CN101537860B - Amplitude-changing sine vibration and suction mechanism - Google Patents
Amplitude-changing sine vibration and suction mechanism Download PDFInfo
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- CN101537860B CN101537860B CN2009100818334A CN200910081833A CN101537860B CN 101537860 B CN101537860 B CN 101537860B CN 2009100818334 A CN2009100818334 A CN 2009100818334A CN 200910081833 A CN200910081833 A CN 200910081833A CN 101537860 B CN101537860 B CN 101537860B
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Abstract
The invention discloses an amplitude-changing sine vibration and suction mechanism, consisting of a vibration unit, a varying-amplitude unit and a base; the vibration unit comprises four suckers, four guiding columns, two levers, a motor, two guiding frames and two eccentric wheels; and the varying-amplitude unit comprises a motor, a driving gear, a driven gear, a screw rod, a polished rod, two sliding blocks and a plurality of bearing seats and bearings. The vibration and suction mechanism realizes the vibration and suction of the suckers by one motor, while the other motor can change vibration amplitude. The adoption of the screw rod, the polished rod and the levers can guarantee the relative independence of the vibration of the suckers and the change of the vibration amplitude without mutual interference.
Description
Technical field
The present invention relates to a kind of mechanism that uses sucker to vibrate absorption, more particularly say, be meant a kind of vibration and suction mechanism with vibration and amplitude mutually noninterfere.
Background technology
Vibration in a broad sense is meant the process that the parameter (as displacement, voltage) of descriptive system state changes at its a reference value alternatively up and down.Narrow sense be meant mechanical vibration, i.e. vibration in the mechanical system.If residing state was a state of equilibrium when sucker chamber internal gas pressure equaled external atmosphere pressure, sucker is when its shirt rim well contacts with wall under state of nature, make it highly be balance height, sucker makes its height under the effect of external force be the center with the balance height, with the phenomenon of wall absorption, be called vibration absorption with certain amplitude vibration.
Negative-pressure adsorption comprises initiatively absorption and passive absorption.Initiatively absorption is meant the formation of vacuum and keeps the active suction that all dependence comes from the outside, and generally adopts vacuum generating device to produce negative pressure in sucker.The negative pressure value that this mode produces is bigger, and the relative vacuum degree generally can reach-80KPa～-90KPa (the relative pressure of standard atmosphere is 0KPa).This negative pressure value can guarantee that sucker produces enough adsorption affinitys, needs the very long tracheae of traction but shortcoming is a vacuum generating device, makes the entire machine human body become heavy, is unfavorable for realizing the miniaturization of robot.Passive absorption is to produce negative pressure by the sucker dilatation, does not need vacuum generating device and tracheae, realizes the miniaturization of robot body easily, but shortcoming is that the negative pressure that produces is less, because the gas leak phenomenon of sucker and wall exists, the safety of robot is reduced, can not be adsorbed on the wall constantly.
Summary of the invention
The objective of the invention is to propose a kind of amplitude-changing sine vibration and suction mechanism, this vibration and suction mechanism is by the vibration absorption of a motor realization sucker, and another motor can change amplitude.Adopt leading screw, polished rod (base bottom) and lever (pedestal top) can guarantee that the change of the vibration of sucker and amplitude is relatively independent, mutually noninterfere.
A kind of amplitude-changing sine vibration and suction mechanism of the present invention, it is made of vibration unit, change amplitude unit and pedestal 1;
Describedly on pedestal 1, be provided with A bearing 107, B bearing 108, A motor cabinet 105, B motor cabinet 106, and on the front plate 1b of pedestal 1, have A chute 101, B chute 102, C chute 103, D chute 104, gear grooved 109; Being A bearing 107 between A chute 101 and the B chute 102, is B bearing 108 between D chute 104 and the C chute 103;
A chute 101 and B chute 102 and D chute 104 and C chute 103 are symmetricly set on the both sides of pedestal 1 with cross central line, and these four chutes are respectively applied for A guide pillar 51, B guide pillar 52, C guide pillar 53 and D guide pillar 54 and slide in groove;
Gear grooved 109 is used for driving gear 7C, driven gear 7D rotates in groove; The side of gear grooved 109 is provided with B motor cabinet 106, and this B motor cabinet 106 is used for fixing installs B motor 5;
A bearing 107 is arranged on the longitudinal centerline of pedestal 1 with B bearing 108, and is symmetricly set on the both sides of pedestal 1 with cross central line;
A motor cabinet 105 is arranged on the left end 1a of pedestal 1, and B motor cabinet 106 is arranged on the limit of gear grooved 109; A motor cabinet 105 is used for fixing installs A motor 4; B motor cabinet 106 is used for fixing installs B motor 5;
Described vibration unit includes A sucker 41, B sucker 42, C sucker 43 and D sucker 44, A guide pillar 51, B guide pillar 52, C guide pillar 53 and D guide pillar 54, A lever 2, B lever 3, A motor 4, A guide housing 61, A eccentric wheel 61b, B guide housing 62, B eccentric wheel 62b;
A motor 4 is fixedly mounted on the A motor cabinet 105, and the output shaft of A motor 4 is connected on the A eccentric wheel 61b after passing through hole on the A motor cabinet 105, B eccentric wheel 62b in turn;
A eccentric wheel 61b is installed in the framework of A guide housing 61, and the A drive link 61a of A guide housing 61 places in the C elongated slot 31 of B lever 3;
B eccentric wheel 62b is installed in the framework of B guide housing 62, and the B drive link 62a of B guide housing 62 places in the A elongated slot 21 of A lever 2;
One end of A guide pillar 51 is socketed with A sucker 41, and the other end of A guide pillar 51 is installed in the C elongated slot 31 of B lever 3 by a pin; One end of B guide pillar 52 is socketed with B sucker 42, and the other end of B guide pillar 52 is installed in the D elongated slot 32 of B lever 3 by a pin; One end of C guide pillar 53 is socketed with C sucker 43, and the other end of C guide pillar 53 is installed in the B elongated slot 22 of A lever 2 by a pin; One end of D guide pillar 54 is socketed with D sucker 44, and the other end of D guide pillar 54 is installed in the A elongated slot 21 of A lever 2 by a pin;
The centre of A lever 2 has A pin-and-hole 23, and the two ends of A lever 2 have A elongated slot 21, B elongated slot 22, and A lever 2 is installed in the through hole of B bearing 108 after passing A pin-and-hole 23 by a pin; A lever 2 was realized with being connected by pin of B bearing 108;
The centre of B lever 3 has B pin-and-hole 33, and the two ends of B lever 3 have C elongated slot 31, D elongated slot 32, and B lever 3 is installed in the through hole of A bearing 107 after passing B pin-and-hole 33 by a pin; B lever 3 was realized with being connected by pin of A bearing 107;
A motor 4 drives A eccentric wheel 61b and B eccentric wheel 62b uniform rotation, and then drives A guide housing 61 and the B guide housing 62 phase difference up-and-down movements with 180 degree;
It is simultaneously reciprocating that A guide housing 61 drives B lever 3, B guide housing 62 drives A lever 2; Then B lever 3 drive A guide pillars 51 and A sucker 41, B guide pillar 52 and B sucker 42 are with the phase difference up-down vibration of 180 degree, and A lever 2 drive D guide pillars 54 and D sucker 44, C guide pillar 53 and C sucker 43 are with the phase difference up-down vibration of 180 degree simultaneously;
Become amplitude unit and include B motor 5, driving gear 7C, driven gear 7D, leading screw 7A, polished rod 7B, A slide block 75, B slide block 76, and a plurality of bearing seat and bearing;
Leading screw 7A upward is socketed with A bearing 701, B bearing 702, C bearing 703, D bearing 704 in turn from an end to the other end, A bearing 701 is installed in the axis hole of A bearing seat 721, B bearing 702 is installed in the axis hole of B bearing seat 722, C bearing 703 is installed in the axis hole of C bearing seat 723, and D bearing 704 is installed in the axis hole of D bearing seat 724;
Polished rod 7B upward is socketed with E bearing 705, F bearing 706, G bearing 707, H bearing 708, I bearing 709, J bearing 710 in turn from an end to the other end, E bearing 705 is installed in the axis hole of E bearing seat 725, G bearing 707 is installed in the axis hole of G bearing seat 727, H bearing 708 is installed in the axis hole of H bearing seat 728, and J bearing 710 is installed in the axis hole of J bearing seat 730;
A bearing seat 721, B bearing seat 722, C bearing seat 723, D bearing seat 724, E bearing seat 725, G bearing seat 727, H bearing seat 728 and J bearing seat 730 these eight bearing seats are installed on the lower face (bottom of pedestal) of pedestal 1;
The upper face 75a two ends of A slide block 75 are respectively equipped with C bearing hole 753, D bearing hole 754, and the lateral plates 75b of A slide block 75 is provided with A tapped bore 751, A bearing hole 752.L bearing 712 is installed in the C bearing hole 753, and D guide pillar 54 is moving linearly in L bearing 712.N bearing 714 is installed in the D bearing hole 754, and A guide pillar 51 is moving linearly in N bearing 714; I bearing 709 is installed in the A bearing hole 752;
The upper face 76a two ends of B slide block 76 are respectively equipped with E bearing hole 763, F bearing hole 764, and the lateral plates 76b of B slide block 76 is provided with B tapped bore 761, B bearing hole 762.K bearing 711 is installed in the E bearing hole 763, and C guide pillar 53 is moving linearly in K bearing 711.M bearing 713 is installed in the F bearing hole 764, and B guide pillar 52 is moving linearly in M bearing 713; F bearing 706 is installed in the B bearing hole 762.
The advantage of a kind of amplitude-changing sine vibration and suction mechanism of the present invention is:
(1) adopt two DC servo motor as drive source, a motor adsorbs as the vibration of four suckers, and another motor cooperates with leading screw by driving gear, driven gear, has realized the change of amplitude.
(2) adopt being used in combination of motor, slide block, leading screw and polished rod, guaranteed the successional precision of amplitude variations, improved the controllability of vibration and suction mechanism of the present invention.
(3) adopt lever design on the top of pedestal, can be with the left end transfer of vibration to right-hand member; Leading screw, polished rod, slide block, design of gears are adopted in bottom at pedestal, can make the change and the vibration absorption mutually noninterfere of amplitude, and each autokinesis is relatively independent.
Description of drawings
Fig. 1 is the constructional drawing of amplitude-changing sine vibration and suction mechanism of the present invention.
Figure 1A is the constructional drawing of the amplitude-changing sine vibration and suction mechanism of the present invention of unassembled base plate and motor.
Fig. 2 is the constructional drawing of pedestal of the present invention.
Fig. 3 is the constructional drawing of vibration unit of the present invention.
Fig. 3 A is the exploded drawings of eccentric wheel and guide housing in the vibration unit of the present invention.
Fig. 4 is the constructional drawing that the present invention becomes amplitude unit.
Among the figure: 1. pedestal 1a. left end 1b. front plate 101.A chute 102.B chute 103.C chute 104.D chute 105.A motor cabinet 106.B motor cabinet 107.A bearing 108.B bearing 109. gear grooved 2.A lever 21.A elongated slot 22.B elongated slot 23.A pin-and-hole 3.B lever 31.C elongated slot 32.D elongated slot 33.B pin-and-hole 4.A motor 5.B motor 61.A guide housing 61a.A drive links
61b.A eccentric wheel 62.B guide housing 62a.B drive link 62b.B eccentric wheel 7. slide assemblies
7A. leading screw 7B. polished rod 7C. driving gear 7D. driven gear 701.A bearing
702.B bearing 703.C bearing 704.D bearing 705.E bearing 706.F bearing
707.G bearing 708.H bearing 709.I bearing 710.J bearing 711.K bearing
712.L bearing 713.M bearing 721.A bearing seat 722.B bearing seat 723.C bearing seat
724.D bearing seat 725.E bearing seat 727.G bearing seat 728.H bearing seat 730.J bearing seat
75.A the positive plate face of slide block 75a. 75b. lateral plates 751.A tapped bore 752.A bearing hole
753.C the positive plate face of bearing hole 754.D bearing hole 76.B slide block 76a. 76b. lateral plates
761.B tapped bore 762.B bearing hole 76.E bearing hole 764.F bearing hole
41.A sucker 42.B sucker 43.C sucker 44.D sucker
51.A guide pillar 52.B guide pillar 53.C guide pillar 54.D guide pillar
The specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
Shown in Fig. 1, Figure 1A, a kind of amplitude-changing sine vibration and suction mechanism of the present invention is made of vibration unit, change amplitude unit and pedestal 1.
(1) pedestal
Referring to shown in Figure 2, describedly on pedestal 1, be provided with A bearing 107, B bearing 108, A motor cabinet 105, B motor cabinet 106, and on the front plate 1b of pedestal 1, have A chute 101, B chute 102, C chute 103, D chute 104, gear grooved 109; Being A bearing 107 between A chute 101 and the B chute 102, is B bearing 108 between D chute 104 and the C chute 103;
A chute 101 and B chute 102 and D chute 104 and C chute 103 are symmetricly set on the both sides of pedestal 1 with cross central line, and these four chutes are respectively applied for four guide pillars (A guide pillar 51, B guide pillar 52, C guide pillar 53 and D guide pillar 54) and slide in groove;
Gear grooved 109 is used for driving gear 7C, driven gear 7D rotates in groove; The side of gear grooved 109 is provided with B motor cabinet 106, and this B motor cabinet 106 is used for fixing installs B motor 5;
A bearing 107 is arranged on the longitudinal centerline of pedestal 1 with B bearing 108, and is symmetricly set on the both sides of pedestal 1 with cross central line;
A motor cabinet 105 is arranged on the left end 1a of pedestal 1, and B motor cabinet 106 is arranged on the limit of gear grooved 109.A motor cabinet 105 is used for fixing installs A motor 4.B motor cabinet 106 is used for fixing installs B motor 5.
(2) vibration unit
Shown in Fig. 1, Figure 1A, Fig. 3, Fig. 3 A, described vibration unit includes four suckers (A sucker 41, B sucker 42, C sucker 43 and D sucker 44), four guide pillars (A guide pillar 51, B guide pillar 52, C guide pillar 53 and D guide pillar 54), A lever 2, B lever 3, A motor 4, A guide housing 61, A eccentric wheel 61b, B guide housing 62, B eccentric wheel 62b;
A motor 4 is fixedly mounted on the A motor cabinet 105, and the output shaft of A motor 4 is connected on the A eccentric wheel 61b after passing through hole on the A motor cabinet 105, B eccentric wheel 62b in turn; A eccentric wheel 61b is installed in the framework of A guide housing 61, and the A drive link 61a of A guide housing 61 places in the C elongated slot 31 of B lever 3.
B eccentric wheel 62b is installed in the framework of B guide housing 62, and the B drive link 62a of B guide housing 62 places in the A elongated slot 21 of A lever 2.
One end of four guide pillars is socketed on four suckers, and the other end of four guide pillars is installed in the elongated slot of A lever 2 and B lever 3 by pin respectively; An end that is A guide pillar 51 is socketed with A sucker 41, and the other end of A guide pillar 51 is installed in the C elongated slot 31 of B lever 3 by a pin; One end of B guide pillar 52 is socketed with B sucker 42, and the other end of B guide pillar 52 is installed in the D elongated slot 32 of B lever 3 by a pin; One end of C guide pillar 53 is socketed with C sucker 43, and the other end of C guide pillar 53 is installed in the B elongated slot 22 of A lever 2 by a pin; One end of D guide pillar 54 is socketed with D sucker 44, and the other end of D guide pillar 54 is installed in the A elongated slot 21 of A lever 2 by a pin.
The centre of A lever 2 has A pin-and-hole 23, and the two ends of A lever 2 have A elongated slot 21, B elongated slot 22, and A lever 2 is installed in the through hole of B bearing 108 after passing A pin-and-hole 23 by a pin.A lever 2 was realized with being connected by pin of B bearing 108.
The centre of B lever 3 has B pin-and-hole 33, and the two ends of B lever 3 have C elongated slot 31, D elongated slot 32, and B lever 3 is installed in the through hole of A bearing 107 after passing B pin-and-hole 33 by a pin.B lever 3 was realized with being connected by pin of A bearing 107.
A motor 4 drives A eccentric wheel 61b and B eccentric wheel 62b uniform rotation, and then drives A guide housing 61 and the B guide housing 62 phase difference up-and-down movements with 180 degree.
It is simultaneously reciprocating that A guide housing 61 drives B lever 3, B guide housing 62 drives A lever 2.Then B lever 3 drive A guide pillars 51 and A sucker 41, B guide pillar 52 and B sucker 42 are with the phase difference up-down vibration of 180 degree, and A lever 2 drive D guide pillars 54 and D sucker 44, C guide pillar 53 and C sucker 43 are with the phase difference up-down vibration of 180 degree simultaneously.
Design-calculated vibration unit of the present invention is a fulcrum with the bearing, and lever is the center crank motion with the fulcrum.
(D) become amplitude unit
Referring to Fig. 1, Figure 1A, shown in Figure 4, become amplitude unit and include B motor 5, driving gear 7C, driven gear 7D, leading screw 7A, polished rod 7B, A slide block 75, B slide block 76, and a plurality of bearing seat and bearing;
Leading screw 7A upward is socketed with A bearing 701, B bearing 702, C bearing 703, D bearing 704 in turn from an end to the other end, A bearing 701 is installed in the axis hole of A bearing seat 721, B bearing 702 is installed in the axis hole of B bearing seat 722, C bearing 703 is installed in the axis hole of C bearing seat 723, and D bearing 704 is installed in the axis hole of D bearing seat 724.
A bearing seat 721, B bearing seat 722, C bearing seat 723, D bearing seat 724, E bearing seat 725, G bearing seat 727, H bearing seat 728 and J bearing seat 730 these eight bearing seats are installed on the lower face (bottom of pedestal) of pedestal 1.
The upper face 75a two ends of A slide block 75 are respectively equipped with C bearing hole 753, D bearing hole 754, and the lateral plates 75b of A slide block 75 is provided with A tapped bore 751, A bearing hole 752.L bearing 712 is installed in the C bearing hole 753, and D guide pillar 54 is moving linearly in L bearing 712.N bearing 714 is installed in the D bearing hole 754, and A guide pillar 51 is moving linearly in N bearing 714.I bearing 709 is installed in the A bearing hole 752.
The upper face 76a two ends of B slide block 76 are respectively equipped with E bearing hole 763, F bearing hole 764, and the lateral plates 76b of B slide block 76 is provided with B tapped bore 761, B bearing hole 762.K bearing 711 is installed in the E bearing hole 763, and C guide pillar 53 is moving linearly in K bearing 711.M bearing 713 is installed in the F bearing hole 764, and B guide pillar 52 is moving linearly in M bearing 713.F bearing 706 is installed in the B bearing hole 762.
A slide block 75 drives A guide pillar 51 and D guide pillar 54 moves along A elongated slot 21 and C elongated slot 31, simultaneously, B slide block 76 drives B guide pillar 52 and C guide pillar 53 moves along D elongated slot 32 and B elongated slot 22, make the variable in distance of four suckers (A sucker 41, B sucker 42, C sucker 43 and D sucker 44) and A bearing and B bearing, thereby reached the purpose that changes amplitude.
A kind of amplitude-changing sine vibration and suction mechanism of the present invention realize that by a motor vibration of sucker is adsorbed, and another motor can change amplitude.Adopt leading screw, polished rod (base bottom) and lever (pedestal top) can guarantee that the change of the vibration of sucker and amplitude is relatively independent, mutually noninterfere.The present invention is the vacuum vibration and suction mechanism of a kind of dependence vibration sucker, belongs to initiatively absorption.It initiatively adsorbs differently with traditional, and this suction type had both needed propulsion source (antivacuum generating means) to produce vacuum, was not again to rely on the sucker dilatation to keep vacuum merely.
Claims (2)
1. amplitude-changing sine vibration and suction mechanism is characterized in that: this amplitude-changing sine vibration and suction mechanism by vibration unit, become amplitude unit and pedestal (1) constitutes;
Described A bearing (107), B bearing (108), A motor cabinet (105), the B motor cabinet (106) of on pedestal (1), being provided with, and on the front plate (1b) of pedestal (1), have A chute (101), B chute (102), C chute (103), D chute (104), gear grooved (109); Being A bearing (107) between A chute (101) and the B chute (102), is B bearing (108) between D chute (104) and the C chute (103);
A chute (101) and B chute (102) and D chute (104) and C chute (103) are symmetricly set on the both sides of pedestal (1) with cross central line, and these four chutes are respectively applied for A guide pillar (51), B guide pillar (52), C guide pillar (53) and D guide pillar (54) and slide in groove;
Gear grooved (109) is used for driving gear (7C), driven gear (7D) rotates in groove; The side of gear grooved (109) is provided with B motor cabinet (106), and this B motor cabinet (106) is used for fixing installs B motor (5);
A bearing (107) is arranged on the longitudinal centerline of pedestal (1) with B bearing (108), and is symmetricly set on the both sides of pedestal (1) with cross central line;
A motor cabinet (105) is arranged on the left end (1a) of pedestal (1), and B motor cabinet (106) is arranged on the limit of gear grooved (109); A motor cabinet (105) is used for fixing installs A motor (4); B motor cabinet (106) is used for fixing installs B motor (5);
Described vibration unit includes A sucker (41), B sucker (42), C sucker (43) and D sucker (44), A guide pillar (51), B guide pillar (52), C guide pillar (53) and D guide pillar (54), A lever (2), B lever (3), A motor (4), A guide housing (61), A eccentric wheel (61b), B guide housing (62), B eccentric wheel (62b);
A motor (4) is fixedly mounted on the A motor cabinet (105), and the output shaft of A motor (4) is connected on the A eccentric wheel (61b) after passing through hole on the A motor cabinet (105), B eccentric wheel (62b) in turn;
A eccentric wheel (61b) is installed in the framework of A guide housing (61), and the A drive link (61a) of A guide housing (61) places in the C elongated slot (31) of B lever (3);
B eccentric wheel (62b) is installed in the framework of B guide housing (62), and the B drive link (62a) of B guide housing (62) places in the A elongated slot (21) of A lever (2);
One end of A guide pillar (51) is socketed with A sucker (41), and the other end of A guide pillar (51) is installed in the C elongated slot (31) of B lever (3) by a pin; One end of B guide pillar (52) is socketed with B sucker (42), and the other end of B guide pillar (52) is installed in the D elongated slot (32) of B lever (3) by a pin; One end of C guide pillar (53) is socketed with C sucker (43), and the other end of C guide pillar (53) is installed in the B elongated slot (22) of A lever (2) by a pin; One end of D guide pillar (54) is socketed with D sucker (44), and the other end of D guide pillar (54) is installed in the A elongated slot (21) of A lever (2) by a pin;
The centre of A lever (2) has A pin-and-hole (23), and the two ends of A lever (2) have A elongated slot (21), B elongated slot (22), and A lever (2) is installed in the through hole of B bearing (108) after passing A pin-and-hole (23) by a pin; A lever (2) was realized with being connected by pin of B bearing (108);
The centre of B lever (3) has B pin-and-hole (33), and the two ends of B lever (3) have C elongated slot (31), D elongated slot (32), and B lever (3) is installed in the through hole of A bearing (107) after passing B pin-and-hole (33) by a pin; B lever (3) was realized with being connected by pin of A bearing (107);
A motor (4) drives A eccentric wheel (61b) and B eccentric wheel (62b) uniform rotation, and then drives A guide housing (61) and B guide housing (62) with the 180 phase difference up-and-down movements of spending;
It is simultaneously reciprocating that A guide housing (61) drives B lever (3), B guide housing (62) drives A lever (2); Then B lever (3) drive A guide pillar (51) and A sucker (41), B guide pillar (52) and B sucker (42) are with the phase difference up-down vibration of 180 degree, and A lever (2) drive D guide pillar (54) and D sucker (44), C guide pillar (53) and C sucker (43) are with the phase difference up-down vibration of 180 degree simultaneously;
Become amplitude unit and include B motor (5), driving gear (7C), driven gear (7D), leading screw (7A), polished rod (7B), A slide block (75), B slide block (76), and a plurality of bearing seat and bearing;
B motor (5) is installed on the B motor cabinet (106), and the output shaft of B motor (5) is connected with driving gear (7C) after passing through hole on the B motor cabinet (106); Driving gear (7C) is 1: 2 with driven gear (7D) engagement, driving gear (7C) with the ratio of number of teeth of driven gear (7D);
Driven gear (7D) is installed on the leading screw (7A);
Leading screw (7A) upward is socketed with A bearing (701), B bearing (702), C bearing (703), D bearing (704) in turn from an end to the other end, A bearing (701) is installed in the axis hole of A bearing seat (721), B bearing (702) is installed in the axis hole of B bearing seat (722), C bearing (703) is installed in the axis hole of C bearing seat (723), and D bearing (704) is installed in the axis hole of D bearing seat (724);
Polished rod (7B) upward is socketed with E bearing (705), F bearing (706), G bearing (707), H bearing (708), I bearing (709), J bearing (710) in turn from an end to the other end, E bearing (705) is installed in the axis hole of E bearing seat (725), G bearing (707) is installed in the axis hole of G bearing seat (727), H bearing (708) is installed in the axis hole of H bearing seat (728), and J bearing (710) is installed in the axis hole of J bearing seat (730);
These eight bearing seats of A bearing seat (721), B bearing seat (722), C bearing seat (723), D bearing seat (724), E bearing seat (725), G bearing seat (727), H bearing seat (728) and J bearing seat (730) are installed on the lower face of pedestal (1);
Upper face (75a) two ends of A slide block (75) are respectively equipped with C bearing hole (753), D bearing hole (754), and the lateral plates (75b) of A slide block (75) is provided with A tapped bore (751), A bearing hole (752); L bearing (712) is installed in the C bearing hole (753), and D guide pillar (54) is moving linearly in L bearing (712); N bearing (714) is installed in the D bearing hole (754), and A guide pillar (51) is moving linearly in N bearing (714); I bearing (709) is installed in the A bearing hole (752);
Upper face (76a) two ends of B slide block (76) are respectively equipped with E bearing hole (763), F bearing hole (764), and the lateral plates (76b) of B slide block (76) is provided with B tapped bore (761), B bearing hole (762); K bearing (711) is installed in the E bearing hole (763), and C guide pillar (53) is moving linearly in K bearing (711); M bearing (713) is installed in the F bearing hole (764), and B guide pillar (52) is moving linearly in M bearing (713); F bearing (706) is installed in the B bearing hole (762).
2. amplitude-changing sine vibration and suction mechanism according to claim 1 is characterized in that: vibration unit is fulcrum with the bearing, and lever is the center crank motion with the fulcrum.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100818334A CN101537860B (en) | 2009-04-13 | 2009-04-13 | Amplitude-changing sine vibration and suction mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100818334A CN101537860B (en) | 2009-04-13 | 2009-04-13 | Amplitude-changing sine vibration and suction mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN101537860A CN101537860A (en) | 2009-09-23 |
| CN101537860B true CN101537860B (en) | 2010-06-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100818334A Expired - Fee Related CN101537860B (en) | 2009-04-13 | 2009-04-13 | Amplitude-changing sine vibration and suction mechanism |
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| CN109823430A (en) * | 2017-11-23 | 2019-05-31 | 王成 | Climbing robot self-absorption type vacuum chuck |
| CN110341827B (en) * | 2019-07-22 | 2022-03-29 | 上海神谷电子科技有限公司 | Anti-falling wall climbing robot and walking method thereof |
| CN113581314A (en) * | 2021-08-28 | 2021-11-02 | 华北理工大学 | Novel sufficient wall climbing robot motion |
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2009
- 2009-04-13 CN CN2009100818334A patent/CN101537860B/en not_active Expired - Fee Related
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| CN101537860A (en) | 2009-09-23 |
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