CN2512556Y

CN2512556Y - Crawler-type multiple sucking disc wall climbing robot

Info

Publication number: CN2512556Y
Application number: CN 01274744
Authority: CN
Inventors: 吴志明
Original assignee: Individual
Current assignee: Individual
Priority date: 2001-12-28
Filing date: 2001-12-28
Publication date: 2002-09-25
Anticipated expiration: 2011-12-28

Abstract

The utility model discloses a crawler-type multiple sucking disc wall climbing robot. The robot comprises a body taking a vacuum sucking disc and a crawler-type multiple sucking disc driving/converting mechanism as main elements. The difficult problems that the robot is disengaged from the wall because of the vacuum leak of the single sucking disc in the process of the wall climbing robot discontinuously spanning obstacles or slots with a slow speed, and the seal difficulty of the sucking discs is large in the process of the suction can be solved. The crawler-type multiple sucking disc wall climbing robot is applicable to clean or spray smooth surfaces of high buildings, and is particularly suitable for the cleanness of glass curtain walls of high buildings.

Description

The crawler multi-sucker climbing robot

Technical field

The utility model relates to a kind of crawler multi-sucker climbing robot, belongs to cleaning, spray robot field.

Background technology

Beijing space flight and aviation university discloses the building cleaning robot of a kind of " the clean scholar in blue sky " by name, this robot has adopted the suction type of multi-sucker, can cross over certain obstacle, but can not carry out continuous wash in alternately moving, climbing ability is poor, can not satisfy the cleaning of skyscraper

CN97121896 discloses a kind of " climbing robot ", described robot comprises that screw or ducted fan, power, travel mechanism, control box etc. partly constitute, screw or ducted fan produce the thrust of pointing to wall under power drive, make robot be affixed on wall, travel mechanism is under the manipulation of control box, driven machine people creeps and thinks that this climbing robot can be used for the operation of various pile wall at wall, and this robot cleaning performance is poor, can not leaping over obstacles.

CN96205687.1 discloses a kind of " skyscraper metope automatic flushing device ", this device has adopted the suction type of multi-sucker, not independently between each sucker, when one of them sucker leaks, will influence the vacuum reduction of other sucker and cause cleaning device can not rest on the wall, therefore can not leaping over obstacles, each sucker connects a vacuum tube, and pipeline is various.

Researcher of the present invention finds, similar machine people above-mentioned and of the prior art exists that pipeline is more, climbing ability is poor, can not be continuously or can not leaping over obstacles.

Summary of the invention

Main purpose of the present utility model is to provide a kind of crawler multi-sucker climbing robot, thereby has overcome climbing robot above shortcomings in the prior art.

The purpose of this utility model can be achieved in the following manner, and robot described in the utility model comprises that with vacuum cup 1 and crawler multi-sucker switching mechanism be the robot body of main part.

Robot described in the utility model comprises that with vacuum cup 1 and crawler multi-sucker switching mechanism be the robot body of main part.Wherein, described robot body is made up of compression vacuum pump 41, crawler multi-sucker driving/switching mechanism, vacuum cup 1 etc.Described robot body by vavuum pump to being installed in the vacuum cup with special construction 1 absorption on the crawler belt and forming certain vacuum, by crawler multi-sucker driving/switching mechanism, realization is to alternately absorption and disengaging between rotation, sucker and the wall of multi-sucker crawler belt, so just realized driving, referring to Fig. 1 to robot body.

Description of drawings

Accompanying drawing 1 is the schematic perspective view of crawler multi-sucker climbing robot described in the utility model;

Accompanying drawing 2 is that the three-view diagram of crawler multi-sucker climbing robot described in the utility model can be clearly seen that the overall structure of robot body and the schematic diagram of associated components;

Accompanying drawing 3 is vacuum cups of crawler multi-sucker climbing robot described in the utility model;

Accompanying drawing 4 is crawler multi-sucker climbing robot multi-sucker switching mechanism schematic diagrames described in the utility model;

Accompanying drawing 5 is negative pressure conversion schematic diagrames of the multi-sucker switching mechanism of crawler multi-sucker climbing robot described in the utility model;

Accompanying drawing the 6,7, the 8th, the multi-sucker of crawler multi-sucker climbing robot described in the utility model be in release respectively, vacuumize the schematic diagram with adsorbed state;

Specific embodiments

When robot described in the utility model starts working, battery 45 begins controller 47 power supplies, compression vacuum pump 41 starts miniature turbo-jet formula engine 46, oil inlet pipe 59 fuel feeding by fuel tank 52, robot body is produced certain normal pressure, robot body is shifted onto on the wall, compression vacuum pump 41 begins vacuum tank 42 is vacuumized, and Compressed Gas is discharged to 43 li of pressure pans, respectively draw a tracheae from vacuum tank 42 and pressure pan 44, be connected with quick connector 39 on the quiet dish 32 by magnetic valve 74; AC servo motor 21 drives the crawler belt rotation by driving driving wheel 22, driven pulley 23, synchronous pulley 34, cam 28, Moving plate 31 also begin synchronous rotation, when sucker enters wall, quick connector 39 on the quiet dish 32 of upstream end connects vacuum tube, the conversion of vacuum and gases at high pressure can realize by magnetic valve 74, vacuum tube is connected with quiet dish 32 gas passages 75, by interacting, compression spring 33 can guarantee the exposure level and the good sealing property of Moving plate 31 and quiet dish 32 end faces between quiet dish 32 and the Moving plate 31.When Moving plate 31 turns over certain angle, gas passage 75 conductings of gas passage 77 on the Moving plate 31 and quiet dish 32, vacuum gas enters 76 li of gas passages by the gas passage 77 of Moving plate 31, gas passage 76 on the Moving plate and the gas passage 78 on the cam communicate all the time, vacuum gas enters 78 li of gas passages on the cam 28 like this, on valve 35 on the cam 28 is stepped on ripple sucker 4 at this moment, vacuum cup 1 is begun to vacuumize, referring to Fig. 7.The vacuum suction switch is because acting on of absorption produces pressure reduction on the seal face, under thrust, force compression spring 13 to shrink, the vacuum suction switch opens, then respond to push rod 8 because the pressure effect makes the vacuum induction switch opens, 1 li certain vacuum of formation of moment vacuum cup, when cam 28 turns over certain angle, the gas passage 77 on the Moving plate 31 and the gas passage 75 of quiet dish 32 end, and gas passage 77 on the Moving plate 31 and plasmas channel 74 conductings on the quiet dish 32, vacuum passage is converted to plasmas channel like this, gas passage 77 on the atmosphere clutch plate 31 enters 35 li of cam valves through gas passage 76, cause the vacuum suction switch to be closed, the valve 35 of cam 28 begins to break away from ripple sucker 4, this moment, sucker and wall remained static, vacuum cup is adsorbed onto on the wall, has so just finished the adsorption process of sucker, referring to Fig. 8; When the suction dish 1 of taking seriously breaks away from wall, quick connector 39 on the quiet dish 32 connects high-voltage tube, high-voltage tube is connected with gas passage 75 on the quiet dish 32, pass through between quiet dish 32 and the Moving plate 31 to interact, when Moving plate 31 turns over certain angle, gas passage 75 conductings of gas passage 77 on the Moving plate 31 and quiet dish 32, gases at high pressure enter 78 li of the gas passages of cam 28 through the gas passage 76 on the Moving plate, this moment, the valve 35 of cam 28 was stepped on the ripple sucker 4, this moment, the vacuum leak switch was under the effect of pressure reduction, its seal face is subjected to certain thrust and forces compression spring 18 to shrink, the vacuum leak switch opens, the vacuum that vacuum cup is 1 li begins to descend, sucker breaks away from wall gradually, when cam 28 turns over certain angle, the gas passage of Moving plate 31 and quiet dish 32 ends, the vacuum leak switch cuts out, cam 28 begins to break away from ripple sucker 4, the vacuum induction switch cuts out, sucker has also just broken away from wall, referring to Fig. 6, the multi-sucker on the crawler belt goes round and begins again like this enters and breaks away from wall, guarantees robot continuous motion on wall.When robot carries out cleaning, the compressed air of compression vacuum pump 41 is stored into 43 li of compressed air reservoirs by air inlet pipe 53, the escape pipe 48 that connects air accumulator 43 is divided into two-way by threeway snap joint 54, the pressure-reducing valve 55 of leading up to connects the startup tracheae 56 of miniature turbo-jet formula engine 1, another road is connected with water tank 51 by tracheae 50 by two-bit triplet magnetic valve 49, when robot cleans, effect by two-bit triplet magnetic valve 49, water tank feeds compressed air for 51 li, the water pipe 60 and the sparge pipe that connect water tank 51 communicate, water by 51 li in pressure differential water tank just is sprayed onto on the wall from sparge pipe like this, alternating current generator 61 is by being with 62 synchronously, gear 63 drives backpitch structure rolling-brush 64 and does rotation at a high speed, near round brush 64 water is assembled to the centre like this, the non-drive motors end of round brush 64 is by gear 65, reduction gearing 66, be with the flexible suction of 67 drivings roller 68 to do clockwise low speed rotation synchronously, and the rinse water on the wall picked up, the flexible suction of extruding roller 68 by rigidity water squeezing roller 69, just water is extruded by the distortion of flexibility suction roller 68 like this, and the current intake chamber of under the effect of scraper plate 70, extruding 71, by water pipe 72, water valve 73 couples together tank 71 and water tank 51, liquid level by 71 li of liquid level sensor control tanks, when the water that tank is 71 li reaches predetermined fluid level, controller 47 is by controlling the state of two-bit triplet magnetic valve 49 and water valve 73 to the processing of the feedback signal of liquid level sensor, at this moment two-bit triplet magnetic valve 49 produces action and makes compressed air hose connection atmosphere, leak the compressed air of 51 li in water tank, water valve 73 is opened then, the water that tank is 71 li is at the dirty inlet water tank 51 of gravity effect, when controller 47 receives the feedback signal of liquid level sensor, water valve 73 cuts out, two-bit triplet magnetic valve 49 recovers original state then, finish the cleaning of robot smoothly, referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5.

Summarize as the advantage to crawler-type multiple sucking disc wall climbing described in the utility model, be specially:

1. solved a sucker and crawler belt inconsistent difficult problem in motion

2. only realized the crawler multi-sucker Batch Adsorption by a vavuum pump, and each vacuum cup 1 is independent, when the part sucker leaks, can not affect the vacuum of other sucker

3. continuous wash, continuous adsorption and continuous span obstacle-overpass have been realized

4. realized a line system, climbing ability is strong

Claims

1. a crawler multi-sucker climbing robot is characterized in that described robot body, is made up of vacuum cup 1, crawler multi-sucker driving/switching mechanism.

2. robot according to claim 1 is characterized in that vacuum cup 1, is made up of cupule head 2, sucker 3, vacuum induction switch, vacuum suction switch, vacuum leak switch, miniature ripple sucker 4.Cupule head 2 is connected on the sucker disk seat 6 by clip 5; The vacuum induction switch of sucker is made up of induction push rod 8, return spring 10 and sealing ring 11, and return spring 10 1 ends are fixed on the sucker 75, and the other end is connected on the induction push rod 8, and sealing ring 11 is fixed on the induction push rod 8, and seals with sucker 75; The vacuum suction switch of sucker is made up of sealing ring 12, compression spring 13, sealing tracheae 14, fairlead 15, sealing ring 12 is embedded on the sealing tracheae 14, the other end of sealing tracheae 14 is embedded into 15 li of fairleads, fairlead 15 is embedded into sucker flap 16 inboards, be enclosed within the compression spring 13 on the sealing tracheae 14, one end is pressed on the fairlead 15, and the other end is pressed in the sealed end of sealing tracheae 14; The vacuum leak switch is made up of sealing guide rod 17, compression spring 18, attachment screw 7, slotted screw 9, guider screw 19, sealing ring 20, sealing ring 20 is embedded in an end of sealing guide rod 17, the other end of sealing guide rod 17 is embedded into 19 li of guider screws, compression spring 18 is enclosed within on the sealing guide rod 17 and is pressed in its sealed end, the other end is pressed on the guider screw 19, attachment screw 7 is fixed on the sealing guide rod 17, sealing guide rod 17 is connected with sucker 75 by slotted screw 9, and ripple sucker 4 is fixed on the sucker flap 16 by external thread sleeve in the hexagonal 20.

3. robot according to claim 1, it is characterized in that crawler multi-sucker driving/switching mechanism, form by AC servo motor 21, driving wheel 22, driven pulley 23, cam 28, Moving plate 31, quiet dish 32, compression spring 33, synchronous pulley 34, crawler belt 24.AC servo motor 21 is fixed on this body support frame 25, and links to each other with driving wheel 22, and driving wheel 22 links to each other with rear bearing sheet 26 by bearing, and driven pulley 23 is installed on this body support frame 25 and the front end panel 27 by bearing; Front and back cam 28 is installed in front end panel 27 by the deep groove ball bearing 29 of band dust cap, on rear bearing sheet 26 and this body support frame 25, shield bearing 37 is installed on the quiet dish 32, quiet dish 32 is enclosed within on the synchronous pulley axle 36 by bearing 30, and and Moving plate 31, synchronous pulley 34, cam 28 links to each other, compression spring 33 1 ends are enclosed within on the synchronous pulley axle 36 by circlip for shaft 35, the other end is compressed on the quiet dish 32, synchronous pulley axle 36 1 ends are installed on this body support frame 25 by shield bearing 37, before the other end is installed in by dustproof deep groove ball bearing 38, rear bearing sheet 27, on 26, before, rear bearing sheet 27,26 are fixed on this body support frame 26 by back shaft 29, one end of quiet dish 32 is fixed on this body support frame 26, the other end links to each other with vacuum tube/high-voltage tube 40 by quick connector 39, when the air flue conduction and cut-off on air flue on the Moving plate 31 and the quiet dish 32, just finished the vacuum conversion of sucker, crawler belt 24 is installed to driving wheel 22, on driven pulley 23 and the front and back cam 28, so just constituted crawler multi-sucker driving/switching mechanism.