CN211054872U - Amphibious non-contact sucker - Google Patents
Amphibious non-contact sucker Download PDFInfo
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- CN211054872U CN211054872U CN201921453344.2U CN201921453344U CN211054872U CN 211054872 U CN211054872 U CN 211054872U CN 201921453344 U CN201921453344 U CN 201921453344U CN 211054872 U CN211054872 U CN 211054872U
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Abstract
The utility model discloses an amphibious non-contact sucking disc. The utility model comprises a sucker shell, a centrifugal impeller, a connecting shaft, a bearing support, a motor support and a waterproof direct current motor, wherein the bottom of the sucker shell is provided with a cavity provided with the centrifugal impeller, the upper end surface of the sucker shell is coaxially connected with the bearing support, the upper end surface of the sucker shell is fixed with the waterproof direct current motor through the motor support, and the side surface of the sucker shell is uniformly provided with a plurality of water filling ports communicated with the cavity; the lower portion of the connecting shaft is nested at the central hole of the sucker shell through the lower deep groove ball bearing, the upper portion of the connecting shaft is nested at the central hole of the bearing support through the upper deep groove ball bearing, the bottom end of the connecting shaft is connected with the centrifugal impeller through a bolt, and the top end of the connecting shaft is connected with an output shaft of the waterproof direct current motor through key connection. The utility model discloses can realize non-contact and adsorb, and can adsorb coarse wall, the application effect of sucking disc is better, and adsorption efficiency is strong.
Description
Technical Field
The utility model relates to a sucking disc, concretely relates to amphibious non-contact sucking disc.
Background
Since the 21 st century, the further development of robots has made the robot industry an important guarantee for high-end technology. The robot technology serves different roles in human activities in various fields, and various robots with special functions are manufactured according to the research and development characteristics of various fields, and can cope with the respective field problems, wherein various perception judgment and synchronization technical capabilities are integrated, such as a diving robot, a micro robot, a medical robot, an entertainment robot, and the like.
The research of the wall climbing robot is leap and leap along with the development of urban modernization, and the wall climbing robot is rapidly developed because the wall climbing robot can work on a complex vertical wall surface. Along with more and more occasions, people are required to carry out high-altitude and high-risk industrial operation. In the actual engineering, a wall-climbing robot capable of replacing manpower to complete high-altitude operation is urgently needed. The wall climbing robot is used as a main branch of a mobile robot and is mainly characterized in that the wall climbing robot can move on the surface of a three-dimensional environment on the premise of overcoming the self gravity, so that specific tasks such as routing inspection, cleaning and the like are completed.
The essence of the wall climbing robot is a robot which can overcome the gravity of the robot to walk upwards, and how to generate the friction force of the upward walking is important, and the friction force is generally brought by the positive pressure generated by adsorption. Therefore, the wall-climbing robot can be divided into types of negative pressure adsorption, vacuum adsorption, magnetic adsorption, bionic adsorption and the like according to the characteristics of the adsorption mode.
The working mode of negative pressure adsorption is characterized in that a centrifugal fan and other equipment are used for generating negative pressure lower than the external atmospheric pressure to adsorb the wall-climbing robot on the surface of an object, but the sealing structure is in contact with the surface of the object, so that the sealing structure has the defects of large sliding friction resistance and easy abrasion of the surface of the sealing structure. The magnetic adsorption mode mainly utilizes the magnetic force between a magnetic source and a magnetizer to adsorb on an object, the type of the magnetic source can be divided into an electromagnetic type mode and a permanent magnet mode, but the electromagnetic adsorption is only suitable for a magnetic conduction surface, and the energy consumption is higher. Vacuum adsorption is generally a technology that a vacuum pump is utilized to pump away air in a container, a certain vacuum is formed in the container to generate adsorption force, a vacuum adsorption wall-climbing robot mainly uses multi-sucker adsorption, but the vacuum adsorption has strict requirements on the wall surface, can be used only on a smooth wall surface, moves slowly and has high requirements on sealing. The bionic adsorption is designed mainly by referring to the skeleton and motion mechanism of organisms, but the adsorption is still in theoretical research and has a great distance from practical use.
In summary, although there are various means in the existing adsorption technology of the wall climbing robot, the adsorption technology is limited to a large extent, cannot meet the requirements of different wall surfaces, has high requirements on the wall surfaces, and cannot well meet the requirements of the wall climbing robot.
SUMMERY OF THE UTILITY MODEL
Satisfy in the sucking disc that different wall climbing robots can both stabilize the absorption in order to design, solve the shortcoming in the aspect of the wall climbing robot adsorption technique, establish good basis for the strong research and development wall climbing robot, the utility model provides an amphibious non-contact sucking disc adopts waterproof direct current motor direct drive, and is small, the quality is light, nevertheless can provide extremely strong adsorption affinity, can realize non-contact adsorption, and does not have strict requirement to the roughness of adsorbing the wall, can adapt to different walls.
The utility model adopts the technical proposal that:
the utility model comprises a sucker shell, a centrifugal impeller, a connecting shaft, a bearing support, a motor support and a waterproof direct current motor, wherein the bottom of the sucker shell is provided with a cavity provided with the centrifugal impeller, the upper end surface of the sucker shell is coaxially connected with the bearing support, the upper end surface of the sucker shell is fixed with the waterproof direct current motor through the motor support, and the side surface of the sucker shell is uniformly provided with a plurality of water filling ports communicated with the cavity; the lower portion of the connecting shaft is nested at the central hole of the sucker shell through the lower deep groove ball bearing, the upper portion of the connecting shaft is nested at the central hole of the bearing support through the upper deep groove ball bearing, the bottom end of the connecting shaft is connected with the centrifugal impeller through a bolt, and the top end of the connecting shaft is connected with an output shaft of the waterproof direct current motor through key connection.
The bottom cavity of the sucker shell is communicated with the outside, the edge of the bottom of the sucker shell radially protrudes towards the center of the sucker shell to form a circle of inner flange, the lower end surface of the centrifugal impeller is higher than the lower surface of the inner flange and lower than the upper surface of the inner flange, and a gap is reserved between the inner flange and the centrifugal impeller.
In order to keep the centrifugal impeller covering the vortex cavity, the upper surface of the inner flange is slightly higher than the lower end surface of the centrifugal impeller, so that the water loss is reduced.
The cavity comprises a hollow cavity and a rotational flow cavity, the rotational flow cavity is formed by the peripheral surface of the centrifugal impeller, the inner surface of the cavity and the area surrounded by the inner flange, the area outside the rotational flow cavity in the cavity is used as the hollow cavity, and the hollow cavity is communicated with the rotational flow cavity through the gap between the inner flange and the centrifugal impeller.
The water filling port of the sucker shell extends along the tangential direction of the peripheral surface of the sucker shell to form a water filling channel communicated with the outside, and the water filling channel of each water filling port is along the clockwise tangential direction or the anticlockwise tangential direction of the peripheral surface of the sucker shell.
In a non-water environment, water is injected from a water injection channel, a rotational flow is formed in a rotational flow cavity of the sucker shell, and negative pressure is formed in the hollow cavity, so that adsorption force is generated; meanwhile, the waterproof direct current motor drives the centrifugal impeller to rotate through the connecting shaft, the rotation direction of the centrifugal impeller is different from that of water flow in the cyclone cavity, and the water flow in the hollow cavity is driven to rotate to generate negative pressure, so that the adsorption force is increased.
In a water environment, the waterproof direct current motor drives the centrifugal impeller to rotate through the connecting shaft to generate negative pressure, so that adsorption force is generated; meanwhile, water flows into the hollow cavity from the water filling port and the bottom of one side of the sucker shell under the action of adsorption force and flows out from the water filling port and the bottom of the other side of the sucker shell, so that negative pressure is increased.
The upper end surface of the sucker shell is coaxially and sequentially milled with an outer boss and an inner boss, and the diameter of the outer boss is larger than that of the inner boss; the outer boss is coaxially fixed with a motor support through a positioning special-shaped hole, the inner boss is coaxially fixed with a bearing support through a positioning special-shaped hole, and the bearing support is installed in the motor support.
The waterproof direct current motor passes through the opening at the top end of the motor support and is coaxially connected with the connecting shaft.
The bottom end of the connecting shaft extends into the cavity of the sucker shell to be connected with the centrifugal impeller, and the centrifugal impeller is kept not to be in contact with the upper surface of the cavity.
The outer diameter of the centrifugal impeller is adjusted according to the hollow cavity of the sucker shell, and the depth of the centrifugal impeller is adjusted according to the rotational flow cavity of the sucker shell.
The utility model has the advantages that:
(1) the utility model discloses a centrifugal impeller and water injection produce high-speed whirl, utilize the centrifugal action of high-speed whirl to produce the adsorption affinity, derive the chamber soon with rivers.
(2) The utility model utilizes the rotational flow to carry out adsorption, can realize non-contact adsorption, has no requirement on the roughness of the adsorption wall surface, and has no requirement on the material of the adsorption wall surface; the sucking disc has good application effect and strong adsorption capacity.
(3) The utility model discloses an adsorption affinity is simple controllable, and the accessible is adjusted motor speed and water injection flow and is adjusted the adsorption affinity, also can adjust the adsorption affinity through the design parameter of adjustment centrifugal impeller.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural diagram of the suction cup housing of the present invention.
FIG. 3 is a schematic structural view of another suction cup housing of the present invention
Fig. 4 is a schematic view of the bottom structure of the centrifugal impeller of the present invention.
Fig. 5 is a working principle diagram of the present invention in a water-free environment.
Fig. 6 is a working principle diagram of the utility model under the water environment.
In the figure: the centrifugal impeller comprises a centrifugal impeller 1, a sucker shell 2, a lower deep groove ball bearing 3, a connecting shaft 4, a bearing support 5, a motor support 6, a waterproof direct current motor 7, an upper deep groove ball bearing 8, a water injection port 9, a cyclone cavity 10, a hollow cavity 11, an outer boss 12, an inner boss 13, a stepped hole 14 and an inner flange 15.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
As shown in fig. 1, the utility model comprises a sucker shell 2, a centrifugal impeller 1, a connecting shaft 4, a bearing support 5, a motor support 6 and a waterproof direct current motor 7, wherein the bottom of the sucker shell 2 is provided with a cavity provided with the centrifugal impeller 1, the upper end surface of the sucker shell 2 is coaxially connected with the bearing support 5, the upper end surface of the sucker shell 2 is fixed with the waterproof direct current motor 7 through the motor support 6, and the side surface of the sucker shell 2 is uniformly provided with a plurality of water filling ports 9 communicated with the cavity; the lower portion of the connecting shaft 4 is nested at the central hole opening of the sucker shell 2 through the lower deep groove ball bearing 3, the upper portion of the connecting shaft 4 is nested at the central hole opening of the bearing support 5 through the upper deep groove ball bearing 8, the bottom end of the connecting shaft 4 is connected with the centrifugal impeller 1 through a bolt, and the top end of the connecting shaft 4 is connected with an output shaft of the waterproof direct current motor 7 through a key.
The bottom cavity of the sucker shell 2 is communicated with the outside, the edge of the bottom of the sucker shell 2 radially protrudes towards the center of the sucker shell 2 to form a circle of inner flange 15, the lower end surface of the centrifugal impeller 1 is higher than the lower surface of the inner flange 15 and lower than the upper surface of the inner flange 15, and a gap is reserved between the inner flange 15 and the centrifugal impeller 1.
As shown in fig. 2, an outer boss 12 and an inner boss 13 are coaxially and sequentially milled on the upper end surface of the suction cup shell 2, and the diameter of the outer boss 12 is larger than that of the inner boss 13; the outer boss 12 is coaxially fixed with a motor support 6 through a positioning special-shaped hole, the inner boss 13 is coaxially fixed with a bearing support 5 through a positioning special-shaped hole, and the bearing support 5 is installed in the motor support 6. A stepped hole 14 is processed at the center of the inner boss 13 and used for installing the lower deep groove ball bearing 3.
The cavity comprises a hollow cavity 11 and a rotational flow cavity 10, the rotational flow cavity 10 is formed by the peripheral surface of the centrifugal impeller 1, the inner surface of the cavity and the area surrounded by the inner flange 15, the area outside the rotational flow cavity 10 in the cavity is used as the hollow cavity 11, and the hollow cavity 11 is communicated with the rotational flow cavity 10 through the gap between the inner flange 15 and the centrifugal impeller 1.
As shown in fig. 3, the utility model provides another kind of water injection form of sucking disc shell, water filling port 9 is not the mode in processing hole, but water filling port 9 extends along the tangential direction of 2 outer peripheral faces of sucking disc shell and forms and the communicating water injection passageway in the external world, and the clockwise tangential direction or the anticlockwise tangential direction of 2 outer peripheral faces of sucking disc shell are all followed to the water injection passageway of every water filling port 9. The water injection channel can facilitate water injection, but the processing difficulty is higher.
As shown in fig. 4, the blades in the centrifugal impeller 1 are inclined, and the blades are flat-plate type blades, that is, the blades are perpendicular to the bottom surface of the centrifugal impeller 1, and the blades intersect with a cylindrical boss in the middle of the centrifugal impeller 1.
The specific embodiment is as follows:
the utility model discloses 2 bottoms of sucking disc shell are opened there are well cavity 11 and whirl chamber 10, 2 sides of sucking disc shell are opened there is water filling port 9, 2 tops of sucking disc shell have shoulder hole 14 to be used for the installation bearing, and the top still installs motor support 6 and bearing support 5, waterproof direct current motor 7 is fixed through motor support 6 and is ensured and sucking disc shell 2 keeps the axiality, 7 output shafts of waterproof direct current motor pass through bearing support 5 and connecting axle 4 and connect, bearing support 5 guarantees 7 output shafts of waterproof motor and sucking disc shell 2's axiality through the connection of bearing and connecting axle 4.
The sucking disc shell side of this embodiment has 4 evenly distributed's water filling port 9, and water filling port 9 and whirl chamber 10 intercommunication, sucking disc shell whirl chamber 10 and sucking disc impeller 1 form a semi-enclosed space, ensure to be full of water in cavity 11 in the sucking disc shell.
The external diameter of the sucking disc shell 2 of this embodiment is 200mm, and the cavity diameter of sucking disc shell 2 is 170mm, and the degree of depth is 15mm, and 10 cavity cross-sections in whirl chamber are 10 mm's of length of side square, and are 5mm from sucking disc shell bottom surface. The outer diameter of the sucker impeller is 165mm, the height of the sucker impeller is 11mm, the top surface of the sucker impeller is 1mm lower than that of the hollow cavity, and the rotating speed of the waterproof direct current motor is 3000 r/min.
As shown in fig. 5, in a non-water environment, water is injected from a water injection channel, a rotational flow is formed in the rotational flow cavity 10 of the suction cup housing 2, and a negative pressure is formed in the hollow cavity 11, so that an adsorption force is generated; meanwhile, the waterproof direct current motor 7 drives the centrifugal impeller 1 to rotate through the connecting shaft 4, the rotating direction of the centrifugal impeller 1 is opposite to that of water flow in the rotational flow cavity 10, and the water flow in the hollow cavity 11 is driven to rotate to generate negative pressure, so that the adsorption force is increased. The water flow in the cavity flows out from the bottom of the sucker shell 2.
As shown in fig. 6, in a water environment, the waterproof dc motor 7 drives the centrifugal impeller 1 to rotate through the connecting shaft 4, so as to generate negative pressure, thereby generating an adsorption force; meanwhile, water flows into the hollow cavity 11 from the water filling port 9 and the bottom of one side of the sucker shell 2 under the action of adsorption force, the rotation direction of the water flow in the cyclone cavity 10 is consistent with that of the centrifugal impeller 1, and the water flows out from the water filling port 9 and the bottom of the other side of the sucker shell 2 to increase negative pressure.
The utility model discloses centrifugal impeller formula is sucking disc under water can realize that the wall adsorbs and snatchs, especially can realize that non-contact adsorbs and adapt to the wall of different roughness, and suction is stable controllable, and simple structure has extensive application prospect in the wall climbing robot field.
Claims (6)
1. An amphibious non-contact sucker is characterized by comprising a sucker shell (2), a centrifugal impeller (1), a connecting shaft (4), a bearing support (5), a motor support (6) and a waterproof direct current motor (7), wherein a cavity provided with the centrifugal impeller (1) is formed in the bottom of the sucker shell (2), the bearing support (5) is coaxially connected to the upper end face of the sucker shell (2), the waterproof direct current motor (7) is fixed to the upper end face of the sucker shell (2) through the motor support (6), and a plurality of water filling ports (9) communicated with the cavity are uniformly formed in the side face of the sucker shell (2); the lower portion of the connecting shaft (4) is nested at the central hole opening of the sucker shell (2) through the lower deep groove ball bearing (3), the upper portion of the connecting shaft (4) is nested at the central hole opening of the bearing support (5) through the upper deep groove ball bearing (8), the bottom end of the connecting shaft (4) is connected with the centrifugal impeller (1) through a bolt, and the top end of the connecting shaft (4) is connected with an output shaft of the waterproof direct current motor (7) through a key connection.
2. The amphibious non-contact sucker according to claim 1, wherein a bottom cavity of the sucker shell (2) is communicated with the outside, the bottom edge of the sucker shell (2) protrudes radially towards the center of the sucker shell (2) to form a circle of inner flange (15), the lower end face of the centrifugal impeller (1) is higher than the lower surface of the inner flange (15) and lower than the upper surface of the inner flange (15), and a gap is reserved between the inner flange (15) and the centrifugal impeller (1);
the cavity comprises a hollow cavity (11) and a cyclone cavity (10), the cyclone cavity (10) is formed by the peripheral surface of the centrifugal impeller (1), the inner surface of the cavity and the area surrounded by the inner flange (15), the area outside the cyclone cavity (10) in the cavity is used as the hollow cavity (11), and the hollow cavity (11) is communicated with the cyclone cavity (10) through the gap between the inner flange (15) and the centrifugal impeller (1).
3. An amphibious non-contact suction cup according to claim 2, characterised in that the water injection ports (9) of the suction cup housing (2) extend in a tangential direction of the outer peripheral surface of the suction cup housing (2) to form water injection passages communicating with the outside, and the water injection passage of each water injection port (9) is in a clockwise tangential direction or an anticlockwise tangential direction of the outer peripheral surface of the suction cup housing (2).
4. An amphibious non-contact suction cup according to claim 1, characterised in that the upper end face of the suction cup housing (2) is milled with an outer boss (12) and an inner boss (13) coaxially in sequence, the diameter of the outer boss (12) being larger than the diameter of the inner boss (13); the outer boss (12) is coaxially fixed with a motor support (6) through a positioning special-shaped hole, the inner boss (13) is coaxially fixed with a bearing support (5) through a positioning special-shaped hole, and the bearing support (5) is installed in the motor support (6).
5. An amphibious non-contact suction cup according to claim 1, characterised in that the watertight dc motor (7) is coaxially connected to the connection shaft (4) through an opening in the top of the motor mount (6).
6. An amphibious non-contact suction cup according to claim 1, characterised in that the bottom end of the connection shaft (4) extends into the suction cup housing (2) cavity to connect with the centrifugal impeller (1) keeping the centrifugal impeller (1) out of contact with the cavity upper surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921453344.2U CN211054872U (en) | 2019-09-03 | 2019-09-03 | Amphibious non-contact sucker |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921453344.2U CN211054872U (en) | 2019-09-03 | 2019-09-03 | Amphibious non-contact sucker |
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| Publication Number | Publication Date |
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| CN211054872U true CN211054872U (en) | 2020-07-21 |
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| CN201921453344.2U Active CN211054872U (en) | 2019-09-03 | 2019-09-03 | Amphibious non-contact sucker |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110481253A (en) * | 2019-09-03 | 2019-11-22 | 浙江大学 | Amphibious non-contact suction cup |
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2019
- 2019-09-03 CN CN201921453344.2U patent/CN211054872U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110481253A (en) * | 2019-09-03 | 2019-11-22 | 浙江大学 | Amphibious non-contact suction cup |
| CN110481253B (en) * | 2019-09-03 | 2023-08-18 | 浙江大学 | Amphibious non-contact sucker |
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