CN114475842A - Double-layer flexible adsorption cavity for negative pressure type wall-climbing robot - Google Patents
Double-layer flexible adsorption cavity for negative pressure type wall-climbing robot Download PDFInfo
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- CN114475842A CN114475842A CN202210166907.XA CN202210166907A CN114475842A CN 114475842 A CN114475842 A CN 114475842A CN 202210166907 A CN202210166907 A CN 202210166907A CN 114475842 A CN114475842 A CN 114475842A
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 128
- 238000004519 manufacturing process Methods 0.000 claims abstract description 3
- 244000309464 bull Species 0.000 claims description 9
- 239000002184 metal Substances 0.000 claims description 7
- 239000004744 fabric Substances 0.000 claims description 5
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 4
- 229910052799 carbon Inorganic materials 0.000 claims description 4
- 230000009194 climbing Effects 0.000 claims description 3
- 241000446313 Lamella Species 0.000 claims description 2
- 238000010521 absorption reaction Methods 0.000 claims description 2
- 239000000853 adhesive Substances 0.000 claims 1
- 230000001070 adhesive effect Effects 0.000 claims 1
- 238000003795 desorption Methods 0.000 abstract description 6
- 241000834287 Cookeolus japonicus Species 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 239000002390 adhesive tape Substances 0.000 description 4
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000000227 grinding Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
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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 belongs to the field of wall-climbing robots, and particularly discloses a double-layer flexible adsorption cavity for a negative-pressure wall-climbing robot, which comprises an upper layer plate, an upper layer adsorption cavity, a middle plate and a lower layer adsorption cavity which are sequentially connected, wherein: the upper layer adsorption cavity is a flexible wind cavity cover with folds, the lower layer adsorption cavity is an annular flexible cover, the inner contour of the lower layer adsorption cavity is larger than the outer contour of the upper layer adsorption cavity, the lower layer adsorption cavity and the upper layer adsorption cavity are connected together through an annular middle plate to form a step-shaped structure, and the upper layer adsorption cavity is communicated with the lower layer adsorption cavity; the upper plate and the middle plate are both rigid plates, and the upper plate is provided with a fan which is used for manufacturing negative pressure environments in the upper-layer adsorption cavity and the lower-layer adsorption cavity. The adsorption cavity with the double-layer ladder-shaped structure can tightly press the lower-layer adsorption cavity on the adsorbed surface by utilizing the difference between the internal pressure and the external pressure, and the lower-layer adsorption cavity deforms when passing through the protrusion to tightly wrap the protrusion so as to ensure the air tightness; the problem of air leakage and desorption of the negative pressure type wall-climbing robot when the robot moves on an uneven surface can be effectively solved.
Description
Technical Field
The invention belongs to the field of wall-climbing robots, and particularly relates to a double-layer flexible adsorption cavity for a negative-pressure wall-climbing robot.
Background
The wall-climbing robot is a robot which can be adsorbed on the surface of a workpiece to carry out operations such as grinding, polishing, drilling, derusting and the like on the workpiece; the negative pressure type wall-climbing robot is a wall-climbing robot which presses the robot on the wall surface by utilizing the negative pressure principle so as to realize adsorption.
However, since the surface of the workpiece is often uneven, there are usually protrusions such as rivets, welds, etc.; therefore, when the negative pressure type wall-climbing robot moves on the surface of a workpiece, the lip edge of the adsorption cavity is easily blocked or jacked by the surface bulge to generate a gap, so that air leakage and desorption are caused. Therefore, an adsorption cavity capable of solving the problem of air leakage and desorption of the negative pressure wall-climbing robot when the negative pressure wall-climbing robot moves on an uneven surface is needed.
Disclosure of Invention
Aiming at the defects or the improvement requirements in the prior art, the invention provides a double-layer flexible adsorption cavity for a negative-pressure wall-climbing robot, and aims to improve the adaptability of the adsorption cavity of the wall-climbing robot and solve the problem of air leakage and desorption of the negative-pressure wall-climbing robot when the negative-pressure wall-climbing robot moves on an uneven surface.
In order to achieve the purpose, the invention provides a double-layer flexible adsorption cavity for a negative pressure type wall-climbing robot, which comprises an upper layer plate, an upper layer adsorption cavity, a middle plate and a lower layer adsorption cavity which are sequentially connected, wherein:
the upper layer adsorption cavity is a flexible air cavity cover with folds, the lower layer adsorption cavity is an annular flexible cover, the inner contour of the lower layer adsorption cavity is larger than that of the upper layer adsorption cavity, the lower layer adsorption cavity and the upper layer adsorption cavity are connected together through an annular middle plate to form a step-shaped structure, and the upper layer adsorption cavity is communicated with the lower layer adsorption cavity; the upper plate and the middle plate are both rigid plates, and the upper plate is provided with a fan which is used for manufacturing negative pressure environments in the upper-layer adsorption cavity and the lower-layer adsorption cavity.
Preferably, a plurality of bull's eye bearings are uniformly installed at the lower end of the middle plate, and the lower bottom surface of the lower-layer adsorption cavity is lower than the lower ends of the bull's eye bearings.
Preferably, the inner contour of the lower adsorption cavity is an outward equidistant entity of the outer contour of the upper adsorption cavity, and the distance is 1 cm-3 cm.
Preferably, the lower adsorption cavity is an annular sponge cover.
Preferably, the annular sponge cover is provided with sponge inside and cloth-based adhesive tape on the surface.
As a further preferred, the upper plate and the middle plate are both carbon plates.
As further preferred, install the sheet metal component on the upper plate, this sheet metal component is used for being connected with wall climbing robot's chassis.
Generally, compared with the prior art, the above technical solution conceived by the present invention mainly has the following technical advantages:
1. according to the invention, the adsorption cavity is designed into a double-layer stepped structure, the lower-layer adsorption cavity can be tightly pressed on the surface to be adsorbed by utilizing the difference between internal air pressure and external air pressure, and when the adsorption cavity passes through the protrusion, the flexible lower-layer adsorption cavity can deform to tightly wrap the protrusion, so that the air tightness is ensured; meanwhile, the upper-layer adsorption cavity is a folded wind cavity cover, when the robot moves on the variable-curvature surface, the distance between the upper-layer plate and the surface changes, the tangential included angle between the upper-layer plate and the surface also changes, and the folded wind cavity cover can be well adapted to the changes by virtue of the flexibility of the folded wind cavity cover; the invention effectively solves the problem of air leakage and desorption of the negative pressure type wall-climbing robot when the negative pressure type wall-climbing robot moves on an uneven surface.
2. According to the invention, the lower end of the middle plate is provided with the bull-eye bearing, and the lower bottom surface of the lower-layer adsorption cavity is lower than the lower end of the bull-eye bearing, so that when the lower-layer adsorption cavity is pressed, the lower-layer adsorption cavity is firstly subjected to compression deformation, the bull-eye bearing is then contacted with the adsorption surface to bear pressure, and the compression deformation of the lower-layer adsorption cavity can provide pre-tightening force for the adhesion of the adsorption cavity and the surface; meanwhile, the friction between the bull's eye bearing and the adsorption surface is rolling friction, so that the friction between the adsorption cavity and the adsorption surface can be reduced through the bull's eye bearing in the lower adsorption cavity, and the motion resistance of the robot is remarkably reduced.
3. The inner contour of the lower adsorption cavity is an outward equidistant entity of the outer contour of the upper adsorption cavity, the outward equidistant entity is connected by a middle plate and is used as a pressed area, when negative pressure is formed in the interior of the adsorption cavity, the pressed area is pressed by atmospheric pressure, so that the middle plate presses the lower adsorption cavity on the wall surface, and the outward equidistant entity can ensure the uniformity and stability of pressing; meanwhile, the outward distance is further determined to be 1 cm-3 cm, and the proper pressure range can be conveniently obtained, so that the desorption problem caused by too small pressure and the problem that the smoothness of the wall climbing process is influenced by too large pressure are avoided.
4. The lower-layer adsorption cavity is preferably an annular sponge cover, the surface of the sponge cover is provided with the cloth-based adhesive tape, the sponge cover is internally provided with the sponge, when the sponge-based adsorption device works, the sponge in the sponge cover can deform to adapt to the surface protrusion, and meanwhile, the cloth-based adhesive tape on the surface has good wear resistance; in addition, the upper and lower plates are preferably carbon plates, so that the whole weight of the flexible adsorption cavity can be reduced under the condition of ensuring rigidity.
Drawings
Fig. 1 is an overall top view schematic diagram of a double-layer flexible adsorption cavity structure for a negative-pressure wall-climbing robot according to an embodiment of the invention;
FIG. 2 is a schematic overall bottom view of a double-layer flexible adsorption cavity structure for a negative pressure type wall-climbing robot according to an embodiment of the present invention;
FIG. 3 (a) and (b) are schematic diagrams and cross-sectional views illustrating relative positions of an upper plate, a lower plate and an adsorption cavity in a double-layer flexible adsorption cavity according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the upper plate structure of a double-layer flexible adsorption cavity according to an embodiment of the present invention;
FIG. 5 is a schematic structural view of an upper adsorption cavity of a double-layer flexible adsorption cavity according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a middle plate structure of a double-layer flexible adsorption cavity according to an embodiment of the present invention;
FIG. 7 is a schematic view of a lower adsorption cavity structure of a double-layer flexible adsorption cavity according to an embodiment of the present invention;
fig. 8 (a) and (b) are schematic height diagrams and cross-sectional views of a double-layer flexible adsorption cavity of a bull's eye bearing according to an embodiment of the present invention.
The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein: 1-upper layer plate, 2-upper layer adsorption cavity, 3-middle plate, 4-lower layer adsorption cavity, 5-fan, 6-sheet metal part and 7-bullseye bearing.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The embodiment of the invention provides a double-layer flexible adsorption cavity for a negative pressure type wall-climbing robot, which comprises an upper layer plate 1, an upper layer adsorption cavity 2, a middle plate 3 and a lower layer adsorption cavity 4 which are sequentially connected as shown in fig. 1 and fig. 2, wherein:
as shown in fig. 5, the upper layer adsorption cavity 2 is a pleated wind cavity cover, which has good flexibility, when the robot moves on a variable curvature surface, the distance between the upper layer plate 1 and the surface changes, the included angle between the upper layer plate 1 and the tangential direction of the surface also changes, and the upper layer adsorption cavity 2 is located between the upper layer plate 1 and the surface, and can adapt to the changes well by virtue of the flexibility.
As shown in fig. 7, the lower adsorption cavity 4 is an annular flexible cover, preferably an annular sponge cover, the surface of the sponge cover is a cloth-based adhesive tape, the interior of the sponge cover is a sponge, the sponge cover can deform to adapt to surface protrusions, and the sponge cover has good wear resistance.
Further, as shown in fig. 3 (a) and (b), the inner contour of the lower adsorption cavity 4 is larger than the outer contour of the upper adsorption cavity 2, and the lower adsorption cavity and the upper adsorption cavity are connected together through an annular middle plate 3 to form a ladder-shaped structure, and the upper adsorption cavity 2 is communicated with the lower adsorption cavity 4; namely, the middle plate 3 is an annular plate, the inner contour of which is coincided with the inner contour of the upper layer adsorption cavity 2, and the outer contour of which is coincided with the outer contour of the lower layer adsorption cavity 4, as shown in fig. 6.
Furthermore, the inner contour of the lower adsorption cavity 4 is an outward equidistant entity of the outer contour of the upper adsorption cavity 2, and the distance is 1 cm-3 cm, preferably 2 cm; the region between the outline in the lower floor adsorbs chamber 4 and the 2 outlines in upper adsorption chamber is the pressurized region, and when adsorbing the inside negative pressure that forms of chamber, the pressurized region receives the pressure of atmospheric pressure, and intermediate lamella 3 can be pressed the lower floor and adsorb the chamber pressure on the wall, and when adsorbing the chamber through protruding, the lower floor that is pressed adsorbs the chamber and takes place deformation parcel and live protrudingly, can guarantee fine gas tightness.
The upper plate 1 and the middle plate 3 are both rigid plates, preferably carbon plates.
As shown in fig. 4, a hole is arranged in the middle of the upper plate 1 and is used as an air inlet of a fan 5, and the fan 5 is communicated with the upper layer adsorption cavity 2; when the fan 5 works, pressure can be synchronously generated in the upper and lower adsorption cavities as long as weak air pressure difference is generated, the pressure in the upper adsorption cavity provides adsorption force for the robot, and the pressure in the lower adsorption cavity ensures the air tightness of the adsorption cavities.
Further, as shown in fig. 8 (a) and (b), threaded holes are uniformly distributed around the inner contour of the middle plate 3, and a bull-eye bearing 7 is connected to the middle plate 3 through threads for reducing the friction force between the adsorption cavity and the adsorption surface. The friction between the bull eye bearing 7 and the adsorption surface is rolling friction, so that the friction force is greatly reduced, and the motion resistance of the wall-climbing robot is obviously reduced. Meanwhile, the lower bottom surface of the lower-layer adsorption cavity 4 is lower than the lower end of the bull's eye bearing 7, so that when the lower-layer adsorption cavity 4 is pressed, the lower-layer adsorption cavity 4 is firstly compressed and deformed, the bull's eye bearing 7 is contacted with the adsorption surface to bear pressure, and the compression deformation of the lower-layer adsorption cavity 4 can provide pre-tightening force for the attachment of the adsorption cavity and the surface.
Further, there is sheet metal component 6 on the upper plate 1 through bolted connection, and sheet metal component 6 upper end accessible bolt is connected with the robot chassis to this realizes the installation of this double-deck absorption chamber on the robot chassis.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. The utility model provides a double-deck flexible absorption chamber for negative pressure formula wall climbing robot, its characterized in that adsorbs chamber (4) including upper strata board (1), upper strata that connect gradually, intermediate lamella (3) and lower floor, wherein:
the upper-layer adsorption cavity (2) is a flexible air cavity cover with folds, the lower-layer adsorption cavity (4) is an annular flexible cover, the inner contour of the lower-layer adsorption cavity (4) is larger than that of the upper-layer adsorption cavity (2), the lower-layer adsorption cavity and the upper-layer adsorption cavity are connected together through an annular middle plate (3) to form a stepped structure, and the upper-layer adsorption cavity (2) is communicated with the lower-layer adsorption cavity (4); the upper plate (1) and the middle plate (3) are both rigid plates, a fan (5) is installed on the upper plate (1), and the fan (5) is used for manufacturing negative pressure environments in the upper-layer adsorption cavity (2) and the lower-layer adsorption cavity (4).
2. The double-layer flexible adsorption cavity for the negative-pressure wall-climbing robot according to claim 1, characterized in that a plurality of bull's eye bearings (7) are uniformly installed at the lower end of the middle plate (3), and the lower bottom surface of the lower adsorption cavity (4) is lower than the lower ends of the bull's eye bearings (7).
3. The double-layer flexible adsorption cavity for the negative-pressure wall-climbing robot is characterized in that the inner contour of the lower adsorption cavity (4) is an outward equidistant entity of the outer contour of the upper adsorption cavity (2), and the distance is 1 cm-3 cm.
4. The double-layer flexible adsorption cavity for the negative-pressure wall-climbing robot according to claim 1, characterized in that the lower adsorption cavity (4) is an annular sponge cover.
5. The double-layer flexible adsorption cavity for the negative-pressure wall-climbing robot as claimed in claim 4, wherein the annular sponge cover is sponge-shaped inside and cloth-based adhesive tape-shaped on the surface.
6. The double-layer flexible adsorption chamber for the negative-pressure wall-climbing robot according to claim 1, characterized in that the upper plate (1) and the middle plate (3) are both carbon plates.
7. The double-layer flexible adsorption cavity for the negative-pressure wall-climbing robot is characterized in that a sheet metal part (6) is mounted on the upper plate (1), and the sheet metal part (6) is used for being connected with a chassis of the wall-climbing robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210166907.XA CN114475842A (en) | 2022-02-23 | 2022-02-23 | Double-layer flexible adsorption cavity for negative pressure type wall-climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210166907.XA CN114475842A (en) | 2022-02-23 | 2022-02-23 | Double-layer flexible adsorption cavity for negative pressure type wall-climbing robot |
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| CN114475842A true CN114475842A (en) | 2022-05-13 |
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| CN202210166907.XA Pending CN114475842A (en) | 2022-02-23 | 2022-02-23 | Double-layer flexible adsorption cavity for negative pressure type wall-climbing robot |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05132281A (en) * | 1991-07-05 | 1993-05-28 | Hitachi Juki Seizo:Kk | Sucking pad and manufacture thereof |
| JP2004034195A (en) * | 2002-07-01 | 2004-02-05 | Central Glass Co Ltd | Suction pad |
| CN1633376A (en) * | 2000-02-04 | 2005-06-29 | 浦上不可止 | Suction device provided with negative pressure regulating mechanism |
| JP2016097955A (en) * | 2014-11-20 | 2016-05-30 | インダストリーネットワーク株式会社 | Suction mechanism of wall climbing device |
| CN205889202U (en) * | 2016-06-30 | 2017-01-18 | 上海中奥企发集团机器人科技有限公司 | Vacuum adsorption wall climbing robot that derusts |
| CN106828649A (en) * | 2017-03-21 | 2017-06-13 | 重庆大学 | A kind of Climbing Robot |
| CN208158159U (en) * | 2018-04-02 | 2018-11-27 | 青岛森科特智能仪器有限公司 | A kind of fish jar clean robot charging unit and system |
-
2022
- 2022-02-23 CN CN202210166907.XA patent/CN114475842A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05132281A (en) * | 1991-07-05 | 1993-05-28 | Hitachi Juki Seizo:Kk | Sucking pad and manufacture thereof |
| CN1633376A (en) * | 2000-02-04 | 2005-06-29 | 浦上不可止 | Suction device provided with negative pressure regulating mechanism |
| JP2004034195A (en) * | 2002-07-01 | 2004-02-05 | Central Glass Co Ltd | Suction pad |
| JP2016097955A (en) * | 2014-11-20 | 2016-05-30 | インダストリーネットワーク株式会社 | Suction mechanism of wall climbing device |
| CN205889202U (en) * | 2016-06-30 | 2017-01-18 | 上海中奥企发集团机器人科技有限公司 | Vacuum adsorption wall climbing robot that derusts |
| CN106828649A (en) * | 2017-03-21 | 2017-06-13 | 重庆大学 | A kind of Climbing Robot |
| CN208158159U (en) * | 2018-04-02 | 2018-11-27 | 青岛森科特智能仪器有限公司 | A kind of fish jar clean robot charging unit and system |
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Application publication date: 20220513 |
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