CN212047632U

CN212047632U - Sucking disc mechanism of rotary wheel of crawling

Info

Publication number: CN212047632U
Application number: CN202020388533.2U
Authority: CN
Inventors: 李豪生; 乔健; 杨景卫
Original assignee: Foshan University
Current assignee: Foshan University
Priority date: 2020-03-24
Filing date: 2020-03-24
Publication date: 2020-12-01
Anticipated expiration: 2030-03-24

Abstract

The utility model discloses a sucking disc mechanism of swiveling wheel crawls, include: the outer wall of the inner cylinder is sequentially provided with a first vent hole, an air suction hole and a second vent hole along the circumferential direction, a first cavity, an air suction cavity and a second cavity are arranged in the inner cylinder, the left end face of the inner cylinder is provided with a first opening, a connecting port and a second opening, and the connecting port is connected with an air suction pipe; outer cylinder, the internal cavity that holds that is provided with of outer cylinder, the left end face of outer cylinder be provided with hold the third opening that the cavity communicates each other, the right-hand member face of outer cylinder is provided with the transmission shaft, the periphery wall of outer cylinder evenly be provided with a plurality of and hold the through-hole that the cavity communicates each other, be provided with vacuum chuck in the through-hole, in the interior cylinder stretches into from the third opening and holds the cavity, be connected with the bearing between interior cylinder and the outer cylinder, the utility model discloses can adsorb the object removal on the surface steadily to overall structure is more succinct, and the volume is littleer, and stability is higher during the motion, and it is bigger to.

Description

Sucking disc mechanism of rotary wheel of crawling

Technical Field

The utility model relates to a mobile robot field especially relates to a sucking disc mechanism of swiveling wheel crawls.

Background

Traditional air suction cup is mainly taken out through the inside air of sucking disc, make and produce the pressure differential inside and outside the sucking disc, form negative pressure adsorption at object contact surface, the sucking disc adsorbs with object contact surface and when breaking away from, take out the air in the sucking disc earlier, the inside and outside pressure differential that forms of sucking disc, rely on the atmospheric pressure effect firm adsorption on the contact surface, when breaking away from, need fill in the sucking disc into the air, make the inside and outside pressure of sucking disc reduce, until breaking away from separately, consequently the sucking disc mainly relies on continuous inside to bleed and aerify and accomplish, corresponding control process is loaded down with trivial details when having led to sucking disc motion at object contact surface's adsorption removal, motion is complicated. At present, the adsorption and the removal of the crawling rotation wheel are completed by at least two pairs of independent sucker mechanisms in mutual cooperative motion, when a sucker is adsorbed on a contact surface, another sucker mechanism which is separated from the contact surface is required to move to a preset position, then the sucker mechanism is pumped to adsorb on the contact surface, then the sucker which is initially adsorbed is inflated to separate from the contact surface, the sucker mechanism is moved to another preset position to adsorb, and the crawling mechanism moves through the continuous cooperative motion of adsorption, separation, movement and re-adsorption, so that the whole crawling mechanism is complex to control, complex in mechanism and high in power consumption, the manufacturing cost is increased steeply, the borne motion load is very limited, the crawling mechanism is not favorable for popularization and application on a mobile crawling device, and the crawling mechanism becomes a bottleneck for restricting the use of a mobile robot in a vertical complex curved surface environment.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a sucking disc mechanism of swiveling wheel crawls to solve one or more technical problem that exist among the prior art, provide a profitable selection or create the condition at least.

The utility model provides a solution of its technical problem is:

a suction cup mechanism of a crawling spinning wheel, comprising: the air exhaust device comprises an inner cylinder body, wherein a first air vent, an air exhaust port and a second air vent are sequentially arranged on the peripheral wall of the inner cylinder body along the circumferential direction, a first cavity, an air exhaust cavity and a second cavity are arranged in the inner cylinder body, a first opening, a connecting port and a second opening are arranged on the left end face of the inner cylinder body, the first air vent and the first opening are respectively communicated with the first cavity, the air exhaust port and the connecting port are respectively communicated with the air exhaust cavity, the second air vent and the second opening are respectively communicated with the second cavity, and the connecting port is connected with an air exhaust pipe; the outer cylinder, be provided with in the outer cylinder and hold the cavity, the left end face of outer cylinder be provided with hold the third opening that the cavity communicates each other, the right-hand member face of outer cylinder is provided with the transmission shaft, the periphery wall of outer cylinder evenly be provided with a plurality of with hold the through-hole that the cavity communicates each other, be provided with vacuum chuck in the through-hole, interior cylinder is followed the third opening stretches into hold in the cavity, interior cylinder with be connected with the bearing between the outer cylinder.

The technical scheme at least has the following beneficial effects: the vacuum sucking disc on the outer column body rotates around the inner column body, so that the state of the vacuum sucking disc is constantly changed, the switching between the adsorption state and the separation state of the vacuum sucking disc on an external object is realized, in particular, when the vacuum sucking disc rotates under the driving of the outer column body to face a first vent hole, the first vent hole is communicated with a first opening through a first cavity, namely, the air pressure of the vacuum sucking disc is equal to the atmospheric pressure, when the vacuum sucking disc rotates under the driving of the outer column body to face a second vent hole, the air suction hole is communicated with a connecting port through the air suction cavity, and the air can be sucked from the air suction pipe to form negative pressure at the air suction port, the interior air that is extracted of vacuum chuck, by compressing tightly on the contact surface of outside object, thereby make vacuum chuck adsorb at the object contact surface, rotate to just when the second vent under the drive of outer cylinder when vacuum chuck, the second vent communicates with each other through second cavity and second opening this moment, because gas pressure in the vacuum chuck equals with atmospheric pressure, vacuum chuck breaks away from with the contact surface of outside object, when outer cylinder reverses, vacuum chuck operating condition is also so, so through a plurality of vacuum chuck on the outer cylinder, constantly realize the action switching that adsorbs the breaking away from on the object surface, can adsorb stably and remove on the object surface, and overall structure is succinct more, the volume is littleer, stability is higher during the motion, it is bigger to bear the load.

As a further improvement of the technical scheme, a sealing sleeve is arranged between the inner wall of the accommodating cavity and the peripheral wall of the inner column body, the sealing sleeve is fixedly arranged on the inner column body, and the peripheral wall of the sealing sleeve is opposite to the positions of the first vent hole, the air exhaust hole and the second vent hole and is sequentially provided with a first communicating hole, a second communicating hole and a third communicating hole. The clearance between reducible inner column periphery wall of seal cover and the cavity inner wall that holds is better to vacuum chuck's the effect of bleeding.

As a further improvement of the above technical solution, the first vent, the air exhaust port and the second vent are all arranged to extend along the length direction of the inner cylinder. When the outer cylinder body can be increased to rotate, the number of the vacuum suckers passing through the first air vents, the air suction ports and the second air vents is increased, so that the whole adsorption effect on the surface of an object is better.

As a further improvement of the above technical solution, a diameter of the through hole is not greater than a distance between the first air vent and the air suction port. Make vacuum chuck can not communicate each other with first blow vent, extraction opening simultaneously, vacuum chuck during operation is more stable.

As a further improvement of the above technical solution, a diameter of the through hole is not greater than a distance between the suction opening and the second vent. The vacuum chuck can not be communicated with the second vent hole and the air exhaust hole simultaneously, and the vacuum chuck is more stable in work.

As a further improvement of the above technical scheme, the vacuum chuck includes a fixed pipe, connect in the sucking disc main part of fixed pipe one end, the outside of fixed pipe is along being close to interior spacing ring and outer spacing ring have been cup jointed in proper order to the direction of sucking disc main part, interior spacing ring with be provided with between the outer spacing ring and keep away the empty clearance, the inner wall that holds the cavity is just right the position of through-hole is provided with the spacing groove, interior spacing ring is located the spacing inslot, fixed pipe passes the through-hole, outer spacing ring with the periphery wall of outer cylinder offsets. Through interior spacing ring with outer spacing ring block respectively on the inside wall and the lateral wall of outer cylinder, can make fixed pipe inseparabler fixed in the through-hole, avoid the too big or too big messenger's sucking disc main part of centrifugation of adsorption affinity to break away from out outer cylinder.

As a further improvement of the technical scheme, one end of the exhaust tube, which is far away from the inner column body, is provided with an air pipe joint. The air suction pipe can be conveniently connected to an external air suction pump through the air pipe joint.

As a further improvement of the technical scheme, a coupling connecting section is arranged at one end, far away from the outer column body, of the transmission shaft. The transmission shaft can be conveniently connected to an external motor through the coupling connecting section.

Drawings

In order to more clearly illustrate the technical solution in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is clear that the described figures represent only some embodiments of the invention, not all embodiments, and that a person skilled in the art can also derive other designs and figures from these figures without inventive effort.

Fig. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the inner column structure of the present invention;

fig. 3 is a schematic structural view of the sealing sleeve of the present invention;

fig. 4 is a schematic view of the vacuum chuck structure of the present invention.

In the drawings: 100-inner column body, 110-first vent hole, 120-pumping hole, 130-second vent hole, 140-first opening, 150-second opening, 160-pumping tube, 170-air pipe joint, 200-outer column body, 210-transmission shaft, 220-coupling connecting section, 300-sealing sleeve, 310-first connecting hole, 320-second connecting hole, 330-third connecting hole, 400-vacuum chuck, 410-fixing tube, 420-chuck main body, 430-inner limiting ring and 440-outer limiting ring.

Detailed Description

The conception, the specific structure, and the technical effects produced by the present invention will be clearly and completely described below in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the features, and the effects of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and other embodiments obtained by those skilled in the art without inventive labor based on the embodiments of the present invention all belong to the protection scope of the present invention. In addition, all the connection relations mentioned herein do not mean that the components are directly connected, but mean that a better connection structure can be formed by adding or reducing connection accessories according to the specific implementation situation. All technical characteristics in the invention can be interactively combined on the premise of not conflicting with each other.

Referring to fig. 1, 2 and 3, a suction cup mechanism of a crawling rotation wheel includes: the outer wall of the inner cylinder 100 is sequentially provided with a first vent 110, an extraction opening 120 and a second vent 130 along the circumferential direction, a first cavity, an extraction cavity and a second cavity are arranged in the inner cylinder 100, the left end face of the inner cylinder 100 is provided with a first opening 140, a connecting port and a second opening 150, the first vent 110 and the first opening 140 are respectively communicated with the first cavity, the extraction opening 120 and the connecting port are respectively communicated with the extraction cavity, the second vent 130 and the second opening 150 are respectively communicated with the second cavity, and the connecting port is connected with an extraction pipe 160; outer cylinder 200, be provided with in the outer cylinder 200 and hold the cavity, the left end face of outer cylinder 200 be provided with hold the third opening that the cavity communicates each other, the right-hand member face of outer cylinder 200 is provided with transmission shaft 210, the periphery wall of outer cylinder 200 evenly be provided with a plurality of with hold the through-hole that the cavity communicates each other, be provided with vacuum chuck 400 in the through-hole, interior cylinder 100 follows the third opening stretches into hold in the cavity, interior cylinder 100 with be connected with the bearing between the outer cylinder 200.

From the above, the air pumping cavity can be evacuated through the air pumping pipe 160, so as to form a negative pressure at the air pumping hole 120, the vacuum chuck 400 on the outer cylinder 200 facing the air pumping hole 120 is also evacuated, the outer cylinder 200 can rotate through the transmission shaft 210, so that the vacuum chuck 400 on the outer cylinder 200 rotates around the inner cylinder 100, and thus the state of the vacuum chuck 400 is constantly changed, so as to realize the switching between the suction and separation states of the vacuum chuck 400 on the external object, specifically, when the vacuum chuck 400 rotates under the driving of the outer cylinder 200 and faces the first vent 110, at this time, the first vent 110 is communicated with the first opening 140 through the first cavity, i.e. the air pressure of the vacuum chuck 400 is equal to the atmospheric pressure, when the vacuum chuck 400 rotates under the driving of the outer cylinder 200 to face the second vent 130, at this time, the air pumping hole 120 is communicated with the connection port through the air pumping cavity, because the air can be extracted from the air extraction pipe 160, so that a negative pressure is formed at the air extraction opening 120, air is extracted from the vacuum chuck 400 and is pressed on the contact surface of the external object, thereby the vacuum chuck 400 is adsorbed on the contact surface of the object, when the vacuum chuck 400 is driven by the outer cylinder 200 to rotate to just face the second vent 130, at this time, the second vent 130 is communicated with the second opening 150 through the second cavity, because the air pressure in the vacuum chuck 400 is equal to the atmospheric pressure, the contact surface of the vacuum chuck 400 and the external object is separated, when the outer cylinder 200 is reversed, the working state of the vacuum chuck 400 is also the same, so that the switching of the adsorption and separation actions on the surface of the object is continuously realized through the plurality of vacuum chucks 400 on the outer cylinder 200, the vacuum chuck can be stably adsorbed on the surface of the object to move, the whole structure is simpler, the volume is smaller, and the stability during the movement is, the bearable load is greater.

In some embodiments, a sealing sleeve 300 is disposed between the inner wall of the receiving cavity and the outer circumferential wall of the inner cylinder 100, the sealing sleeve 300 is fixedly disposed on the inner cylinder 100, and a first communication port 310, a second communication port 320, and a third communication port 330 are sequentially disposed at positions where the outer circumferential wall of the sealing sleeve 300 faces the first air vent 110, the air suction port 120, and the second air vent 130. The sealing sleeve 300 can reduce the clearance between the outer peripheral wall of the inner cylinder 100 and the inner wall of the accommodating cavity, and has better air suction effect on the vacuum chuck 400.

In some embodiments, the first vent 110, the pumping hole 120 and the second vent 130 extend along the length of the inner cylinder 100. The number of the vacuum chucks 400 passing through the first air vents 110, the pumping holes 120 and the second air vents 130 when the outer cylinder 200 rotates can be increased, so that the overall suction effect on the surface of the object is better.

In some embodiments, the diameter of the through hole is not greater than the distance between the first air vent 110 and the pumping port 120. Therefore, the vacuum chuck 400 is not communicated with the first air vent 110 and the pumping hole 120 at the same time, and the operation of the vacuum chuck 400 is more stable.

In some embodiments, the diameter of the through-hole is no greater than the distance between the pumping port 120 and the second vent 130. Therefore, the vacuum chuck 400 is not communicated with the second vent 130 and the pumping hole 120 at the same time, and the vacuum chuck 400 is more stable during operation.

As shown in fig. 4, in some embodiments, the vacuum chuck 400 includes a fixing tube 410 and a chuck main body 420 connected to one end of the fixing tube 410, an inner limiting ring 430 and an outer limiting ring 440 are sequentially sleeved on the outer side of the fixing tube 410 along a direction close to the chuck main body 420, a clearance gap is provided between the inner limiting ring 430 and the outer limiting ring 440, a limiting groove is provided at a position where the inner wall of the accommodating cavity is opposite to the through hole, the inner limiting ring 430 is located in the limiting groove, the fixing tube 410 passes through the through hole, and the outer limiting ring 440 abuts against the outer circumferential wall of the outer cylinder 200. The inner limiting ring 430 and the outer limiting ring 440 are respectively clamped on the inner side wall and the outer side wall of the outer cylinder 200, so that the fixing tube 410 is more tightly fixed in the through hole, and the suction cup body 420 is prevented from being separated from the outer cylinder 200 due to overlarge adsorption force or overlarge centrifugation.

In some embodiments, an end of the suction tube 160 remote from the inner cylinder 100 is provided with a gas tube connector 170. The suction tube 160 is conveniently connected to an external suction pump through a gas line connector 170.

In some embodiments, an end of the transmission shaft 210 away from the outer cylinder 200 is provided with a coupling connection section 220. The transmission shaft 210 can be conveniently connected to an external motor through the coupling connection section 220.

While the preferred embodiments of the present invention have been described in detail, it will be understood by those skilled in the art that the invention is not limited to the details of the embodiments shown, but is capable of various modifications and substitutions without departing from the spirit of the invention.

Claims

1. The utility model provides a sucking disc mechanism of rotary wheel of crawling which characterized in that: the method comprises the following steps:

the air suction device comprises an inner cylinder (100), wherein a first air vent (110), an air suction opening (120) and a second air vent (130) are sequentially arranged on the peripheral wall of the inner cylinder (100) along the circumferential direction, a first cavity, an air suction cavity and a second cavity are arranged in the inner cylinder (100), a first opening (140), a connecting port and a second opening (150) are arranged on the left end face of the inner cylinder (100), the first air vent (110) and the first opening (140) are respectively communicated with the first cavity, the air suction opening (120) and the connecting port are respectively communicated with the air suction cavity, the second air vent (130) and the second opening (150) are respectively communicated with the second cavity, and the connecting port is connected with an air suction pipe (160);

outer cylinder (200), be provided with in outer cylinder (200) and hold the cavity, the left end face of outer cylinder (200) be provided with hold the third opening that the cavity communicates each other, the right-hand member face of outer cylinder (200) is provided with transmission shaft (210), the periphery wall of outer cylinder (200) evenly be provided with a plurality of with hold the through-hole that the cavity communicates each other, be provided with vacuum chuck (400) in the through-hole, interior cylinder (100) are followed the third opening stretches into hold in the cavity, interior cylinder (100) with be connected with the bearing between outer cylinder (200).

2. The suction cup mechanism of a crawling rotation wheel of claim 1, characterized in that: the inner wall of the accommodating cavity and the outer peripheral wall of the inner column body (100) are provided with a sealing sleeve (300), the sealing sleeve (300) is fixedly arranged on the inner column body (100), and the outer peripheral wall of the sealing sleeve (300) is right opposite to the positions of the first air vent (110), the air suction port (120) and the second air vent (130) and is sequentially provided with a first communicating port (310), a second communicating port (320) and a third communicating port (330).

3. The suction cup mechanism of a crawling rotation wheel of claim 2, characterized in that: the first vent hole (110), the pumping hole (120) and the second vent hole (130) are arranged along the length direction of the inner column body (100) in an extending mode.

4. The suction cup mechanism of a crawling rotation wheel of claim 2, characterized in that: the diameter of the through hole is not larger than the distance between the first air vent (110) and the pumping hole (120).

5. The suction cup mechanism of a crawling rotation wheel of claim 2, characterized in that: the diameter of the through hole is not larger than the distance between the pumping hole (120) and the second vent hole (130).

6. The suction cup mechanism of a crawling rotation wheel of claim 2, characterized in that: vacuum chuck (400) including fixed pipe (410), connect in sucking disc main part (420) of fixed pipe (410) one end, the outside of fixed pipe (410) is along being close to spacing ring (430) and outer spacing ring (440) have been cup jointed in proper order to the direction of sucking disc main part (420), interior spacing ring (430) with be provided with between outer spacing ring (440) and keep away the empty clearance, the inner wall that holds the cavity is just right the position of through-hole is provided with the spacing groove, interior spacing ring (430) are located the spacing inslot, fixed pipe (410) is passed the through-hole, outer spacing ring (440) with the periphery wall of outer cylinder (200) offsets.

7. The suction cup mechanism of a crawling rotation wheel of claim 2, characterized in that: and an air pipe joint (170) is arranged at one end of the air suction pipe (160) far away from the inner column body (100).

8. The suction cup mechanism of a crawling rotation wheel of claim 2, characterized in that:

and a coupling connecting section (220) is arranged at one end of the transmission shaft (210) far away from the outer cylinder (200).