 and is communicated with the side wall of the top of the inner cavity 11, and the vacuum pipe 33 is communicated with the side wall of the bottom of the inner cavity 11. Therefore, when an air gap is formed between the adjusting plate 42 and the limiting ring 44, air enters the inner cavity 11 along the air inlet pipe 41, and the opening of the air inlet pipe 41 is vertically opposite to the opening of the vacuum pipe 33, so that the discharge efficiency of the debris generated when the cleaning device 2 is used for cleaning is improved.
The adjusting plate 42 is fixedly welded with studs 43, the studs 43 are vertically distributed, the central axis of the studs 43 coincides with the central axis of the adjusting plate 42, one end of each stud 43 is connected with the machine body 1 in a sliding mode, and the other end of each stud 43 is sleeved with a circular blocking disc 431 in a sliding mode. The elastic member 45 is a spring, one end of the spring abuts against one side of the limit ring 44, the other end of the spring abuts against the stop disk 431, and a nut 432 is sleeved on the stud 43 at one side of the stop disk 431 away from the elastic member 45 through a thread. When the nut 432 rotates, the blocking disc 431 is pushed to move, so that the length of the elastic member 45 is adjusted, the elastic force of the elastic member 45 on the adjusting plate 42 is adjusted, the critical air pressure value of the inner cavity 11 of the channel for opening air inlet of the pressure stabilizing valve 4 is adjusted, the critical air pressure value of the inner cavity 11 is adjusted according to the practical working condition of the robot and the tightness of the inner cavity 11, and the application range of the robot is expanded.
The implementation principle of the embodiment is as follows: when cleaning the old paint coat, an operator only needs to suspend the machine body 1 to the ship surface through a crane and the like, and the position needing to be polished is polished, the friction ring 311 is attached to the ship surface, and then the vacuum pump is started. The vacuum pump extracts gas in the vacuum pipe 33, so that negative pressure is generated in the inner cavity 11, the machine body 1 is attached to the surface of the ship, and the to-be-cleaned part of the surface of the ship enters the cleaning range of the cleaning device 2.
And then the sand blasting machine and the sand blasting gun 21 are started, and when sand particles sprayed by the sand blasting gun 21 contact the old paint coat on the surface of the ship, the old paint coat is separated from the surface of the ship and is discharged out of the inner cavity 11 along the vacuum tube 33 under the suction action of the vacuum tube 33, so that the environment pollution caused by fragment scattering is avoided, and the workload of later cleaning is reduced.
And meanwhile, the servo motor 53 is started to enable the climbing wheel 51 to rotate and drive the machine body 1 to move along the surface of the ship, and the elastic sleeve 312 enables the friction plate to be always attached to the surface of the ship, so that the sealing performance is improved, the pressure loss is reduced, the load of a vacuum pump is reduced, and the energy-saving performance is improved.
Example two: referring to fig. 5 and 6, a climbing robot with an adsorption structure is different from the first embodiment in that when the air pressure in an inner cavity 11 (see fig. 3) is too high, the adsorption force of a suction cup 31 (see fig. 3) on the surface of a ship is reduced, which easily causes the machine body 1 to have a potential risk of falling, and therefore, a detection assembly 6 is arranged on the machine body 1. The detecting assembly 6 includes a pressure detector 61 disposed on the side of the limiting ring 44 close to the adjusting plate 42 for detecting the pressure between the adjusting plate 42 and the limiting ring 44, a controller 62 electrically connected to the pressure detector 61 for receiving an electrical signal, and an indicator light disposed on the machine body 1. The controller 62 is electrically connected to the indicator lamp, outputs an indicator signal when the pressure detected by the pressure detector 61 is greater than a set value, and the controller 62 receives and controls the indicator lamp to be turned on in response to the indicator signal.
The pressure detector 61 uses a pressure sensitive resistor RT, and the controller 62 includes a voltage dividing resistor R1 and an NPN transistor Q1. One end of the pressure sensitive resistor RT is connected with the VCC end, the other end of the pressure sensitive resistor RT is connected with the divider resistor R1, and the other end of the divider resistor R1 is grounded. The collector of the NPN type triode Q1 is connected with VCC end, the base thereof is electrically connected with the connection point of the pressure sensitive resistor RT and the divider resistor R1, the emitter thereof is electrically connected with the anode of the indicator light, and the cathode of the indicator light is grounded.
The implementation principle of the embodiment is as follows: when the air pressure difference between the two sides of the adjusting plate 42 is decreased, the pressure value between the adjusting plate 42 and the limiting ring 44 is increased, so that the pressure borne by the pressure sensitive resistor RT is increased, and the resistance of the pressure sensitive resistor RT is decreased because the resistance is decreased when the pressure borne by the pressure sensitive resistor is increased. And the pressure sensitive resistor RT and the voltage dividing resistor R1 form a voltage dividing circuit. When the voltage of the connection point between the NPN type triode Q1 and the vacuum pump rises to the base input voltage required by the conduction of the NPN type triode Q1, namely when the pressure value of the adjusting plate 42 and the limiting ring 44 is increased to exceed the set value, the power supply loop of the NPN type triode Q1 is conducted, so that the indicator lamp connected in series with the NPN type triode Q1 is lightened, an operator is prompted to increase the power of the vacuum pump or stop for maintenance, and the hidden danger that the machine body 1 falls is reduced.
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 climbing robot with adsorption structure which characterized in that: including organism (1), set up cleaning device (2) that are used for polishing the boats and ships surface on organism (1) and set up adsorption equipment (3) of drive organism (1) and the laminating of boats and ships surface on organism (1), inner chamber (11) have been seted up on organism (1), adsorption equipment (3) are including setting up in sucking disc (31) of inner chamber (11) opening border towards boats and ships surface side, vacuum tube (33) with inner chamber (11) intercommunication, negative pressure source with vacuum tube (33) intercommunication and with inner chamber (11) intercommunication be used for stabilizing steady pressure stabilizing valve (4) of inner chamber (11) atmospheric pressure, cleaning device (2) clear up the old leather lacquer on boats and ships surface when sucking disc (31) and the laminating of boats and ships surface.
2. The climbing robot with the adsorption structure as claimed in claim 1, wherein: pressure stabilizing valve (4) include circular shape intake pipe (41) with inner chamber (11) intercommunication, slide and set up circular shape regulating plate (42) in intake pipe (41), set up spacing ring (44) of keeping away from inner chamber (11) one end on intake pipe (41) and set up in between regulating plate (42) and spacing ring (44) so that regulating plate (42) support elasticity piece (45) tight spacing ring (44), spacing ring (44) one side and intake pipe (41) sealing connection, the internal diameter of regulating plate (42) is between the internal diameter of intake pipe (41) and the internal diameter of spacing ring (44).
3. The climbing robot with the adsorption structure as claimed in claim 2, wherein: be provided with double-screw bolt (43) on regulating plate (42), the one end of double-screw bolt (43) slides with organism (1) and is connected and its other end slides and overlaps and be equipped with fender dish (431), one side and elastic component (45) butt of fender dish (431) and its opposite side are provided with nut (432) with double-screw bolt (43) threaded connection.
4. The climbing robot with the adsorption structure as claimed in claim 1, wherein: sucking disc (31) include friction circle (311) and set up in friction circle (311) and inner chamber (11) opening edge between elastic sleeve (312), the inboard passageway and the inner chamber (11) intercommunication of elastic sleeve (312) and its passageway width evenly increase progressively towards inner chamber (11) side, friction circle (311) and elastic sleeve (312) can be dismantled and be connected.
5. A climbing robot with an adsorption structure according to claim 4, characterized in that: the edge of the machine body (1) is positioned on the peripheral side of the friction ring (311) and is provided with a plurality of wear-resistant strips (32) in a surrounding mode, the wear-resistant strips (32) and the friction ring (311) are positioned on the same plane, and when the friction ring (311) is abutted to the surface of a ship, the wear-resistant strips (32) are opposite to the surface of the ship at intervals.
6. A climbing robot with an adsorption structure according to claim 4, characterized in that: one side of the elastic sleeve (312) facing the inner cavity (11) is provided with a mounting ring (313), a bolt penetrates through the mounting ring (313), and the bolt sequentially penetrates through the friction ring (311), the elastic sleeve (312) and is in threaded connection with the mounting ring (313).
7. The climbing robot with the adsorption structure as claimed in claim 1, wherein: the vacuum tube (33) is communicated with the side wall of the bottom of the inner cavity (11), and the pressure stabilizing valve (4) is communicated with the side wall of the top of the inner cavity (11).
8. The climbing robot with the adsorption structure as claimed in claim 1, wherein: be provided with climbing mechanism (5) on organism (1), climbing mechanism (5) including rotate set up in climbing wheel (51) on organism (1) and set up drive climbing wheel (51) pivoted driving piece (52) on organism (1), climbing wheel (51) protrusion organism (1) surface and with boats and ships surface roll connection.
9. The climbing robot with the adsorption structure as claimed in claim 8, wherein: the climbing wheels (51) are at least two and symmetrically distributed on two sides of the machine body (1), the driving piece (52) comprises a servo motor (53) which is arranged on the machine body (1) and drives the climbing wheels (51) to rotate positively and negatively, and when the climbing wheels (51) on the two sides of the machine body (1) rotate reversely, the machine body (1) deviates from the original advancing direction.
10. The climbing robot with the adsorption structure as claimed in claim 2, wherein: be provided with detection module (6) on organism (1), detection module (6) including set up on spacing ring (44) lean on pressure detector (61) of adjusting plate (42) one side be used for detecting pressure between adjusting plate (42) and spacing ring (44), be connected with pressure detector (61) electricity in order to receive controller (62) of signal of telecommunication and set up the pilot lamp on organism (1), controller (62) and pilot lamp electricity are connected, output indicator when pressure that pressure detector (61) detected is greater than the setting value, and controller (62) are received and are responded to indicator signal control pilot lamp and light.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921667670.3U CN210550269U (en) | 2019-09-30 | 2019-09-30 | Climbing robot with adsorption structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921667670.3U CN210550269U (en) | 2019-09-30 | 2019-09-30 | Climbing robot with adsorption structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210550269U true CN210550269U (en) | 2020-05-19 |
Family
ID=70671661
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921667670.3U Active CN210550269U (en) | 2019-09-30 | 2019-09-30 | Climbing robot with adsorption structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210550269U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561254A (en) * | 2019-09-30 | 2019-12-13 | 深圳市华维浦上智能机器人有限公司 | Climbing robot with adsorption structure |
| CN112388409A (en) * | 2020-11-11 | 2021-02-23 | 上海电机学院 | Magnetic suction type polishing robot |
-
2019
- 2019-09-30 CN CN201921667670.3U patent/CN210550269U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561254A (en) * | 2019-09-30 | 2019-12-13 | 深圳市华维浦上智能机器人有限公司 | Climbing robot with adsorption structure |
| CN110561254B (en) * | 2019-09-30 | 2024-04-26 | 深圳市华维浦上智能机器人有限公司 | Climbing robot with adsorption structure |
| CN112388409A (en) * | 2020-11-11 | 2021-02-23 | 上海电机学院 | Magnetic suction type polishing robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110561254A (en) | Climbing robot with adsorption structure | |
| CN210550269U (en) | Climbing robot with adsorption structure | |
| US4531329A (en) | Lip seal shroud | |
| CA1068114A (en) | Surface treating apparatus | |
| CN107052937B (en) | Pneumatic floating polisher | |
| CN108953242B (en) | Ceiling fan robot that factor of safety is high | |
| CN112643548B (en) | Dust removal cooling method of self-adaptive dust removal cooling grinding wheel device of dry grinding machine | |
| CN104128867A (en) | Tile polishing machine | |
| US3074098A (en) | Apparatus for cleaning ducts | |
| CN109926254B (en) | Plastic spraying room | |
| GB1307878A (en) | Electrostatic paint spraying | |
| CN2700050Y (en) | Environmental protection sandblasting machine | |
| CN219472435U (en) | Fan equipment with self-cleaning effect | |
| CN105751081A (en) | Grinding material jetting device and application method thereof | |
| CN203003672U (en) | Novel tool adsorption fixture with built-in vacuum generator | |
| CN112658989B (en) | Temperature control self-adaptive dust removal and grinding wheel cooling device of dry grinding machine | |
| CN109209471B (en) | Dust device is used in construction of tunnel drilling and blasting method | |
| CN212944443U (en) | Natural gas pipeline cleaning device | |
| CN205703784U (en) | A kind of Novel batch-type rotating disk automatic sand-blasting machine | |
| CN211249519U (en) | Deburring abrasive band machine with function floats | |
| CN110539253B (en) | Climbing robot with sand blasting structure | |
| CN210550498U (en) | Climbing robot with sandblast structure | |
| KR101801894B1 (en) | Vacuum recovery apparatus | |
| CN217668788U (en) | Device for solving polishing and dust collection of paint spraying and baking room | |
| CN2714239Y (en) | Multifunctional floor grinding machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |