CN210589305U - Novel vacuum adsorption self-locking structure of individual soldier climbing robot - Google Patents
Novel vacuum adsorption self-locking structure of individual soldier climbing robot Download PDFInfo
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- CN210589305U CN210589305U CN201921276644.8U CN201921276644U CN210589305U CN 210589305 U CN210589305 U CN 210589305U CN 201921276644 U CN201921276644 U CN 201921276644U CN 210589305 U CN210589305 U CN 210589305U
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Abstract
The utility model relates to a novel vacuum adsorption auto-lock structure of individual soldier climbing robot, it is including running through set up in adhering to the locating hole on the dish and being in the locating pin in the locating hole, the locating pin is kept away from control one end and is connected with the ball, and this auto-lock structure still includes and adheres to the dish and slides the pull rod of being connected, the pull rod is close to locating hole one end and has seted up the confession the rolling arc wall of ball, and the degree of depth of arc wall reduces along being close to the control direction gradually. The utility model discloses have and to fix a position control to can guarantee to adhere to a set cavity and keep apart with the atmosphere when carrying out the vacuum adsorption operation.
Description
Technical Field
The utility model belongs to the technical field of the technique and specifically relates to a novel vacuum adsorption auto-lock structure of 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. Consequently appeared on the market after that the absorption formula climbing booster unit of individual soldier climbing robot, this kind of booster unit will be provided with the attached dish of cavity and utilize the vacuum adsorption effect to adsorb on the wall body, still be connected with the control that control cavity and atmosphere intercommunication or closed on the attached dish, but because the attached dish is when using, vertical laminating is on the wall usually, consequently this control receives the action of gravity downstream easily to the influence is with cavity and atmospheric closure, thereby influences the effect of vacuum adsorption.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a can fix a position control to can guarantee to adhere to the vacuum adsorption auto-lock structure of a set cavity and the novel individual soldier climbing robot of atmosphere isolation when carrying out the vacuum adsorption operation.
The above utility model discloses an above-mentioned utility model purpose can realize through following technical scheme: the utility model provides a novel vacuum adsorption auto-lock structure of individual soldier climbing robot, is including running through the locating pin of seting up in adhering to the locating hole on the dish and being in the locating hole, the locating pin is kept away from control one end and is connected with the ball, should auto-lock structure still include with adhere to the dish and slide the pull rod of being connected, the pull rod is close to locating hole one end and has been seted up the confession the rolling arc wall of ball, and the degree of depth of arc wall reduces along being close to the control direction gradually.
Through adopting above-mentioned technical scheme, when needs lock the control on attaching to the dish, to keeping away from control direction pulling pull rod, the pull rod drives the arc wall and rolls along the ball bottom, and until the ball is in the dark minimum department of arc wall groove, the locating pin stretches out the locating hole and fixes a position the control this moment to prevent that control downstream from influencing cavity and atmosphere and sealing, thereby guarantee vacuum adsorption's process.
The utility model discloses further set up to: the self-locking structure further comprises a positioning plate fixedly connected with the attachment disc, a return spring is arranged between the positioning plate and one end, far away from the control piece, of the pull rod, 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 can be towards being close to the control direction motion under reset spring's effect after the pull rod loses the atress, and the arc wall slides along the ball, and the locating pin slides in the locating hole until being in the locating hole, loses the limiting displacement to the control.
The utility model discloses further set up to: one end of the pull rod, which is far away from the control part, is fixedly connected with a connecting shaft, the reset spring is sleeved on the connecting shaft, the connecting shaft extends out of the attachment plate, and the connecting shaft is connected with the positioning plate and the attachment plate in a sliding manner.
Through adopting above-mentioned technical scheme, the setting of connecting axle both can realize playing the effect of location to the flexible in-process of reset spring, but also can be through the sliding of connecting axle control pull rod to the realization is to the positioning action of locating pin.
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, and the inner diameter of the first positioning hole is larger than that of 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 connecting shaft is connected with pedals of the individual climbing power assisting device through pull ropes.
Through adopting above-mentioned technical scheme, the pedal is stepped on to the foot, and the connecting axle receives drive locating pin under the effect of pulling down at the stay cord and stretches out the locating hole and fix a position the control to guarantee the vacuum adsorption process, when needing to lose the positioning action to the control, the foot is removed the effort to the pedal, and the connecting axle loses the atress, and under reset spring's effect, the pull rod is towards being close to the control direction motion, loses the limiting displacement to the control. The control of whether the control part is positioned or not can be realized through whether the pedals are stressed or not.
The utility model discloses further set up to: one end of the pull rod, which is close to the control part, 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 control part.
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: one end of the pull rod, which is far away from the control piece, is grooved 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.
The utility model discloses further set up to: the positioning plate is fixedly connected with the attachment plate through a pressing plate, the pressing plate is fixedly connected with the attachment plate, a sliding cavity in which the pull rod slides is formed between the pressing plate and the attachment plate, 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.
To sum up, the utility model discloses a beneficial technological effect does:
1. the self-locking assembly can position the control piece, and prevent the control piece from moving downwards to influence the sealing of the cavity and the atmosphere, so that the vacuum adsorption process is ensured;
2. the arrangement of the return spring enables the pull rod to move towards the direction close to the control piece under the action of the return spring after the pull rod loses stress, and the limit effect on the control piece is lost;
3. the connecting shaft is connected with the pedals through the pull rope, whether the control piece is positioned or not can be controlled through whether the pedals are stressed, and the operation is simple and convenient.
Drawings
FIG. 1 is a schematic view showing the connection relationship between the self-locking structure and the attachment plate of the present invention;
FIG. 2 is a schematic structural view of the self-locking structure of the present invention;
fig. 3 is a schematic structural view of the first positioning hole and the second positioning hole of the present invention;
FIG. 4 is a schematic structural view of the limiting step and the supporting step of the present invention;
FIG. 5 is a schematic view showing the connection relationship between the positioning pin and the arc-shaped groove of the present invention;
fig. 6 is a schematic view showing the connection relationship between the connecting shaft and the pedals of the present invention.
In the figure, 1, a disc is attached; 11. positioning holes; 111. a first positioning hole; 112. a second positioning hole; 2. a control member; 3. a self-locking structure; 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; 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.
The utility model provides a pair of novel vacuum adsorption auto-lock structure of individual soldier climbing robot can be applied to the utility model name of this applicant application on the same day in "an individual soldier climbing booster unit", also can be used to other needs to carry out auto-lock and contact auto-lock structure to the structure in, the utility model discloses in with using carry out the elaboration for the example in the utility model name of applying with this applicant application on the same day in "an individual soldier climbing booster unit".
Referring to fig. 1, the individual soldier climbing power assisting device comprises an attachment disc 1 provided with a cavity, an evacuation device, a control part 2 and a self-locking structure 3, wherein the control part 2 controls the cavity of the attachment disc 1 to be communicated with the atmosphere or with an air extractor, and the self-locking structure 3 positions the control part 2, so that the cavity of the attachment disc 1 can be isolated from the atmosphere when vacuum adsorption operation is performed.
Combine fig. 2 and fig. 3, for the utility model discloses a novel vacuum adsorption auto-lock structure of individual soldier climbing robot, including seting up locating hole 11 on adhering to dish 1 and being in locating hole 11 locating pin 31, auto-lock structure 3 still includes the driving piece 32 that drive locating pin 31 slided in locating hole 11, when driving piece 32 drive locating pin 31 stretches out locating hole 11, locating pin 31 plays the effect of location to control 2 with control 2 butt, prevents its gliding, fixes a position control 2 among the evacuation process, keeps adhering to dish 1's cavity and evacuator intercommunication state.
As shown in fig. 4 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 control member 2, 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 respectively provided with a limiting step 3222 and a supporting step 3223 towards the direction close to one side of the control member 2, the limiting step 3222 is located at one end close to the control member 2, the supporting step 3223 is located at the other end, one end of the positioning pin 31 far away from the control member 2 is fixedly connected with a ball 321 (combined with fig. 3), the limiting step 3222 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 control member. When the control element 2 needs to be positioned, the connecting shaft 33 is pulled, the connecting shaft 33 drives the pull rod to move towards the direction away from the control element 2, the arc-shaped groove 3221 slides along the ball 321, and the ball 321 in the arc-shaped groove 3221 is reduced along with the depth of the arc-shaped 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 pull rod abuts against the positioning plate 35, and the control element 2 is positioned.
Self-locking structure 3 still includes locating plate 35, and locating plate 35 cup joints and slides with connecting axle 33 through clamp plate 4 and adhering to dish 1 rigid coupling, and clamp plate 4 and adhering to form the chamber that slides that supplies pull rod 322 to slide between the dish 1, and the length of pull rod 322 is less than the length in chamber that slides. 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 control member 2, 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-shaped groove 3221 far away from the control member 2. The arrangement of the return spring 34 enables the return spring 34 to be compressed when the connecting shaft 33 is pulled to slide towards the direction far away from the control part 2, when the control part 2 needs to be positioned, the connecting shaft 33 is directly loosened, the pull rod 322 slides towards the direction close to the control part 2 under the action of the return spring 34, the ball 321 slides in the arc-shaped 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 control part 2, of the arc-shaped groove 3221, the positioning pin 31 is located in the positioning hole 11, the positioning effect on the control part 2 is lost, and the connecting shaft 33 can also play a positioning and guiding role in the stretching and retracting process of the.
As shown in fig. 5, 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, and a limiting spring 36 is sleeved on the positioning pin 31, the limiting spring 36 is fixed to the limiting ring 37, with reference to 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, and the ball 321 is always in the arc groove 3221, preventing the two from being disengaged or offset.
As shown in fig. 6, 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 directly controlled by controlling the pull rope 6, so that the positioning is realized, and the operation is simple and convenient. When this auto-lock structure is applied to among 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, pedal 5 includes pedal portion 51 and connecting portion 52, and stay cord 6 is connected with connecting portion 52. When the control element 2 needs to be positioned, the pedal part 51 is pedaled, the connecting part 52 is stressed downwards, the connecting shaft 33 drives the positioning pin 31 to extend out of the positioning hole 11 to position the control element 2 under the action of the downwards pulling force applied to the pull rope 6, so that the vacuum adsorption process is ensured, when the control element 2 needs to be positioned, the acting force applied to the pedal part 51 is removed by feet, the connecting shaft 33 loses the stress, under the action of the reset spring 34, the pull rod 322 moves towards the direction close to the control element 2, and the limiting effect on the control element 2 is lost. Whether the control member 2 is positioned or not can be controlled by whether the foot pedal part 51 is stressed or not.
The implementation principle of the embodiment is as follows: when the control element 2 needs to be positioned, the pedal part 51 is pedaled, the connecting shaft 33 drives the pull rod 322 to move towards the direction far away from the control element 2 under the action of downward pulling force received by the pull rope 6, the arc-shaped groove 3221 slides along the ball 321, and the ball 321 in the arc-shaped groove 3221 reduces along with the depth of the arc-shaped groove 3221, so that the positioning pin 31 moves towards the direction far away from the pressure plate 4 in the positioning hole 11 until the pull rod 322 is abutted against the positioning plate 35 to position the control element 2; when the control member 2 needs to be positioned, the foot removes the acting force on the pedal portion 51, the connecting shaft 33 loses the force, the pull rod 322 moves towards the direction close to the control member 2 under the action of the return spring 34, the ball 321 slides in the arc groove 3221 until the return spring 34 is in the natural state, at this time, the ball 321 is positioned on one side of the arc groove 3221 away from the control member 2, and the positioning pin 31 is positioned in the positioning hole 11, so that the positioning effect on the control member 2 is lost.
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 (8)
1. The utility model provides a novel vacuum adsorption auto-lock structure of individual soldier climbing robot which characterized in that: including running through locating hole (11) of seting up on adhering to dish (1) and being in locating pin (31) in the locating hole, control (2) one end is kept away from in locating pin (31) is connected with ball (321), and this auto-lock structure still includes and slides pull rod (322) of being connected with adhering to dish (1), pull rod (322) are close to locating hole one end and have been seted up the confession ball (321) rolling arc wall (3221), and the degree of depth of arc wall (3221) reduces along being close to control (2) direction gradually.
2. The novel vacuum adsorption self-locking structure of the individual-soldier climbing robot as claimed in claim 1, is characterized in that: the self-locking structure further comprises a positioning plate (35) fixedly connected with the attachment disc (1), a return spring (34) is arranged between the positioning plate (35) and one end, far away from the control part (2), of the pull rod (322), one end of the return spring (34) is fixedly connected with the pull rod (322), and the other end of the return spring is fixedly connected with the positioning plate (35).
3. The novel vacuum adsorption self-locking structure of the individual-soldier climbing robot as claimed in claim 2, is characterized in that: pull rod (322) are kept away from control piece (2) one end rigid coupling and are had connecting axle (33), reset spring (34) cup joint on connecting axle (33), connecting axle (33) stretch out and adhere to dish (1), just connecting axle (33) with locating plate (35) and adhering to dish (1) and sliding connection.
4. The novel vacuum adsorption self-locking structure of the individual-soldier climbing robot as claimed in claim 1, is 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).
5. The novel vacuum adsorption self-locking structure of the individual-soldier climbing robot as claimed in claim 3, is characterized in that: the connecting shaft (33) is connected with pedals (5) of the individual climbing power assisting device through pull ropes (6).
6. The novel vacuum adsorption self-locking structure of the individual-soldier climbing robot as claimed in claim 1, is characterized in that: one end of the pull rod (322) close to the control part (2) is grooved 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 control part (2).
7. The novel vacuum adsorption self-locking structure of the individual-soldier climbing robot as claimed in claim 3, is characterized in that: one end of the pull rod (322), which is far away from the control part (2), 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).
8. The novel vacuum adsorption self-locking structure of the individual-soldier climbing robot as claimed in claim 2, is characterized in that: locating plate (35) pass through clamp plate (4) and adhere to dish (1) rigid coupling, clamp plate (4) and adhere to dish (1) rigid coupling and clamp plate (4) and adhere to and form between dish (1) the chamber that slides of pull rod (322), and pull rod (322) length is less than the length in chamber that slides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921276644.8U CN210589305U (en) | 2019-08-07 | 2019-08-07 | Novel vacuum adsorption self-locking structure of individual soldier climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921276644.8U CN210589305U (en) | 2019-08-07 | 2019-08-07 | Novel vacuum adsorption self-locking structure of individual soldier climbing robot |
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| Publication Number | Publication Date |
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| CN210589305U true CN210589305U (en) | 2020-05-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921276644.8U Active CN210589305U (en) | 2019-08-07 | 2019-08-07 | Novel vacuum adsorption self-locking structure of individual soldier 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 |
| CN115241594A (en) * | 2022-07-26 | 2022-10-25 | 浙江浙能嘉华发电有限公司 | Robot for power plant inspection |
-
2019
- 2019-08-07 CN CN201921276644.8U patent/CN210589305U/en active Active
Cited By (4)
| 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 |
| CN115241594A (en) * | 2022-07-26 | 2022-10-25 | 浙江浙能嘉华发电有限公司 | Robot for power plant inspection |
| CN115241594B (en) * | 2022-07-26 | 2024-04-09 | 浙江浙能嘉华发电有限公司 | Robot for power plant inspection |
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