CN210942025U - Vacuum adsorption creeping motion mechanism - Google Patents
Vacuum adsorption creeping motion mechanism Download PDFInfo
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- CN210942025U CN210942025U CN201920893234.1U CN201920893234U CN210942025U CN 210942025 U CN210942025 U CN 210942025U CN 201920893234 U CN201920893234 U CN 201920893234U CN 210942025 U CN210942025 U CN 210942025U
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- 230000009193 crawling Effects 0.000 claims abstract description 40
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Abstract
The utility model discloses a vacuum adsorption motion of crawling. The mechanism comprises two synchronous driving wheels, a vacuum adsorption crawler and a vacuum chamber; the vacuum adsorption crawler belt is sleeved on the two synchronous driving wheels and can synchronously move along with the synchronous rotation of the two synchronous driving wheels; the vacuum adsorption crawler is provided with a vacuum adsorption assembly; the vacuum chamber is communicated with the vacuum adsorption component on one end, close to the adsorption surface, of the vacuum adsorption crawler belt and can provide vacuum for the vacuum adsorption component on one end, close to the adsorption surface, of the vacuum adsorption crawler belt so as to firmly grasp the adsorption surface; the vacuum chamber is connected with a power driving mechanism for driving the two synchronous driving wheels and can synchronously move along with the power driving mechanism for driving the two synchronous driving wheels. The mechanism can quickly crawl on the wall surface including the glass wall, and can automatically span the domain without manual moving when encountering a wall surface corner; and the structure design is simple, the vacuum leakage can be effectively prevented, and the production cost is low.
Description
Technical Field
The utility model relates to a vacuum adsorption removes motion technical field, concretely relates to vacuum adsorption motion of crawling.
Background
In industrial automatic production, the figure of vacuum adsorption can be seen in the transfer of production materials, the blanking of products, the placement of products and the like. Furthermore, vacuum suction is also used in the walking technique of wall climbing robots. The vacuum adsorption crawling robot is mainly characterized in that a crawling crawler of the robot is designed into a vacuum adsorption crawling crawler, and the robot can overcome the self gravity through the vacuum adsorption crawling crawler and can advance along the wall surface.
However, the existing vacuum adsorption crawling track still has many disadvantages, including: (1) the operation speed is slow, and the quick crawling cannot be realized; (2) a plurality of adsorption pieces are required to perform adsorption work at the same time to firmly grasp the adsorption surface, so that the adsorption piece cannot automatically span when meeting a corner and still needs to be manually moved; (3) in order to avoid vacuum leakage, the structure of the common design is complex; in addition, a plurality of vacuum-pumping devices are usually required for a plurality of suction members, which results in high production cost.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a vacuum adsorption motion of crawling to the defect or not enough that exist among the prior art. The crawling movement mechanism can crawl on the wall surface comprising the glass wall, and the crawling speed is high; in addition, the adsorption surface can be firmly grasped by adsorbing through the local adsorption component, so that the wall surface can automatically span the field without manual moving when encountering a wall surface corner; meanwhile, the structure design is simple, vacuum leakage can be effectively prevented, and the production cost is effectively reduced.
The purpose of the utility model is realized through the following technical scheme.
A vacuum adsorption crawling movement mechanism comprises two synchronous driving wheels, a vacuum adsorption crawler and a vacuum chamber;
the vacuum adsorption crawler belt is sleeved on the two synchronous driving wheels and can synchronously move along with the synchronous rotation of the two synchronous driving wheels, so that the whole mechanism moves; the vacuum adsorption crawler is provided with a vacuum adsorption assembly;
the vacuum chamber is communicated with the vacuum adsorption component on one end, close to the adsorption surface, of the vacuum adsorption crawler belt and can provide vacuum for the vacuum adsorption component on one end, close to the adsorption surface, of the vacuum adsorption crawler belt, so that the vacuum adsorption component on one end, close to the adsorption surface, of the vacuum adsorption crawler belt can firmly grip the adsorption surface through vacuum adsorption;
the vacuum chamber is connected with the two synchronous driving wheels and can move synchronously along with the two synchronous driving wheels.
Preferably, the cavity of the vacuum chamber may be connected to the main shaft of the synchronous driving wheel through a bearing, or the vacuum chamber is fixedly connected to a power driving mechanism for driving the two synchronous driving wheels, so as to be indirectly connected to the synchronous driving wheels, and the vacuum chamber can move synchronously with the two synchronous driving wheels.
Preferably, the vacuum adsorption crawler comprises a crawler body, and the vacuum adsorption assembly is arranged on the outer surface of the crawler body; the crawler belt body is provided with a vacuum communication hole;
the vacuum chamber is arranged between the two synchronous driving wheels and is positioned in the closed loop of the vacuum adsorption crawler; one side of the vacuum chamber is tightly attached to one end, close to the adsorption surface, of the track body, and a first vacuum interface is formed in one side of the vacuum chamber, close to the track body;
the vacuum chamber is communicated with the vacuum adsorption component on one end, close to the adsorption surface, of the vacuum adsorption crawler belt in a vacuum mode through the first vacuum interface and the vacuum communication hole, and provides vacuum for the vacuum adsorption component on one end, close to the adsorption surface, of the vacuum adsorption crawler belt.
More preferably, the first vacuum port is an array groove perpendicular to a sliding direction of the vacuum adsorption crawler.
More preferably, a lubricating pad is provided on a surface of the vacuum chamber which is in close contact with the vacuum adsorption crawler.
Still further preferably, the lubricating pad is a polytetrafluoroethylene lubricating pad.
Preferably, the vacuum adsorption assembly comprises a suction cup;
the sucker comprises a suction port for contacting a suction surface and a second vacuum interface for connecting vacuum; the adsorption port and the second vacuum interface are respectively arranged at two ends of the sucker;
a vacuum logic valve is arranged at the opening of the second vacuum interface; when the inner cavity of the sucking disc is in a vacuum adsorption state, the vacuum logic valve is opened and is communicated with the inner cavity of the sucking disc and vacuum; and when the sucker is in a vacuum air leakage state, the vacuum logic valve is closed and isolates the inner cavity of the sucker from vacuum.
More preferably, the vacuum logic valve comprises a valve body; the valve body is in a cap shape, and an opening of the cap faces to one side departing from the sucker;
the cap of the valve body comprises a cap crown part and a cap body part, the edge of the cap body part is connected with the second vacuum interface of the suction cup, and the cap crown part is positioned in the inner cavity of the suction cup;
one end of the cap crown part is connected with one end of the cap body part, and the other end of the cap crown part is separated from the other end of the cap body part to form an opening; and when the sucker is in a vacuum air leakage state, the cap crown part and the cap body part can be sealed and closed.
More preferably, the arc length of the ring cap corresponding to the connecting surface of the cap crown part and the cap body part is less than half of the circumference of the ring cap.
More preferably, the cap crown is resilient.
Still further preferably, the cap crown is a rubber block.
It is further preferred that the cap crown portion and the cap body portion have an inclination angle therebetween.
More preferably, the sucker is a rubber sucker, and the sucker is foldable along the adsorption axial direction.
Compared with the prior art, the utility model has the advantages of as follows and beneficial effect:
(1) the vacuum adsorption crawling motion mechanism of the utility model can crawl on the wall surface including the glass wall through the matching of the synchronous driving wheel, the vacuum adsorption crawler and the vacuum chamber, and because the vacuum chamber can synchronously move along with the synchronous driving wheel, and the lubricating pad is arranged between the vacuum adsorption crawler and the vacuum chamber to reduce the friction force, thereby avoiding the friction obstruction of the vacuum chamber to the vacuum adsorption crawler, improving the sliding speed of the vacuum adsorption crawler and further improving the crawling speed of the whole crawling motion mechanism;
(2) the utility model discloses an among the vacuum adsorption motion of crawling, the vacuum logic valve in the vacuum adsorption subassembly adopts the design of air current negative pressure principle, simple structure can effectively prevent the vacuum leakage to do benefit to and adopt whole vacuum chamber to provide the vacuum for the vacuum adsorption subassembly, make overall structure design simplify, effective reduction in production cost.
(3) The utility model discloses an among the vacuum adsorption crawling motion, vacuum chamber sets up vacuum interface and provides the vacuum for the vacuum adsorption subassembly in the one side of pasting tight vacuum adsorption track, be provided with the vacuum logic valve that adopts air current negative pressure principle design on the vacuum adsorption subassembly in addition, can effectively prevent vacuum leakage, thereby when the vacuum adsorption subassembly adsorbs and grabs the jail adsorption plane, can adsorb and firmly grasp the adsorption plane through local adsorption subassembly, and then can stride the region by oneself and need not the manual work and move when meetting the wall bent angle, improve and be suitable for the convenience, and the security is high.
Drawings
FIG. 1 is a schematic structural view of the vacuum adsorption crawling mechanism of the present invention during operation in an embodiment;
FIG. 2 is an enlarged schematic view of portion A of FIG. 1 after being rotated 90 clockwise;
FIG. 3 is a schematic diagram of a vacuum adsorption crawling mechanism of the present invention adopting a dual-track type in an embodiment;
the attached drawings are marked as follows: 1-synchronous driving wheel, 2-vacuum adsorption crawler, 20-crawler body, 201-vacuum communication hole, 21-vacuum adsorption component, 211-suction cup, 2111-adsorption hole, 2112-second vacuum interface, 212-vacuum logic valve, 2120-valve body, 2120-cap crown part, 2120-cap body part, 21203-non-closed slit, 3-vacuum chamber, 30-vacuum extraction interface, 31-first vacuum interface, 32-lubricating pad, 4-adsorption surface and 5-power driving mechanism.
Detailed Description
The technical solution of the present invention will be described in further detail with reference to the following specific embodiments and accompanying drawings, but the scope of protection and the implementation of the present invention are not limited thereto. In the description of the embodiments of the present invention, it should be noted that the terms "upper" and "lower" are used for indicating the orientation or position relationship based on the orientation or position relationship shown in the drawings, or the orientation or position relationship that the product of the present invention is usually placed when in use, or only for distinguishing the description, and are only used for convenience of description and simplification of the description, but not for indicating or implying that the indicated device or element must have a specific orientation, be constructed in a specific orientation, and operate, and therefore, should not be interpreted as limiting the present invention, nor indicating or implying relative importance.
Example 1
Referring to fig. 1, it is a schematic diagram of the vacuum adsorption crawling mechanism of this embodiment during crawling. The vacuum adsorption crawling movement mechanism comprises two synchronous driving wheels 1, a vacuum adsorption crawler 2 and a vacuum chamber 3.
The vacuum adsorption crawler 2 is sleeved on the two synchronous driving wheels 1 and can synchronously roll and move along with the synchronous rotation of the two synchronous driving wheels 1, so that the whole mechanism moves forwards. In a preferred embodiment, the two synchronous driving wheels 1 can be driven by a single power driving mechanism to rotate synchronously, or driven by two independent power driving mechanisms to rotate synchronously, the power driving mechanisms can be motors, and the two synchronous driving wheels 1 can rotate synchronously, so as to drive the vacuum adsorption crawler 2 to slide and move.
Be provided with vacuum adsorption subassembly 21 on the vacuum adsorption track 2, specifically, vacuum adsorption subassembly 21 has a plurality ofly and encircles vacuum adsorption track 2 evenly distributed. The vacuum adsorption component 21 serves as a foot for crawling of the vacuum adsorption crawler 2, and grabs the adsorption surface through the vacuum adsorption effect when the vacuum adsorption crawler 2 moves forwards, so that supporting force is provided for crawling of the vacuum adsorption crawler 2.
Specifically, the vacuum chamber 3 is communicated with the vacuum adsorption component 21 on the end, close to the adsorption surface, of the vacuum adsorption crawler 2, and can provide vacuum for the vacuum adsorption component 21 on the end, close to the adsorption surface, of the vacuum adsorption crawler 2, so that the vacuum adsorption component 21 on the end, close to the adsorption surface, of the vacuum adsorption crawler 2 can firmly grip the adsorption surface through vacuum adsorption.
The vacuum chamber 3 is provided with a vacuum interface 30 for connecting with a vacuum device for vacuum pumping, so as to form a vacuum environment in the vacuum chamber 3. The vacuum chamber 3 is disposed between the two synchronous drive wheels 1 and within the closed loop of the vacuum adsorption crawler 2. Specifically, the cavity of the vacuum chamber 3 may be connected to the main shaft of the synchronous driving wheel 1 through a bearing, or the vacuum chamber 3 is fixedly connected to a power driving mechanism 5 that drives the two synchronous driving wheels 1, so that the vacuum chamber 3 can move synchronously with the two synchronous driving wheels 1. In this embodiment, the cavity of the vacuum chamber 3 is connected to the main shaft of the synchronous driving wheels 1 through bearings, and the power driving mechanism driving the two synchronous driving wheels 1 is in transmission connection with the two synchronous driving wheels 1, when the two synchronous driving wheels 1 convert rolling into translation advancing, the power driving mechanism driving the two synchronous driving wheels 1 also synchronously moves forward along with the two synchronous driving wheels 1, and the vacuum chamber 3 connected to the two synchronous driving wheels 1 through bearings also synchronously moves forward along with the two synchronous driving wheels 1.
Wherein the vacuum adsorption crawler 2 comprises a crawler body 20, and the vacuum adsorption assembly 21 is arranged on the outer surface of the crawler body 20; the crawler body 20 is provided with a vacuum communication hole 201. In this embodiment, the track body 20 is a vacuum belt.
One side of the vacuum chamber 3 is tightly attached to one end of the crawler body 20 close to the adsorption surface, and a first vacuum port 31 is formed on one side of the vacuum chamber 3 tightly attached to the crawler body 20.
Specifically, the first vacuum ports 31 are array grooves that are not parallel to the sliding direction of the vacuum adsorption crawler 2. In this embodiment, the first vacuum ports 31 are arrayed in a groove perpendicular to the sliding direction of the vacuum adsorption crawler 2.
The vacuum chamber 3 is in vacuum communication with the vacuum adsorption module 21 on the end of the vacuum adsorption crawler 2 close to the adsorption surface through the first vacuum port 31 and the vacuum communication hole 201, and provides vacuum for the vacuum adsorption module 21 on the end of the vacuum adsorption crawler 2 close to the adsorption surface. The surface of the vacuum chamber 3 provided with the first vacuum interface 31 can provide vacuum for the vacuum adsorption component 21 on the corresponding vacuum adsorption crawler 2, so that the part of the vacuum chamber 3 provided with the corresponding vacuum adsorption crawler 2 with the first vacuum interface 31 becomes a foot drop point of the whole mechanism, and the whole mechanism is supported to move forward.
Further, the vacuum chamber 3 with be provided with the lubrication pad 32 on the face that vacuum adsorption track 2 hugs closely, through setting up lubrication pad 32, can reduce the frictional force between vacuum adsorption track 2 and the vacuum chamber 3 to avoid the friction hindrance of vacuum chamber 3 to vacuum adsorption track 2, improved the sliding speed of vacuum adsorption track 2, and then improved whole crawl motion's crawl speed.
In this embodiment, the material of the lubrication pad 32 is ptfe, i.e., the lubrication pad 32 is ptfe.
Referring to fig. 2, the vacuum suction assembly 21 includes a suction cup 211. The suction cup 211 comprises a suction port 2111 for contacting a suction surface, and a second vacuum port 2112 for connecting vacuum, wherein the second vacuum port 2112 is used for communicating with the vacuum communication hole 201 on the crawler body 20; the suction port 2111 and the second vacuum port 2112 are respectively provided at two ends of the suction cup 211.
When the vacuum chamber 3 provides vacuum to the adsorption module 21, the first vacuum port 31, the vacuum communication hole 201, and the second vacuum port 2112 correspond to and communicate with each other, so that the vacuum chamber 3 communicates with the inner cavity of the suction cup 211 and provides vacuum to the inner cavity of the suction cup 211.
Moreover, a vacuum logic valve 212 is arranged at the opening of the second vacuum port 2112; when the inner cavity of the suction cup 211 is in a vacuum absorption state, the vacuum logic valve 212 is opened and is communicated with the inner cavity of the suction cup 211 and vacuum; when the suction cup 211 is in a vacuum release state, the vacuum logic valve 212 closes and isolates the inner cavity of the suction cup 211 from vacuum.
Specifically, the vacuum logic valve 212 includes a valve body 2120; the valve body 2120 is in the shape of a cap, and an opening of the cap faces a side away from the suction cup 211.
Further, the cap of the valve body 2120 includes an upper cap crown portion 2120 and a lower cap body portion 2120, an edge of the cap body portion 2120 is connected to the second vacuum port 2112 of the suction cup 211, and the cap crown portion 2120 is located in the inner cavity of the suction cup 211. In this embodiment, the cap body portion 21202 and the suction cup 211 are of a unitary structure, i.e., the second vacuum port 2112 of the suction cup 211 is a cap opening of the cap body portion 21202.
One end of the cap crown portion 21201 is connected to the cap body portion 21202, and the other end of the cap crown portion 21201 is separated from the cap body portion 21202 to form an opening; and when the suction cup 211 is in a vacuum deflated state, the cap crown portion 21201 and the cap body portion 21202 can be sealed closed. In this embodiment, the cap crown portion 2120 is divided into the cap crown portion 2120 and the cap body portion 2120 by a non-closed loop slit 21203 opened near the top of the ring cap, and the cap crown portion 2120 and the cap body portion 2120 are integrated.
Specifically, the arc length of the ring cap corresponding to the connecting surface of the cap crown portion 21201 and the cap body portion 21202 is less than half of the circumference of the ring cap. Also, the cap crown 21201 has elasticity. In this embodiment, the cap crown 21201 is a rubber block.
Further, the cap crown portion 21201 and the cap body portion 21202 have an inclination angle therebetween. In this embodiment, sucking disc 211 is rubber suction cup, just sucking disc 211 is collapsible along adsorbing the axial, and sucking disc 211 is collapsible in adsorbing the axial to when making adsorption component 21 press close to adsorption plane 4 and adsorb under the exogenic drive, sucking disc 211 presses close to the air that adsorption plane 4 in-process can fold gradually and discharge its intracavity gradually, forms preliminary vacuum negative pressure.
The design principle of the vacuum logic valve 212 relies on the principle of air flow under-pressure, by designing the valve body 2120 of the vacuum logic valve 212 to include two parts, a cap crown portion 2120 and a cap body portion 2120, with a non-closed loop slit 21203 between the cap crown portion 2120 and the cap body portion 2120; in the normal state of vacuum adsorption, the vacuum and the inner cavity of the suction cup 211 can be communicated through the non-closed-loop slit 21203 to keep the normal operation of vacuum adsorption; in the event of a vacuum leak, air will enter the cavity of the suction cup 211 and rapidly enter the vacuum chamber through the non-closed slit 21203. due to the negative pressure effect of the air flow caused by the rapid flow of air through the non-closed slit 21203, the cap crown portion 21201 will rapidly draw toward the air flow and finally tightly fit on the cap body portion 21202, thereby preventing the vacuum leak in the vacuum chamber 3. Moreover, after the cap crown portion 21201 is tightly attached to the cap body portion 21202, the cap crown portion 21201 is kept tightly attached to the cap body portion 21202 due to the pressure difference between the two sides of the cap crown portion 21201, and vacuum leakage is avoided until the vacuum is restored in the inner cavity of the suction cup 211 and the cap crown portion 21201 will restore to its original position under the elastic force of the cap crown portion 21201.
The vacuum logic valve 212 is designed by adopting the air flow negative pressure principle, has simple structure and can effectively prevent vacuum leakage, thereby being beneficial to adopting the integral vacuum chamber to provide vacuum for the vacuum adsorption assembly, simplifying the design of the integral structure and effectively reducing the production cost.
The creeping motion mechanism of the embodiment creeps. Firstly, driving two synchronous driving wheels 1 to rotate and driving a vacuum adsorption crawler belt 2 to roll and move, so that the whole mechanism moves, and simultaneously vacuumizing a vacuum chamber 3; the vacuum chamber 3 provides vacuum for the adsorption component 21 on one end of the vacuum adsorption crawler close to the adsorption surface through the communication of the first vacuum interface 31, the vacuum communication hole 201 and the second vacuum interface 2112, and the suction disc 211 of the adsorption component 21 adsorbs and firmly grips the adsorption surface 4; meanwhile, the two synchronous driving wheels 1 move forwards through rotating and translating, the driving mechanisms of the two synchronous driving wheels 1 and the vacuum chamber 3 connected with the two synchronous driving wheels 1 move forwards through translating synchronously, and the vacuum adsorption crawler belt 2 also moves forwards through rolling and translating continuously under the synchronous driving of the two synchronous driving wheels 1, so that the whole mechanism moves forwards through translating.
During the translational advance, when the suction component 21 is kept in contact with the suction surface 4, the cap crown part 21201 and the cap body part 21203 of the vacuum logic valve 212 of the suction component 21 have an inclination angle, the non-closed loop slit 21203 is in an open state, namely, the vacuum logic valve 212 is opened, the inner cavity of the suction cup 211 is kept communicated with the vacuum chamber 3, and the suction cup 211 generates a suction force on the suction surface 4 so as to be firmly clamped on the suction surface 4. When the suction unit 21 is just out of contact with the suction surface 4, the inner cavity of the suction cup 211 of the suction unit 21 will enter air and rapidly flow into the vacuum chamber 3 through the non-closed-loop slit 21203 of the vacuum logic valve 212, and since the air rapidly flows through the non-closed-loop slit 21203 to generate an air negative pressure effect, the cap crown portion 21201 is rapidly drawn toward the air flow and finally tightly attached to the cap body portion 21202 under the air negative pressure effect, so that vacuum leakage in the vacuum chamber 213 is prevented. After the cap crown portion 21201 is tightly attached to the cap body portion 21202, the cap crown portion 21201 is always tightly attached to the cap body portion 21202 due to the pressure difference between the two sides of the cap crown portion 21201, and vacuum leakage is avoided. Moreover, when the adsorption component 21 enters into contact with the adsorption surface 4 by translating forward, the suction cup 211 of the adsorption component 21 can be gradually folded and gradually discharges air in the inner cavity of the suction cup in the process of approaching the adsorption surface 4, so as to form preliminary vacuum negative pressure; at this time, since the pressure difference acting force between the two sides of the cap crown 21201 becomes smaller and finally smaller than the self-elasticity of the cap crown 21201, the cap crown 21201 returns to the original position, and the non-closed-loop slit 21203 re-conducts the vacuum chamber 3 and the inner cavity of the suction cup 211. Thus, the stable forward movement of the vacuum adsorption crawler 2 is effectively maintained, and the vacuum leakage of the vacuum chamber 3 can be effectively prevented.
Example 2
Referring to fig. 3, the vacuum adsorption crawling motion mechanism of the present embodiment is the same as that of embodiment 1, except that the vacuum adsorption crawling motion mechanism of the present embodiment is of a dual-rail type. The vacuum adsorption crawling mechanism comprises two independent vacuum adsorption crawling mechanisms shown in embodiment 1, the two independent vacuum adsorption crawling mechanisms share the same vacuum chamber 3, and the two independent vacuum adsorption crawling mechanisms respectively drive the synchronous driving wheel 1 to synchronously rotate through the single power driving mechanism 5.
The above embodiments are merely preferred embodiments of the present invention, and only lie in further detailed description of the technical solutions of the present invention, but the protection scope and the implementation manner of the present invention are not limited thereto, and any changes, combinations, deletions, replacements, or modifications that do not depart from the spirit and principles of the present invention will be included in the protection scope of the present invention.
Claims (10)
1. A vacuum adsorption crawling movement mechanism is characterized by comprising two synchronous driving wheels (1), a vacuum adsorption crawler belt (2) and a vacuum chamber (3);
the vacuum adsorption crawler belt (2) is sleeved on the two synchronous driving wheels (1) and can synchronously roll and move along with the synchronous rotation of the two synchronous driving wheels (1); the vacuum adsorption crawler belt (2) is provided with a vacuum adsorption component (21);
the vacuum chamber (3) is communicated with the vacuum adsorption component (21) on the end, close to the adsorption surface, of the vacuum adsorption crawler (2), and can provide vacuum for the vacuum adsorption component (21) on the end, close to the adsorption surface, of the vacuum adsorption crawler (2), so that the vacuum adsorption component (21) on the end, close to the adsorption surface, of the vacuum adsorption crawler (2) can firmly grip the adsorption surface through vacuum adsorption;
the vacuum chamber (3) is connected with the two synchronous driving wheels (1) and can move synchronously along with the two synchronous driving wheels (1).
2. A vacuum suction crawling motion mechanism according to claim 1, characterized in that said vacuum suction crawler (2) comprises crawler bodies (20), said vacuum suction assembly (21) being arranged on the outer surface of said crawler bodies (20); the crawler body (20) is provided with a vacuum communication hole (201);
the vacuum chamber (3) is arranged between the two synchronous driving wheels (1) and is positioned in a closed loop of the vacuum adsorption crawler belt (2); one side of the vacuum chamber (3) is tightly attached to one end, close to the adsorption surface, of the crawler body (20), and a first vacuum interface (31) is formed in one side of the vacuum chamber (3), close to the crawler body (20);
the vacuum chamber (3) is communicated with the vacuum adsorption component (21) on one end, close to the adsorption surface, of the vacuum adsorption crawler (2) in a vacuum mode through the first vacuum interface (31) and the vacuum communication hole (201), and provides vacuum for the vacuum adsorption component (21) on one end, close to the adsorption surface, of the vacuum adsorption crawler (2).
3. The vacuum adsorption crawling mechanism of claim 2, wherein the first vacuum port (31) is an array groove perpendicular to the sliding direction of the vacuum adsorption crawler (2).
4. The vacuum adsorption crawling mechanism of claim 2, characterized in that a lubricating pad (32) is arranged on the surface of the vacuum chamber (3) which is tightly attached to the vacuum adsorption crawler (2).
5. The vacuum adsorption crawling motion mechanism according to any one of claims 1 to 4, characterized in that the vacuum adsorption assembly (21) comprises a suction cup (211);
the suction cup (211) comprises a suction port (2111) for contacting a suction surface, and a second vacuum port (2112) for connecting a vacuum; the adsorption port (2111) and the second vacuum interface (2112) are respectively arranged at two ends of the sucker (211);
a vacuum logic valve (212) is arranged at the opening of the second vacuum interface (2112); when the inner cavity of the sucking disc (211) is in a vacuum adsorption state, the vacuum logic valve (212) is opened and is communicated with the inner cavity of the sucking disc (211) and vacuum; when the suction cup (211) is in a vacuum air leakage state, the vacuum logic valve (212) is closed and isolates the inner cavity of the suction cup (211) from vacuum.
6. The vacuum suction crawling motion mechanism of claim 5, characterized in that the vacuum logic valve (212) comprises a valve body (2120); the valve body (2120) is in a cap shape, and an opening of the cap faces to the side away from the sucking disc (211);
the cap of the valve body (2120) comprises a cap crown portion (2120) and a cap body portion (2120), an edge of the cap body portion (2120) is connected with the second vacuum port (2112) of the suction cup (211), and the cap crown portion (2120) is located within an inner cavity of the suction cup (211);
one end of the cap crown part (21201) is connected with one end of the cap body part (21202), and the other end of the cap crown part (212001) is separated from the other end of the cap body part (212002) to form an opening; and when the suction cup (211) is in a vacuum air leakage state, the cap crown part (21201) and the cap body part (212002) can be sealed and closed.
7. The vacuum adsorption crawling mechanism of claim 6, wherein the arc length of the corresponding ring cap at the connecting surface of the cap crown part (21201) and the cap body part (21202) is less than half of the circumference of the corresponding ring cap.
8. The vacuum suction crawling mechanism of claim 6, wherein the cap crown (21201) is elastic.
9. The vacuum suction crawling mechanism of claim 8, wherein the cap crown (21201) and the cap body (21202) have an inclination angle therebetween.
10. The vacuum adsorption crawling motion mechanism of claim 5, wherein the suction cup (211) is a rubber suction cup, and the suction cup (211) is foldable along the adsorption axis.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920893234.1U CN210942025U (en) | 2019-06-14 | 2019-06-14 | Vacuum adsorption creeping motion mechanism |
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| CN201920893234.1U CN210942025U (en) | 2019-06-14 | 2019-06-14 | Vacuum adsorption creeping motion mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112377511A (en) * | 2020-11-04 | 2021-02-19 | 广州力多机器人智能科技有限公司 | Adsorption mechanism and operating system |
| CN113276134A (en) * | 2021-06-30 | 2021-08-20 | 山西戴德测控技术有限公司 | Crawler-type negative pressure wall-climbing coal bunker cleaning robot |
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2019
- 2019-06-14 CN CN201920893234.1U patent/CN210942025U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112377511A (en) * | 2020-11-04 | 2021-02-19 | 广州力多机器人智能科技有限公司 | Adsorption mechanism and operating system |
| CN112377511B (en) * | 2020-11-04 | 2023-03-10 | 广州力多机器人智能科技有限公司 | Adsorption mechanism and operating system |
| CN113276134A (en) * | 2021-06-30 | 2021-08-20 | 山西戴德测控技术有限公司 | Crawler-type negative pressure wall-climbing coal bunker cleaning robot |
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