CN205836999U - A kind of vac sorb climbing robot - Google Patents
A kind of vac sorb climbing robot Download PDFInfo
- Publication number
- CN205836999U CN205836999U CN201620685404.3U CN201620685404U CN205836999U CN 205836999 U CN205836999 U CN 205836999U CN 201620685404 U CN201620685404 U CN 201620685404U CN 205836999 U CN205836999 U CN 205836999U
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- CN
- China
- Prior art keywords
- working chamber
- vac sorb
- climbing robot
- main body
- chamber main
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Abstract
This utility model relates to robotics, a kind of vac sorb climbing robot specifically, including vac sorb assembly, working chamber main body and pneumatic capstan, vac sorb assembly it is provided with bottom climbing robot, vac sorb assembly coordinates evacuation through vacuum pump, negative pressure cavity is formed in making the working chamber main body on vac sorb assembly top, the upper end of working chamber main body is equipped with the check-valves of the air leakage being automatically adjusted in working chamber body cavity, working chamber main body both sides are provided with pneumatic capstan, and pneumatic capstan controls climbing robot by the airintake direction of air motor and moves.This device passes through vac sorb assembly evacuation, forms negative pressure cavity in making working chamber body cavity body, utilizes atmospheric pressure to be overlayed by whole climbing robot at rust cleaning working surface, check-valves is installed in working chamber body upper end, it is automatically adjusted air leakage, thus ensures the stability of vacuum, adsorption reliability；Bottom is provided with packing ring so that it is keeps vacuum when different operating surface is moved, reduces air leakage.
Description
[technical field]
This utility model relates to robotics, specifically a kind of vac sorb climbing robot.
[background technology]
Climbing robot refers to the automatic machinery people that can climb in perpendicular walls and fulfil assignment.Climbing robot
Must possess absorption and mobile two basic functions.Climbing robot is mainly used in petroleum chemical enterprise's tank big to cylinder and detects a flaw
Check or processs of spraying paint, or carry out cleaning and the spraying of building, also in nuclear industry for checking thickness measuring etc..
Mostly the walking mechanism of existing industry creeping-type robot is the wheeled of magnetic suck or crawler type (or wheel shoe formula), does not has
Standby obstacle detouring locomotive function, attitude and sports coordination in Working motion are poor, it is impossible to meet the continuous robust motion of complicated track
And Gesture；And load low, do not possess high capacity performance capacity, cause current creeping-type robot application the most extensive.
[utility model content]
This utility model is not possess obstacle detouring locomotive function and motion for what above-mentioned industrial creeping-type robot existed
The problem of inaccurate coordination, proposes one absorption, mobile, payload security reliable vac sorb climbing robot.
In order to solve the problems referred to above, a kind of vac sorb climbing robot of design, including vac sorb assembly, working chamber master
Body and pneumatic capstan, be provided with vac sorb assembly bottom described climbing robot, described vac sorb assembly is joined through vacuum pump
Closing evacuation so that form negative pressure cavity in the working chamber main body on vac sorb assembly top, the upper end of working chamber main body is equipped with certainly
The check-valves of the air leakage in dynamic regulation working chamber body cavity, working chamber main body both sides are provided with pneumatic capstan, and pneumatic capstan passes through gas
The airintake direction of dynamic motor controls climbing robot and moves.
Described pneumatic capstan is set in pneumatic capstan motor and installs set one end, and pneumatic capstan motor is installed the set other end and is fixed on work
Making in the startup motor mount of cavity main body sidewall, described pneumatic capstan motor is equiped with air motor in installing mantle cavity body.
Described working chamber body top is connected to upper junction plate, and the outer peripheral surface of described upper junction plate is solid by installing plate
Surely be connected to annular overside frame, upper junction plate inner peripheral surface is provided with lifting bolt and the framework that performs being arranged in parallel, the framework that performs it
Between connect fixing by installing plate.
The lower chamber bottom of described working chamber main body is connected to rubber blanket.
This utility model compared with the existing technology, has an advantage in that: this device passes through vac sorb assembly evacuation, makes work
Form negative pressure cavity in making chamber body cavity body, utilize atmospheric pressure to be overlayed by whole climbing robot at rust cleaning working surface, and
Check-valves is installed in working chamber body upper end so that it is is automatically adjusted air leakage, thus ensures the stability of vacuum, adsorption reliability；
It is provided with rubber washer bottom robot, makes robot keep vacuum while different operating surface is moved, reduce air leakage；
The pneumatic capstan that both sides are provided with drives climbing robot to move, and the airintake direction controlling air motor turns to control robot
To, it is achieved freely climb arm walking function.
[accompanying drawing explanation]
Fig. 1 is structural representation of the present utility model；
Fig. 2 is front view of the present utility model；
Fig. 3 is top view of the present utility model；
Fig. 4 is side view of the present utility model；
Fig. 5 is the internal structure schematic diagram of pneumatic capstan in this utility model；
Fig. 6 is vac sorb assembly partial schematic diagram in this utility model；
In figure: 1. pneumatic capstan 2. pneumatic capstan motor is installed outside set 3. air motor fixed mount 4. vac sorb assemblies 5.
Shelves frame 6. pneumatic joint fixed plate 7. upper junction plate 8. installing plate 9. upper plate 10. framework 11. check-valves 12. that performs hangs
Collar bolt 13. working chamber main body 14. air motor 15. lower chamber 16. rubber blanket.
[detailed description of the invention]
The utility model is described in further detail below in conjunction with the accompanying drawings, the structure of this device and the principle people to this specialty
For be the most clearly.Should be appreciated that specific embodiment described herein, and need not only in order to explain this utility model
In limiting this utility model.
Seeing Fig. 1 and Fig. 4, vac sorb climbing robot includes vac sorb assembly, working chamber main body and pneumatic capstan, climbs
Being provided with vac sorb assembly bottom wall robot, vac sorb assembly coordinates evacuation through vacuum pump so that vac sorb assembly
Forming negative pressure cavity in the working chamber main body on top, the upper end of working chamber main body is equipped with the leakage being automatically adjusted in working chamber body cavity
The check-valves of tolerance, is automatically adjusted air leakage, thus ensures the stability of vacuum.The lower chamber bottom of working chamber main body is connected to
Rubber blanket, is shown in that Fig. 6, working chamber main body both sides are provided with pneumatic capstan, and pneumatic capstan controls to climb wall machine by the airintake direction of air motor
Device people move.
Working chamber body top is connected to upper junction plate, and the outer peripheral surface of upper junction plate is connected to outside annular by installing plate is fixing
Shelves frame, upper junction plate inner peripheral surface is provided with lifting bolt and the framework that performs being arranged in parallel, performs and pass through installing plate between framework
Connect fixing.Catching device, in order to connect catching device, is connected on the safe hoisting ring of climbing robot, it is ensured that climb by lifting bolt
The arm robot safety when malfunctions such as pressure reduction inefficacies.The framework that performs and overside frame are for crashproof.
Working chamber main body both sides are provided with pneumatic capstan, see that Fig. 5, pneumatic capstan are set in pneumatic capstan motor and install set one end, pneumatic
Wheel motor is installed the set other end and is fixed in the startup motor mount of working chamber main body wall, and set cavity installed by pneumatic capstan motor
Inside being equiped with air motor, pneumatic capstan controls climbing robot by the airintake direction of air motor and moves and turn to.Pneumatic horse
Reach selection high power, high torque, slow-speed of revolution motor, overcome the sliding friction and self gravitation formed due to negative pressure of vacuum, real
The most freely climb arm walking function.Owing at outside work, pneumatic system is without carrying out anti-water management, it addition, air motor and electricity
Dynamic motor is compared, and moment of torsion is big, and volume is little, lightweight.
Claims (4)
1. a vac sorb climbing robot, including vac sorb assembly, working chamber main body and pneumatic capstan, it is characterised in that institute
Being provided with vac sorb assembly bottom the climbing robot stated, described vac sorb assembly coordinates evacuation through vacuum pump so that
Forming negative pressure cavity in the working chamber main body on vac sorb assembly top, the upper end of working chamber main body is equipped with being automatically adjusted working chamber master
The check-valves of the air leakage in body cavity body, working chamber main body both sides are provided with pneumatic capstan, the pneumatic capstan air inlet side by air motor
Move to controlling climbing robot.
2. a kind of vac sorb climbing robot as claimed in claim 1, it is characterised in that described pneumatic capstan is set in gas
Set one end installed by driving wheel motor, and pneumatic capstan motor is installed the set other end and is fixed on the startup motor mount of working chamber main body wall
On, described pneumatic capstan motor is equiped with air motor in installing mantle cavity body.
3. a kind of vac sorb climbing robot as claimed in claim 1, it is characterised in that described working chamber body top
Being connected to upper junction plate, the outer peripheral surface of described upper junction plate is connected to annular overside frame, in upper junction plate by installing plate is fixing
Circle surface is provided with lifting bolt and the framework that performs being arranged in parallel, and performing, it is fixing to be connected by installing plate between framework.
4. a kind of vac sorb climbing robot as claimed in claim 1, it is characterised in that under described working chamber main body
Cavity bottom is connected to rubber blanket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620685404.3U CN205836999U (en) | 2016-06-30 | 2016-06-30 | A kind of vac sorb climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620685404.3U CN205836999U (en) | 2016-06-30 | 2016-06-30 | A kind of vac sorb climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205836999U true CN205836999U (en) | 2016-12-28 |
Family
ID=58149447
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620685404.3U Expired - Fee Related CN205836999U (en) | 2016-06-30 | 2016-06-30 | A kind of vac sorb climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205836999U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113771982A (en) * | 2021-11-10 | 2021-12-10 | 滨州学院 | Wall-climbing robot for detecting surface defects of aircraft |
-
2016
- 2016-06-30 CN CN201620685404.3U patent/CN205836999U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113771982A (en) * | 2021-11-10 | 2021-12-10 | 滨州学院 | Wall-climbing robot for detecting surface defects of aircraft |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161228 Termination date: 20190630 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |