CN111619690A - Negative pressure self-adaptive adjusting device of negative pressure type wall climbing robot - Google Patents
Negative pressure self-adaptive adjusting device of negative pressure type wall climbing robot Download PDFInfo
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- CN111619690A CN111619690A CN202010408867.6A CN202010408867A CN111619690A CN 111619690 A CN111619690 A CN 111619690A CN 202010408867 A CN202010408867 A CN 202010408867A CN 111619690 A CN111619690 A CN 111619690A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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Abstract
The invention discloses a negative pressure self-adaptive adjusting device of a negative pressure type wall-climbing robot, which comprises a wall-climbing robot body, wherein partition plates are symmetrically arranged in the wall-climbing robot body, the partition plates respectively form negative pressure cavities with the inner wall of the wall-climbing robot body, a containing cavity is formed between each adjacent partition plate and the wall-climbing robot body, suction pumps are symmetrically arranged at the top end of the wall-climbing robot body, output pipes of the suction pumps are connected with suction ports positioned in the negative pressure cavities, air pressure sensors are arranged on the inner walls of the negative pressure cavities, and a controller electrically connected with the air pressure sensors is arranged at the top end of the wall-climbing robot body. The beneficial effects are that: through the setting of centre gripping subassembly, the effectual centre gripping process that has improved the cable, and then can reduce naked cable length, can alleviate external dragging to the cable and cause the cable and electrical equipment disconnection, and then the effectual work efficiency who avoids climbing wall robot body interrupt work, and then the effectual wall robot body that has improved.
Description
The present invention claims priority, and the information previously filed is as follows: 201910807463.1
Application date: 2019-08-29, invention name: a negative pressure self-adaptive adjusting device of a negative pressure type wall-climbing robot.
Technical Field
The invention relates to the field of robots, in particular to a negative pressure self-adaptive adjusting device of a negative pressure type wall-climbing robot.
Background
With the development of modern science and technology, robots capable of realizing the wall climbing function are needed in various fields such as anti-terrorism investigation, high-rise building detection, wall surface cleaning and the like. The robot can freely travel on walls with various angles, and simultaneously carries various sensors to complete tasks. Under the condition that the negative pressure cavity of the wall-climbing robot is constant in sealing effect, constant adsorption force is provided, and free movement on a vertical wall surface can be realized by overcoming the influences of friction force, robot gravity and the like under the action of the constant pressure through the driving force of the movement system. However, at actual climbing in-process, because the wall roughness, crackle, the influence of factors such as granule obstacle, airtight effect is invariable can not be accomplished to wall climbing robot's negative pressure chamber, consequently can cause the robot the possibility that drops to appear, lead to destroying of robot, be equipped with the cable on the robot simultaneously, exposed cable can receive the possibility that the external world dragged, and then lead to cable and electrical equipment's junction to appear becoming flexible, and then lead to the robot work to break off, and then influence wall climbing robot's work progress and work efficiency.
An effective solution to the problems in the related art has not been proposed yet.
Disclosure of Invention
The invention provides a negative pressure adaptive adjusting device of a negative pressure type wall-climbing robot, aiming at the problems in the related art, so as to overcome the technical problems in the prior related art.
Therefore, the invention adopts the following specific technical scheme:
a negative pressure self-adaptive adjusting device of a negative pressure type wall-climbing robot comprises a wall-climbing robot body, wherein the inside of the wall-climbing robot body is provided with symmetrically arranged clapboards, the clapboards respectively form a negative pressure cavity with the inner wall of the wall-climbing robot body, a containing cavity is formed between the adjacent clapboards and the wall-climbing robot body, the top end of the wall-climbing robot body is symmetrically provided with a suction pump, an output pipe of the suction pump is connected with a suction port positioned in the negative pressure cavity, the inner wall of the negative pressure cavity is provided with a pressure sensor, the top end of the wall-climbing robot body is provided with a controller electrically connected with the pressure sensor, the controller is electrically connected with the suction pump, two sides of the wall-climbing robot body are symmetrically provided with a first containing groove, one side of the inner wall of the first containing groove is provided with a first through hole communicated with the negative pressure cavity, the bottom end of the first accommodating groove is provided with a second through hole, the inside of the first accommodating groove is provided with a first sealing component, the wall-climbing robot body is provided with a second accommodating groove at the top end of the negative pressure cavity, the inner top end of the second accommodating groove is provided with a third through hole, the inner top end of the second accommodating groove is provided with a fourth through hole communicated with the negative pressure cavity, the inside of the second accommodating groove is provided with a second sealing component, the middle position of the bottom end of the wall-climbing robot body is provided with a third accommodating groove, the inside of the third accommodating groove is provided with a moving component, the bottom end of the wall-climbing robot body is symmetrically provided with movable arms at two sides of the moving component, the inside of each movable arm is provided with a gas channel, the bottom end of each movable arm is provided with a plurality of suckers communicated with the gas channel, and one end of each movable arm, the inside that holds the chamber is equipped with the cable, the outside cover of cable be equipped with the clamping mechanism that wall climbing robot body lateral wall is connected.
In a further embodiment, the wall-climbing robot further comprises a rotating assembly, the rotating assembly comprises four accommodating grooves (46) symmetrically arranged at the bottom end of the wall-climbing robot body (1), a positive and negative motor (47) is arranged in the middle of the top end of the movable arm (15), an output shaft of the positive and negative motor (47) is connected with a rotating shaft (48), and the rotating shaft (48) is connected with the top ends of the four accommodating grooves (46) through an electric lifting and contracting rod; the movable arm (15) is connected with the bottom end of the wall-climbing robot body (1) through a rotating assembly.
In a further embodiment, the trachea with gas channel with through-hole two-phase intercommunication, the trachea respectively with gas channel and through-hole two intercommunication settings, be convenient for take out the suction pressure for the sucking disc adsorbs on the wall, and then realizes the negative pressure adsorption function.
In a further embodiment, the removal subassembly including set up in hold intracavity portion's electric telescopic handle one, electric telescopic handle one's output shaft with be located the holding tank three in the top the connection of linking board, the bottom bilateral symmetry of linking board is equipped with two bases, and is adjacent connect through being located between the base the rotatory roller of linking board one end, adjacent connect through the conveyer belt between the rotatory roller, one of them rotatory roller is connected with the motor, is convenient for accelerate the removal speed of robot, and then accelerates robot's job schedule.
In a further embodiment, first seal assembly including set up in it is adjacent just to be located on climbing wall robot body top electric telescopic handle two between the three through-holes, the output shaft of electric telescopic handle two with be located the inside movable plate of two holding tanks is connected, the bottom symmetry of movable plate be equipped with the piston rod of through-hole four looks adaptations, the both ends of movable plate extend to in the spout of two inner walls of holding tank, realize the jam and the opening operation to through-hole four, and then realize being the sealed and the process of ventilating in negative pressure chamber, and then be convenient for control negative pressure chamber's inside atmospheric pressure.
In a further embodiment, the top end of the moving plate is connected with the top end in the second accommodating groove through a symmetrically-arranged connecting spring, a rubber ring is sleeved outside the piston rod, and the sealing performance of the piston rod and the sealing performance of the fourth through hole can be improved due to the arrangement of the rubber ring.
In a further embodiment, the bottom end of the first accommodating groove is provided with a sealing groove connected with the second through hole, and the sealing groove is arranged to facilitate the sealing of the second sealing assembly.
In a further embodiment, the sealing component II comprises a third electric telescopic rod arranged at the inner top end of the first accommodating groove, an output shaft of the third electric telescopic rod is connected with a movable plate, a sealing ball matched with the sealing groove is arranged at the bottom end of the movable plate, and two ends of the movable plate extend into the movable groove in the inner wall of the first accommodating groove, so that the sealing ball seals the second through hole.
In a further embodiment, clamping mechanism locates including the cover the receipts of cable ring, the outside cover of receipts ring is equipped with sealed lid, receive the ring with through threaded connection between the sealed lid, the intermediate position of sealed lid is equipped with the chucking groove, the inside in chucking groove be equipped with cable junction's centre gripping subassembly can realize the centre gripping process to the cable, and then can alleviate the condition of pulling the cable, reduces cable and robot and appear being connected not hard up condition, and then avoids the robot to appear interrupting in the course of the work.
In a further embodiment, the cross section of rolling up the ring is the I-shaped structure, the rolling up ring is including the backstop board that the symmetry set up, and is adjacent connect through the rolling pole between the backstop board, all be equipped with on the backstop board with the opening of cable looks adaptation is one, and the design of rolling up the ring is convenient for carry out partial rolling to the cable, and then can reduce naked cable length, appears dragging the effectual buffer process that plays of in-process at the cable.
In a further embodiment, the centre gripping subassembly including set up in inside symmetry of chucking groove set up and with cable junction's chucking board, it is adjacent the chucking board is kept away from the side and is all connected with the pole that links up, it is connected with the push rod to link up the pole, the one end of push rod runs through the sliding port and extends to the outside in chucking groove, the bilateral symmetry in chucking groove be equipped with the opening two of cable looks adaptation, it keeps away from to link up the pole the one end of chucking board pass through buffer spring with chucking inslot wall connection is convenient for realize the clamping action to the cable, and then can alleviate external dragging to the cable and cause cable and electrical equipment to appear being connected not hard up the condition, avoids the robot to break off at the during operation, and then the effectual work efficiency that has improved.
The invention has the beneficial effects that: the invention completes the inflation and deflation process of the negative pressure cavity through the cooperation of the suction pump, the suction port and the sealing assembly I, realizes the continuous alternate adsorption and disconnection process of the sucking disc and the wall, and further effectively improves the stability of the wall-climbing robot body during climbing; when unevenness appears in the wall, can in time prevent atmospheric pressure to get into the negative pressure chamber through the setting of seal assembly two, and then effectively avoid climbing wall robot and wall and break away from, realized the protection to climbing wall robot, through the setting of centre gripping subassembly, the effectual centre gripping process to the cable that has improved, and then can reduce naked cable length, can alleviate external dragging to the cable and cause the disconnection of cable and electrical equipment, and then the effectual wall robot that avoids breaks off work, and then the effectual work efficiency who has improved the wall robot that climbs.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a negative pressure adaptive adjusting device of a negative pressure type wall-climbing robot according to an embodiment of the invention.
Fig. 2 is an enlarged schematic view of the seal assembly at a in fig. 1.
Fig. 3 is an enlarged schematic view of the second seal assembly at B in fig. 1.
Fig. 4 is a schematic structural diagram of a negative pressure adaptive adjusting device clamping mechanism of a negative pressure type wall-climbing robot according to an embodiment of the invention.
The reference signs are: the wall climbing robot comprises a wall climbing robot body 1, a partition plate 2, a suction pump 3, a suction port 4, a controller 5, an air pressure sensor 6, a first accommodating groove 7, a first through hole 8, a second through hole 9, a second accommodating groove 10, a third through hole 11, a fourth through hole 12, an air pipe 13, a third accommodating groove 14, a movable arm 15, an air channel 16, a suction cup 17, a first electric telescopic rod 18, a connecting plate 19, a base 20, a rotating roller 21, a conveyor belt 22, a motor 23, a second electric telescopic rod 24, a moving plate 25, a piston rod 26, a sliding groove 27, a connecting spring 28, a rubber ring 29, a sealing groove 30, a third electric telescopic rod 31, a moving plate 32, a sealing ball 33, a movable groove 34, a winding ring 35, a through hole 36, a thread 37, a clamping groove 38, a first through hole 39, a second through hole 40, a clamping plate 41, a connecting rod 42, a push rod 43.
Detailed Description
For further explanation of the various embodiments, the drawings which form a part of the disclosure and which are incorporated in and constitute a part of this specification, illustrate embodiments and, together with the description, serve to explain the principles of operation of the embodiments, and to enable others of ordinary skill in the art to understand the various embodiments and advantages of the invention, and, by reference to these figures, reference is made to the accompanying drawings, which are not to scale and wherein like reference numerals generally refer to like elements.
According to the embodiment of the invention, the negative pressure adaptive adjusting device of the negative pressure type wall-climbing robot is provided.
The first embodiment is as follows:
as shown in fig. 1-4, the negative pressure adaptive adjustment device of the negative pressure type wall-climbing robot according to the embodiment of the present invention includes a wall-climbing robot body 1, wherein the wall-climbing robot body 1 is internally provided with symmetrically arranged partition boards 2, the partition boards 2 respectively form negative pressure chambers with the inner wall of the wall-climbing robot body 1, a containing chamber is formed between each adjacent partition board 2 and the wall-climbing robot body 1, the arrangement of the two partition boards 2 enables the wall-climbing robot body 1 to be internally provided with two negative pressure chambers, so as to facilitate the climbing operation of the wall-climbing robot body 1, the top end of the wall-climbing robot body 1 is symmetrically provided with a suction pump 3, the output pipes of the suction pump 3 are all connected with a suction port 4 located inside the negative pressure chambers, obviously, the suction pump 3 and the suction port 4 function is convenient for sucking the internal air pressure of the negative pressure chambers, and further facilitates the climbing of the wall-climbing robot body 1, the inner walls of the negative pressure cavities are all provided with air pressure sensors 6, the top end of the wall-climbing robot body 1 is provided with a controller 5 electrically connected with the air pressure sensors 6, it needs to be noted here that the air pressure sensors 6 can be arranged to measure the internal air pressure condition of the negative pressure cavities, so that the air intake and exhaust processes of air pressure are controlled through the controller 5, convenience is provided for moving the robot, the controller 5 is electrically connected with the suction pump 3, the two sides of the wall-climbing robot body 1 are symmetrically provided with accommodating grooves I7, one side of the inner wall of the accommodating groove I7 is provided with a through hole I8 communicated with the negative pressure cavities, the bottom end of the accommodating groove I7 is provided with a through hole II 9, the inside of the accommodating groove I7 is provided with a sealing component I, the wall-climbing robot body 1 and the top end positioned in the negative pressure cavities are both provided with accommodating grooves II 10, and the inner top end of the accommodating groove, the inner top end of the second accommodating groove 10 is provided with a through hole four 12 communicated with the negative pressure cavity, the inner part of the second accommodating groove 10 is provided with a sealing component two, the bottom middle position of the wall-climbing robot body 1 is provided with an accommodating groove three 14, the inner part of the accommodating groove three 14 is provided with a moving component, the bottom end of the wall-climbing robot body 1 is symmetrically provided with movable arms 15 positioned at two sides of the moving component, the movable arms 15 are connected with the bottom end of the wall-climbing robot body 1 through a rotating component, the inner part of the movable arms 15 is provided with a gas channel 16, the bottom end of the movable arms 15 is provided with a plurality of suckers 17 communicated with the gas channel 16, and the movable arms 15 are arranged similar to the arms of a gecko while the suckers 17 are arranged similar to the palms of the gecko, so that the movable arms 15 of the wall-climbing robot body 1 are in a front and back action, so as to realize the forward and backward processes of the wall-climbing robot body 1, one end of the movable arm 15 is connected with the bottom end of the wall-climbing robot body 1 through the air pipe 13, obviously, the air pipe 13 is arranged to facilitate the communication between the air channel 16 and the negative pressure cavity, thereby providing convenience for the suction and disconnection of the suction cup 17 and the wall, the cable is arranged in the accommodating cavity, obviously, the cable is arranged to provide power for the electrical equipment, a clamping mechanism connected with the side wall of the wall-climbing robot body 1 is sleeved outside the cable, wherein the rotating component comprises four accommodating grooves 46 which are symmetrically arranged at the bottom end of the wall-climbing robot body 1, the top intermediate position of movable arm 15 is equipped with positive and negative motor 47, positive and negative motor 47's output shaft is connected with axis of rotation 48, axis of rotation 48 through electronic telescopic pole with the top of four 46 holding tanks is connected. It should be noted here that, start one of them positive and negative motor 47 action, make axis of rotation 48 rotate and then drive wall-climbing robot body 1 and rotate, make wall-climbing robot body 1 deflect, realize that another movable arm 15 deflects with wall-climbing robot body 1 is synchronous, make the deflection angle of wall-climbing robot body 1 be less than one hundred eighty degrees simultaneously, and then the reciprocal wall-climbing operation that realizes wall-climbing robot body 1 of circulation, and electronic flexible lifting rod can rise wall-climbing robot body 1, and then when wall-climbing robot body 1 is rotated by another movable arm 15 in east, can avoid unadsorbed sucking disc 17 to receive the friction.
Example two:
as shown in fig. 1, the air pipe 13 is communicated with the air channel 16 and the second through hole 9, and obviously, the air pipe 13 is respectively communicated with the air channel 16 and the second through hole 9, so that air pressure can be conveniently pumped, the suction cup 17 is adsorbed on the wall, a negative pressure adsorption function is further realized, and the adsorption capacity of the device is improved.
As shown in fig. 1, the moving assembly includes a first electric telescopic rod 18 disposed inside the accommodating cavity, an output shaft of the first electric telescopic rod 18 is connected to a connecting plate 19 located at the top end of the accommodating cavity three 14, two bases 20 are symmetrically disposed at two sides of the bottom end of the connecting plate 19, adjacent bases 20 are connected to each other through a rotating roller 21 located at one end of the connecting plate 19, adjacent rotating rollers 21 are connected to each other through a conveying belt 22, one of the rotating rollers 21 is connected to a motor 23, it should be noted that the first electric telescopic rod 18 is disposed to drive the connecting plate 19 to ascend and descend, so that the conveying belt 22 is in contact with the ground, so as to suspend a plurality of suction cups 17, thereby avoiding the movable arm 15 from driving the robot to move, converting crawling movement into the moving process of the conveying belt 22, and driving the connecting plate 19 to descend through the first electric telescopic rod 18, and then make base 20, rotatory roller 21, conveyer belt 22 and motor 23 move down, and then starter motor 23, make motor 23 drive one of them rotatory roller 21 rotatory, and then make conveyer belt 22 rotate, and then because conveyer belt 22 and ground contact, and then make the robot move, and then be convenient for the removal subassembly to move and drive the horizontal migration process of robot, the while has improved the stationarity at the horizontal migration in-process, it is difficult to see out from above-mentioned design, when the device moves on the ground, the setting of removal subassembly is convenient for accelerate the moving speed of robot, and then accelerate the working schedule of robot.
As shown in fig. 2, the first sealing component includes a second electric telescopic rod 24 disposed at the top end of the wall-climbing robot body 1 and located between the adjacent third through holes 11, an output shaft of the second electric telescopic rod 24 is connected with a moving plate 25 located inside the second accommodating groove 10, piston rods 26 adapted to the fourth through holes 12 are symmetrically disposed at the bottom end of the moving plate 25, two ends of the moving plate 25 extend into sliding grooves 27 in the inner wall of the second accommodating groove 10, and as can be seen from the above design, the second electric telescopic rod 24 is started to drive the moving plate 25 to move up and down, so that the moving plate 25 drives the piston rods 26 to move up and down, the piston rods 26 are disconnected and sealed with the fourth through holes 12, so as to open and close the fourth through holes 12, and the first sealing component is disposed to facilitate blocking and opening operations of the fourth through holes 12, and then realize for the sealed and process of ventilating of negative pressure chamber, and then be convenient for control the inside atmospheric pressure in negative pressure chamber, and then provide probably for crawling of robot.
As shown in fig. 2, the top end of the moving plate 25 is connected with the top end of the second accommodating groove 10 through the symmetrically arranged engaging springs 28, and the rubber ring 29 is sleeved outside the piston rod 26, so that obviously, the arrangement of the engaging springs 28 improves the moving stability of the moving plate 25, the moving plate 25 is prevented from blocking the third through hole 11 and simultaneously the collision between the moving plate 25 and the top end of the second accommodating groove 10 is relieved, and the arrangement of the rubber ring 29 can improve the sealing performance between the piston rod 26 and the fourth through hole 12.
As shown in fig. 1 and 3, a sealing groove 30 connected to the second through hole 9 is disposed at the bottom end of the first accommodating groove 7, and obviously, the sealing groove 30 is disposed to facilitate a sealing function for the second sealing assembly.
As shown in fig. 3, the second sealing assembly includes a third electric telescopic rod 31 disposed at the top end in the first accommodating groove 7, an output shaft of the third electric telescopic rod 31 is connected to a movable plate 32, a sealing ball 33 adapted to the sealing groove 30 is disposed at the bottom end of the movable plate 32, two ends of the movable plate 32 extend into a movable groove 34 on the inner wall of the first accommodating groove 7, as can be seen from the above design, by starting the third electric telescopic rod 31, the third electric telescopic rod 31 drives the movable plate 32 to move up and down, so that the movable plate 32 drives the sealing ball 33 to break and block the second through hole 9, thereby realizing the on-off function of the second through hole 9, the second sealing assembly is disposed so that the sealing ball 33 extends into the sealing groove 30, so that the sealing ball 33 seals the second through hole 9, the first accommodating groove 7, the first through hole 8 and the negative pressure chamber are disconnected, thereby avoiding the external air pressure from entering the negative pressure cavity and further effectively avoiding the pressure increasing process of the negative pressure cavity.
As shown in fig. 4, the clamping mechanism is located including the cover the winding ring 35 of cable, the outside cover of winding ring 35 is equipped with sealed lid 36, winding ring 35 with connect through screw thread 37 between the sealed lid 36, the intermediate position of sealed lid 36 is equipped with chucking groove 38, the inside of chucking groove 38 be equipped with cable junction's centre gripping subassembly, it is difficult to see out from above-mentioned design, clamping mechanism's setting can realize the clamping process to the cable, and then can alleviate the condition of dragging the cable, reduces cable and robot and appear being connected the not hard up condition, and then avoids the robot to appear interrupting in the course of the work.
As shown in fig. 4, the cross section of rolling ring is the I-shaped structure, rolling ring is including the backstop board that the symmetry set up, and is adjacent connect through the rolling pole between the backstop board, all be equipped with on the backstop board with the opening 39 of cable looks adaptation, it is difficult to see out from above-mentioned design, and the design of rolling ring 35 is convenient for carry out the partial rolling to the cable, and then can reduce naked cable length, the effectual buffer process that plays of dragging in-process appears in the cable.
As shown in fig. 4, the clamping assembly including set up in inside symmetry of chucking groove 38 set up and with cable junction's chucking plate 41, it is adjacent the side is kept away from mutually to chucking plate 41 all is connected with linking pole 42, linking pole 42 is connected with push rod 43, the one end of push rod 43 runs through sliding port 44 and extends to the outside of chucking groove 38, the bilateral symmetry of chucking groove 38 be equipped with the two ports 40 of cable looks adaptation, linking pole 42 is kept away from the one end of chucking plate 41 pass through buffer spring 45 with chucking groove 38 inner wall connection, difficult seeing out from above-mentioned design, the clamping action to the cable is convenient for realize in the setting of clamping assembly, and then can alleviate external dragging to the cable and cause cable and electrical equipment to appear connecting not hard up the condition, avoids the robot to break off at the during operation, and then the effectual work efficiency that has improved.
For the convenience of understanding the technical solutions of the present invention, the following detailed description will be made on the working principle or the operation mode of the present invention in the practical process.
In practical application, before the wall-climbing robot body 1 works, a worker winds the first cable through port 39 on the winding ring 35, penetrates the second cable through port 40 and extends to the outside of the sealing cover 36, so that the sealing cover 36 is in threaded connection with the winding ring 35, pushes the two push rods 43 to move in the opposite direction, further causes the two clamping plates 41 to clamp the cable, further causes the buffer spring 45 to push the two connecting rods 42 to approach each other due to the reverse acting force of the buffer spring 45, further causes the clamping plates 41 to extrude the cable to realize the clamping process of the cable, further can effectively avoid the cable from being dragged by the outside, when the robot does not climb the wall, controls the electric telescopic rod 18 to act through the controller 5, further causes the connecting plate 19 to move downwards, and causes the rotary roller 21 to move downwards, and then make the conveyer belt 22 on the rotating roller 21 contact the ground, and then make a plurality of sucking discs 17 suspend in the air, and then start the motor 23, make the motor 23 drive the rotating roller 21 to rotate, and then make the conveyer belt 22 convey, and then make the conveyer belt 22 drive the robot to move, realize the rapid and steady moving process of the robot, and then when the robot needs to climb the wall work, make the sucking discs 17 on the movable arms 15 continuously and alternately adsorb and disconnect with the wall, and then realize the walking process of the robot, when the sucking disc 17 on one of the movable arms 15 is laminated with the wall, make a corresponding suction pump 3 suck the air pressure in the negative pressure cavity, and then suck the air pressure in the through hole one 8, holding tank one 7, through hole two 9 and gas channel 16, and then make the air pressure lower than the external air pressure, and then make the sucking disc 17 laminate with the wall, at the same time start the positive and negative motor 47 and the electric telescopic rod connected with the movable, then the wall-climbing robot body 1 is lifted, and simultaneously the positive and negative motor 47 drives the rotating shaft 48 to rotate, so as to realize the rotation of the wall-climbing robot body 1, and then the wall-climbing robot body 1 drives the other movable arm 15 to deflect, so as to avoid the friction between the unadsorbed sucker 17 and the ground, and simultaneously, the other suction pump 3 is started, so as to enable the sucker 17 on the deflected movable arm 15 to be attached to and adsorbed by the wall, and simultaneously, the previous adsorbed sucker 17 needs to be disconnected from the wall, and by starting the electric telescopic rod two 24, the electric telescopic rod two 24 drives the movable plate 25 to move upwards, so as to enable the piston rod 26 to be disconnected from the through hole four 12, so that the external air pressure enters the negative pressure cavity through the through hole three 11, the accommodating groove two 10 and the through hole four 12, so as to further raise the air pressure in the negative pressure cavity, and further enable the air pressure, so that the sucking disc 17 is disconnected from the wall to realize the sucking and disconnecting operations of the sucking disc 17, and then the controller 5 starts another positive and negative motor 47 connected with the movable arm 15, so that the positive and negative motor 47 drives the rotating shaft 48 to rotate to realize the rotation of the wall-climbing robot body 1, and then the wall-climbing robot body 1 drives the movable arm 15 to deflect, however, the wall-climbing robot body 1 continuously performs reciprocating operations of left and right rotation to realize the wall-climbing operations, and simultaneously, the positive and negative rotation of the positive and negative motor 47 realizes the forward and backward operations of the wall-climbing robot body 1, when the wall is uneven, the sucking disc 17 cannot be tightly attached to the wall, so that the external air pressure enters the negative pressure cavity through the air channel 16 and the air pipe 13 and then through the accommodating groove I7 and the through hole I8, so that the internal air pressure of the negative pressure cavity is increased, and further under the action of the air, transmit information to controller 5, and then make controller 5 control the action of three 31 of electric telescopic handle, and then make three 31 of electric telescopic handle drive fly leaf 32 and move down, make ball sealer 33 extend to in the seal groove 30, and then make fly leaf 32 block up two 9 of through-hole, and then avoid external atmospheric pressure to pass through gas passage 16 and get into in the negative pressure chamber, and then can avoid the continuous entering of atmospheric pressure, and then can continue to take out the atmospheric pressure through the effect of suction pump 3, and then strengthened the adsorption of wherein a plurality of sucking disc 17 and wall.
In conclusion, by means of the technical scheme, the inflation and deflation processes of the negative pressure cavity are completed through the cooperation of the suction pump 3, the suction port 4 and the sealing assembly I, the continuous alternate adsorption and disconnection processes of the suction disc 17 and the wall are realized, and the stability of the wall climbing robot body 1 during climbing is further effectively improved; when unevenness appears in the wall, can in time prevent atmospheric pressure to get into the negative pressure chamber through the setting of seal assembly two, and then effectively avoid climbing wall robot body 1 and wall and break away from, realized the protection to climbing wall robot body 1, through the setting of centre gripping subassembly, the effectual centre gripping process to the cable that has improved, and then can reduce naked cable length, can alleviate external dragging to the cable and cause the disconnection of cable and electrical equipment, and then the effectual work of avoiding climbing wall robot body 1 interrupt, and then the effectual work efficiency that has improved climbing wall robot body 1.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The negative pressure self-adaptive adjusting device of the negative pressure type wall-climbing robot is characterized by comprising a wall-climbing robot body (1), wherein a partition plate (2) is symmetrically arranged in the wall-climbing robot body (1), a negative pressure cavity is formed by the partition plate (2) and the inner wall of the wall-climbing robot body (1) respectively, the partition plate (2) and the wall-climbing robot body (1) form a containing cavity, a suction pump (3) is symmetrically arranged at the top end of the wall-climbing robot body (1), an output pipe of the suction pump (3) is connected with a suction port (4) positioned in the negative pressure cavity, air pressure sensors (6) are arranged on the inner wall of the negative pressure cavity, a controller (5) electrically connected with the air pressure sensors (6) is arranged at the top end of the wall-climbing robot body (1), and the controller (5) is electrically connected with the suction pump (3), the wall-climbing robot comprises a wall-climbing robot body (1), wherein two sides of the wall-climbing robot body are symmetrically provided with a first accommodating groove (7), one side of the inner wall of the first accommodating groove (7) is provided with a first through hole (8) communicated with a negative pressure cavity, the bottom end of the first accommodating groove (7) is provided with a second through hole (9), the inside of the first accommodating groove (7) is provided with a first sealing component, the wall-climbing robot body (1) is provided with a second accommodating groove (10) at the top end of the negative pressure cavity, the inner top end of the second accommodating groove (10) is provided with a third through hole (11), the inner top end of the second accommodating groove (10) is provided with a fourth through hole (12) communicated with the negative pressure cavity, the inside of the second accommodating groove (10) is provided with a second sealing component, the middle position of the bottom end of the wall-climbing robot body (1) is, climb the bottom symmetry of wall robot body (1) and be located movable arm (15) of removal subassembly both sides, the inside of movable arm (15) is equipped with gas passage (16), the bottom of movable arm (15) be equipped with a plurality of with sucking disc (17) that gas passage (16) are linked together, the one end of movable arm (15) pass through trachea (13) with it connects to climb wall robot body (1) bottom, the inside that holds the chamber is equipped with the cable, the outside cover of cable be equipped with the clamping mechanism that wall robot body (1) lateral wall is connected.
2. The negative pressure self-adaptive adjusting device of the negative pressure type wall climbing robot is characterized by further comprising a rotating assembly, wherein the rotating assembly comprises four accommodating grooves (46) symmetrically arranged at the bottom end of the wall climbing robot body (1), a positive and negative motor (47) is arranged in the middle of the top end of the movable arm (15), an output shaft of the positive and negative motor (47) is connected with a rotating shaft (48), and the rotating shaft (48) is connected with the top ends of the four accommodating grooves (46) through an electric telescopic rod;
the movable arm (15) is connected with the bottom end of the wall-climbing robot body (1) through a rotating assembly.
3. The negative pressure self-adaptive adjusting device of the negative pressure type wall climbing robot is characterized in that the air pipe (13) is communicated with the air channel (16) and the second through hole (9);
the removal subassembly including set up in hold intracavity portion's electric telescopic handle one (18), the output shaft of electric telescopic handle one (18) with be located holding tank three (14) interior top end link plate (19) are connected, the bottom bilateral symmetry of link plate (19) is equipped with two bases (20), and is adjacent through being located between base (20) link plate (19) one end rotatory roller (21) are connected, and is adjacent connect through conveyer belt (22) between rotatory roller (21), and one of them rotatory roller (21) are connected with motor (23).
4. The negative pressure self-adaptive adjusting device of the negative pressure type wall climbing robot is characterized in that the first sealing assembly comprises a second electric telescopic rod (24) which is arranged at the top end of the wall climbing robot body (1) and is located between the three adjacent through holes (11), an output shaft of the second electric telescopic rod (24) is connected with a moving plate (25) located inside the second accommodating groove (10), piston rods (26) which are matched with the four through holes (12) are symmetrically arranged at the bottom end of the moving plate (25), and two ends of the moving plate (25) extend into sliding grooves (27) in the inner wall of the second accommodating groove (10).
5. The negative pressure self-adaptive adjusting device of the negative pressure type wall climbing robot is characterized in that the top end of the moving plate (25) is connected with the top end in the second accommodating groove (10) through symmetrically arranged connecting springs (28), and a rubber ring (29) is sleeved outside the piston rod (26).
6. The negative pressure self-adaptive adjusting device of the negative pressure type wall climbing robot is characterized in that the bottom end of the first accommodating groove (7) is provided with a sealing groove (30) connected with the second through hole (9).
7. The negative pressure self-adaptive adjusting device of the negative pressure type wall climbing robot according to claim 6, wherein the second sealing assembly comprises a third electric telescopic rod (31) arranged at the inner top end of the first accommodating groove (7), an output shaft of the third electric telescopic rod (31) is connected with a movable plate (32), a sealing ball (33) matched with the sealing groove (30) is arranged at the bottom end of the movable plate (32), and two ends of the movable plate (32) extend into a movable groove (34) on the inner wall of the first accommodating groove (7).
8. The negative pressure self-adaptive adjusting device of the negative pressure type wall climbing robot is characterized in that the clamping mechanism comprises a winding ring (35) sleeved on the cable, a sealing cover (36) is sleeved outside the winding ring (35), the winding ring (35) is connected with the sealing cover (36) through threads (37), a clamping groove (38) is formed in the middle of the sealing cover (36), and a clamping assembly connected with the cable is arranged inside the clamping groove (38).
9. The negative pressure self-adaptive adjusting device of the negative pressure type wall climbing robot according to claim 8, wherein the cross section of the winding ring is an I-shaped structure, the winding ring comprises stop plates which are symmetrically arranged, the adjacent stop plates are connected through a winding rod, and first through holes (39) which are matched with the cables are formed in the stop plates.
10. The negative pressure self-adaptive adjusting device of the negative pressure type wall climbing robot is characterized in that the clamping assembly comprises clamping plates (41) which are symmetrically arranged inside the clamping groove (38) and connected with the cable, the side faces, away from the clamping plates (41), of the clamping plates are connected with an engaging rod (42), the engaging rod (42) is connected with a push rod (43), one end of the push rod (43) penetrates through a sliding port (44) and extends to the outside of the clamping groove (38), two through ports (40) matched with the cable are symmetrically arranged on two sides of the clamping groove (38), and one end, away from the clamping plates (41), of the engaging rod (42) is connected with the inner wall of the clamping groove (38) through a buffer spring (45).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910807463.1A CN110497978A (en) | 2019-08-29 | 2019-08-29 | A kind of negative pressure self-adaptive regulating of negative-pressure type climbing robot |
| CN2019108074631 | 2019-08-29 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111619690A true CN111619690A (en) | 2020-09-04 |
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Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910807463.1A Withdrawn CN110497978A (en) | 2019-08-29 | 2019-08-29 | A kind of negative pressure self-adaptive regulating of negative-pressure type climbing robot |
| CN202010408867.6A Withdrawn CN111619690A (en) | 2019-08-29 | 2020-05-14 | Negative pressure self-adaptive adjusting device of negative pressure type wall climbing robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910807463.1A Withdrawn CN110497978A (en) | 2019-08-29 | 2019-08-29 | A kind of negative pressure self-adaptive regulating of negative-pressure type climbing robot |
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| Country | Link |
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| CN (2) | CN110497978A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112441149A (en) * | 2020-11-09 | 2021-03-05 | 安徽中亚钢结构工程有限公司 | Wall-climbing robot with telescopic arm mechanism |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113251291B (en) * | 2021-07-14 | 2021-09-14 | 深圳市正光影像器材有限公司 | Foldable camera device |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101823256A (en) * | 2009-03-03 | 2010-09-08 | 南京理工大学 | Negative pressure adsorption wall-climbing robot |
| CN101982366A (en) * | 2010-09-21 | 2011-03-02 | 长春理工大学 | Multi-cavity negative pressure adsorption type wall-climbing robot |
| JP2012224326A (en) * | 2011-04-04 | 2012-11-15 | Kenji Hayashi | Wall climbing robot |
| JP2014083985A (en) * | 2012-10-24 | 2014-05-12 | Kinki Univ | Wall surface climbable device |
| CN104071245B (en) * | 2014-05-15 | 2017-04-05 | 苏州工业园区职业技术学院 | For the sucker of climbing robot |
| CN106945740B (en) * | 2017-02-24 | 2019-03-05 | 南京理工大学 | A kind of wheel leg convolution climbing robot of multi-cavity absorption |
| CN207389349U (en) * | 2017-11-07 | 2018-05-22 | 甘肃智呈网络科技有限公司 | A kind of absorption and mobile system for climbing robot |
| CN208447483U (en) * | 2018-01-12 | 2019-02-01 | 云南省玉溪第三中学 | Internet of Things external wall of high-rise building cleans bio-robot |
| CN109572848A (en) * | 2019-01-15 | 2019-04-05 | 北京史河科技有限公司 | Climbing robot |
-
2019
- 2019-08-29 CN CN201910807463.1A patent/CN110497978A/en not_active Withdrawn
-
2020
- 2020-05-14 CN CN202010408867.6A patent/CN111619690A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112441149A (en) * | 2020-11-09 | 2021-03-05 | 安徽中亚钢结构工程有限公司 | Wall-climbing robot with telescopic arm mechanism |
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|---|---|
| CN110497978A (en) | 2019-11-26 |
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