Alternating adsorption type chuck wheel structure

Abstract

The alternating adsorption suction cup wheel structure disclosed in this invention comprises: sleeves with first and second collars at their left and right ends respectively, movably mounted on a support shaft; several gas channels, not penetrating the second collar or the right end face of the sleeve, are horizontally opened to the right on the left end face of the sleeve; each gas channel is arranged in a ring array relative to the sleeve axis, and each gas channel forms an independent elongated groove structure on the outer circumferential side wall of the sleeve; a rotating wheel is fixedly mounted on the sleeve between the first and second collars, and several groups of air holes corresponding to the positions of each gas channel are opened on the rotating wheel, each group of air holes consisting of several air holes arranged at intervals from left to right; a cover with a cylindrical baffle at the right end is fixedly fitted onto the support shaft, the baffle is fitted onto the first collar, and a sealing structure is provided between the baffle and the first collar; a vacuuming structure and a vacuum release structure are provided between the cover and the first collar. The above structure is simple and compact and can reliably climb on smooth surfaces.

Description

Technical Field

[0001] This invention relates to the field of climbing robot technology, and in particular to an alternating suction cup wheel structure. Background Technology

[0002] With the continuous development of technology, intelligent climbing robots are gradually replacing manual labor to complete some complex, tedious, and dangerous tasks. For example, the exterior surfaces of residential buildings, hotels, and office buildings are usually smooth surfaces such as tiles and glass, making it difficult and dangerous for cleaners to climb and clean them. Therefore, cleaning climbing robots have emerged. Another example is the need for regular inspection of pipelines such as rainwater drainage pipes, solar water heater pipes, and underground water supply systems. Some of these pipes are located at high altitudes or underground, making manual inspection very difficult and dangerous. Thus, inspection climbing robots have been developed.

[0003] For climbing robots designed for various purposes, the reliability of their climbing components' adhesion to the surface they are crawling is a crucial aspect of their performance. Currently, climbing robots crawling on metal surfaces typically use magnetic adhesion, but this requires the surface to be magnetic. For climbing robots crawling on non-magnetic surfaces, the climbing component usually employs a vacuum adhesion device fixed to the bottom of the robot, such as various window-cleaning robots commonly found on the market. However, these robots cannot crawl on curved surfaces, limiting their usability. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an alternating suction cup wheel structure that is simple and compact in structure and can be adsorbed and rolled on a smooth surface. This alternating suction cup wheel structure can be adsorbed and rolled on both smooth flat surfaces and smooth curved surfaces, and its stability on the surface being crawled is very good.

[0005] To solve the above problems, the technical solution adopted by the present invention is as follows: the alternating adsorption suction cup wheel structure includes: a support shaft, which is an integral stepped shaft structure composed of a connecting shaft located on the left and a main shaft located on the right; a sleeve is movably supported on the main shaft by a bearing assembly, thereby allowing the sleeve to rotate smoothly on the main shaft; a first collar protruding outward is provided on the left end of the sleeve, and a second collar protruding outward is provided on the right end of the sleeve; several gas channels are horizontally placed in a left-right direction on the left end face of the sleeve, and each gas channel does not penetrate the second collar and the right end face of the sleeve; each gas channel is arranged in a ring array relative to the axis of the sleeve, and each gas channel forms an independent elongated groove structure on the outer circumferential side wall of the sleeve between the first collar and the second collar; a rotating wheel made of soft material is fixedly installed on the sleeve between the first collar and the second collar, and the left end face of the rotating wheel contacts the right end face of the first collar, and the right end face of the rotating wheel is in contact with... The left end face of the second collar is in contact; several groups of air holes are evenly spaced along the circumferential direction on the outer circumferential side wall of the rotating wheel. Each group of air holes consists of several air holes arranged from left to right, and each group of air holes corresponds to the position of each gas channel, so that each air hole in each group of air holes is connected to the corresponding gas channel; the cover is fixedly installed on the support shaft after being fitted from the end of the connecting shaft. A cylindrical baffle is provided on the right end face of the cover. The baffle is fitted onto the first collar from the left end. A sealing structure is provided between the baffle and the first collar; the bottom area of ​​the rotating wheel is the vacuum adsorption zone. The other circumferential areas of the rotating wheel, excluding the vacuum adsorption zone, are the compressed air output zone. A vacuuming structure is provided between the cover and the first collar to provide vacuum adsorption force for the air holes in each group of air holes moving to the vacuum adsorption zone. A vacuum release structure is provided between the cover and the first collar to provide compressed air for the air holes in each group of air holes moving to the compressed air output zone.

[0006] As the rotating wheel rolls, a vacuum is created by a vacuum extraction structure, allowing the through holes in contact with the smooth surface (i.e., those in the vacuum adsorption zone) to achieve vacuum adsorption. The through holes leaving the smooth surface (i.e., those in the compressed air output zone) have their vacuum broken by compressed air introduced through a vacuum release structure. This alternating adsorption and release of the rotating wheel during its rolling process ensures that the climbing robot equipped with several alternating adsorption suction cup wheels can climb the smooth surface very stably.

[0007] Furthermore, circular gas channels are preferred, and the aperture of each gas channel is consistent.

[0008] The first collar, second collar, and sleeve are preferably manufactured as a single piece. Here, the first collar and sleeve are imaginarily separated, creating a virtual intersection line between the left end face of the first collar and the left end face of the sleeve. The axes of all gas channels are distributed along this intersection line. In this case, the elongated groove structure formed by each gas channel on the outer circumferential sidewall of the sleeve is a semi-circular channel structure.

[0009] Furthermore, in the aforementioned alternating adsorption suction cup wheel structure, the vacuuming structure is as follows: a first cavity is provided inwardly at the lower part of the right end face of the cover, the first cavity is connected to the gas channels corresponding to each group of air holes that move to the vacuum adsorption zone, and a vacuuming connector connected to the first cavity is installed on the left end face of the cover.

[0010] When the rotating wheel is rotating, the number of groups of air holes moving to the vacuum adsorption zone is always no less than two, to ensure the adsorption force of vacuum adsorption on the smooth surface when the rotating wheel is rotating. The first cavity is a fan-shaped cylindrical cavity structure with a smaller upper part and a larger lower part, and the symmetrical center plane of the first cavity overlaps with the vertical center plane of the cover, and the axis of the vacuum connector overlaps with the symmetrical center plane of the first cavity. In addition, a position mark indicating the location of the vacuum connector is provided on the left end face of the cover located at the vacuum connector.

[0011] Among these features, the rotating wheel, made of soft material, is preferably made of rubber. Furthermore, each group of air vents on the rotating wheel must contain at least three vents, and these vents must be evenly spaced horizontally from left to right. The shape of each vent is preferably a uniform circular through-hole, and the diameter of each vent must match the diameter of the gas passage.

[0012] Furthermore, in the aforementioned suction cup rotating wheel mechanism, the vacuum release structure is as follows: a second cavity is formed inward on the right end face of the cover, and the second cavity and the first cavity are independent of each other and do not interfere with each other. The second cavity is connected to the gas channels corresponding to the groups of air holes that move to the compressed air output area, and a compressed air inlet connected to the second cavity is formed on the left end face of the cover.

[0013] The symmetrical center plane of the second cavity overlaps with the vertical center plane of the cover, the compressed air inlet is located in the upper part of the second chamber, and the axis of the compressed air inlet overlaps with the symmetrical center plane of the second cavity.

[0014] Furthermore, in the aforementioned suction cup rotating wheel mechanism, the sealing structure comprises: at least two first annular mounting grooves spaced apart from left to right on the outer circumferential sidewall of the first collar; and second annular mounting grooves corresponding one-to-one in position and number to the first annular mounting grooves spaced apart from left to right on the inner circumferential sidewall of the flange. Each first annular mounting groove and its corresponding second annular mounting groove constitute a complete mounting groove for placing a sealing ring. A Y-shaped sealing ring is placed in each mounting groove, and a lubricating fluid layer is filled in the gap between any two adjacent Y-shaped sealing rings. This sealing structure ensures both smooth relative movement between the stationary flange and the moving first collar, and a tight seal between them, further improving the stability of the alternating suction cup wheel structure adhering to the crawled surface during rolling.

[0015] The beneficial effects of the present invention are: the alternating adsorption suction cup wheel structure is simple and compact, occupies little space, can adsorb and roll on smooth flat surfaces as well as on smooth curved surfaces, and has very good stability when adsorbed on the surface being crawled. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the alternating adsorption suction cup wheel structure described in this invention.

[0017] Figure 2 This is a schematic diagram of the planar structure of the left end face of the cover in the alternating suction cup wheel structure.

[0018] Figure 3 yes Figure 2 A schematic diagram of the structure in the AA section.

[0019] Figure 4 yes Figure 3 A schematic diagram of the structure in the CC section.

[0020] Figure 5 yes Figure 3 A schematic diagram of the structure in the DD section direction.

[0021] Figure 6 yes Figure 3 A schematic diagram of the structure of the left end face of the sleeve in the left-middle view direction.

[0022] Figure 7 This is a schematic diagram of the Y-shaped sealing ring.

[0023] Figure 8 This is a schematic diagram of the planar structure of the alternating adsorption suction cup wheel structure described in the invention.

[0024] Figure 9 yes Figure 8A structural schematic diagram in the BB section. Detailed Implementation

[0025] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and preferred embodiments.

[0026] like Figure 1 , Figure 3 and Figure 8 As shown, the alternating suction cup wheel structure described in this embodiment includes: a support shaft 1. In this embodiment, the support shaft is composed of a connecting shaft 11 located on the left and a main shaft 12 located on the right, forming an integrated stepped shaft structure. For ease of description, it is referred to as... Figure 3 The left side in the indicated position is defined as "left". Figure 3 The right side in the indicated position is defined as "right". For example, the cover 5 is located to the left of the main shaft 12, while the second collar 22 is located to the right of the first collar 21. All orientation definitions in this embodiment are based on this definition.

[0027] The sleeve 2 is movably supported on the main shaft 12 by a bearing assembly. This bearing assembly uses a pair of bearings 3, with the two bearings 3 positioned on the left and right sides of the inner wall of the sleeve 2, allowing the sleeve 2 to rotate smoothly on the main shaft 12. A first collar 21 protruding outwards is provided on the left end of the sleeve 2, and a second collar 22 protruding outwards is provided on the right end of the sleeve 2. The sleeve 2, the first collar 21, and the second collar 22 are typically integrally formed. Several horizontally placed gas channels 23 are opened to the right on the left end face of the sleeve 2, and none of the gas channels 23 penetrate the second collar 22 or the right end face of the sleeve 2. Figure 3 As shown. Each gas channel 23 is arranged in a ring array relative to the axis of the sleeve 2, and each gas channel 23 forms an independent elongated groove structure 24 on the outer circumferential sidewall of the sleeve between the first collar 21 and the second collar 22. See [reference needed]. Figure 9 As shown.

[0028] Here, the first collar 21 and sleeve 2, which are connected as a single unit, are imaginarily separated. At this point, there is a virtual intersection line 20 between the left end face of the first collar 21 and the left end face of the sleeve 2. (See below) Figure 6 As shown. The gas channel 23 can be located within the intersection line 20. In this case, the gas channel is a non-circular channel structure, which has the same shape as the elongated groove structure 24.

[0029] Gas passage 23 can also be located both inside and outside the junction line 20. In this case, part of gas passage 23 is located on sleeve 2, and part is located on the first collar 21. For example... Figure 6 and Figure 9As shown, in this embodiment, the gas channels 23 are preferably circular channels, and the diameter of each gas channel 23 is the same. Furthermore, the axes of each gas channel 23 are distributed on the intersection line 20 between the left end face of the sleeve 2 and the left end face of the first collar 21. In this case, the elongated groove structure 24 formed by each gas channel 23 on the outer circumferential sidewall of the sleeve 2 is a semi-circular channel structure.

[0030] like Figure 3 , Figure 8 and Figure 9 As shown, a rotating wheel 4 made of soft material is fixedly installed on a sleeve 2 between a first collar 21 and a second collar 22. The left end face of the rotating wheel 4 contacts the right end face of the first collar 21, which can be a tight-fitting, sealed contact or a fixed, airtight contact. The right end face of the rotating wheel 4 contacts the left end face of the second collar 22, which can also be a tight-fitting, sealed contact or a fixed, airtight contact. In this embodiment, the rotating wheel 4 is made of rubber. Several groups of air holes are evenly spaced along the circumferential direction on the outer circumferential sidewall of the rotating wheel 4. Each group of air holes consists of several air holes 41 arranged from left to right. The positions of each group of air holes correspond one-to-one with the elongated groove structure 24 of each gas channel 23, so that each air hole 41 in each group of air holes is connected to the corresponding gas channel 23.

[0031] Each group of air holes on the rotating wheel 4 contains at least three air holes 41, and the air holes 41 in each group are evenly spaced horizontally from left to right. In this design, the number of air holes 41 in each group of air holes on the rotating wheel 4 is three. The shape of each air hole 41 is preferably a circular through hole of the same size, and the diameter of each air hole 41 is the same as the diameter of each gas channel 23.

[0032] like Figure 3 and Figure 7As shown, the cover 5 is fitted onto the support shaft 1 after being inserted from the connecting shaft end. A cylindrical flange 51 is provided on the right end face of the cover 5, and the flange 51 is usually integrally formed with the cover 5. The flange 51 is fitted onto the first shaft ring 21 from the left end, and a sealing structure is provided between the flange 51 and the first shaft ring 21. The sealing structure described in this embodiment is as follows: at least two first annular mounting grooves are spaced apart from left to right on the outer circumferential side wall of the first shaft ring 21, and second annular mounting grooves are spaced apart from left to right on the inner circumferential side wall of the flange 51, corresponding one-to-one with the position and number of each first annular mounting groove. Each first annular mounting groove and the corresponding second annular mounting groove form a complete mounting groove for placing a sealing ring. A Y-shaped sealing ring 9 is placed in each mounting groove, and a lubricating fluid layer is filled in the gap between two adjacent Y-shaped sealing rings 9. This sealing structure ensures both smooth relative movement between the stationary flange 51 and the moving first collar 21, and a tight seal between them.

[0033] For ease of description, it is assumed here that the bottom of the transmission wheel 4 is in contact with the smooth surface. At this time, the bottom area of ​​the rotating wheel 4 is the vacuum adsorption zone, and the other circumferential areas of the rotating wheel are the compressed air output zones. A vacuum-drawing structure is provided between the cover 5 and the first shaft ring 21 to provide vacuum adsorption force to the air holes 41 in the groups of air holes that move to the vacuum adsorption zone. A vacuum release structure is provided between the cover 5 and the first shaft ring 21 to provide compressed air to the air holes 41 in the groups of air holes that move to the compressed air output zones. During the rolling process of the rotating wheel 4, a vacuum is drawn by the vacuum-drawing structure, so that the through holes in contact with the smooth surface, i.e., the through holes in the vacuum adsorption zone, achieve vacuum adsorption; the through holes leaving the smooth surface, i.e., the through holes in the compressed air output zones, are devastated by the compressed air introduced by the vacuum release structure, thereby realizing the alternating adsorption of the rotating wheel 4 during the rolling process, i.e., alternating vacuum adsorption and release, thus ensuring that the climbing robot equipped with several alternating adsorption suction cup wheels can climb the smooth surface very stably.

[0034] like Figure 3 , Figure 4 and Figure 5 As shown, the vacuum structure described in this embodiment is as follows: a first cavity 53 is formed inwardly at the lower right end face of the cover 5. The first cavity 53 is connected to the gas channels 23 corresponding to the groups of air holes 41 that move to the vacuum adsorption zone. A vacuum connector 6 connected to the first cavity 53 is installed on the left end face of the cover 5. In use, the vacuum connector 6 is connected to a vacuum pumping device. In addition, as... Figure 2As shown, a position mark 7 indicating the location of the vacuum connector is provided on the left end face of the cover 5 located at the vacuum connector 6.

[0035] When the rotating wheel 4 is rotating, the number of pore groups moving to the vacuum adsorption zone is always no less than two, to ensure the adsorption force of vacuum adsorption on the smooth surface when the rotating wheel 4 is rotating. In this scheme, when the rotating wheel 4 is rotating, the number of pore groups moving to the vacuum adsorption zone is preferably three.

[0036] like Figure 3 , Figure 4 and Figure 5 As shown, the vacuum release structure in this embodiment is as follows: a second cavity 54 is formed inward on the right end face of the cover 5. The second cavity 54 and the first cavity 53 are independent of each other and do not interfere with each other. The second cavity 54 is connected to the gas channels 23 corresponding to the groups of air holes that move to the compressed air output area. A compressed air inlet 52 connected to the second cavity 54 is formed on the left end face of the cover 5. In use, the compressed air inlet 52 is connected to a compressed air output device that can provide compressed air.

[0037] like Figure 3 and Figure 4 As shown, the first cavity 53 is a fan-shaped cylindrical cavity structure with a smaller upper part and a larger lower part. The symmetrical center plane of the first cavity 53 overlaps with the vertical center plane of the cover 5, while the symmetrical center plane of the second cavity 54 overlaps with the vertical center plane of the cover 5. The first cavity 53 and the second cavity 54 occupy the space of the right end face of the cover 5. While making full use of the space of the right end face of the cover 5, the overall layout is also very simple.

[0038] The axis of the vacuum connector 6 overlaps with the symmetrical center plane of the first cavity 53. This arrangement ensures that the suction force of the vacuum is more evenly distributed at each air hole 41 in the vacuum adsorption zone. The compressed air inlet 52 is located at the upper part of the second chamber 54, and the axis of the compressed air inlet 52 overlaps with the symmetrical center plane of the second cavity. This arrangement also ensures that the output compressed air on both sides of the vacuum adsorption zone is relatively symmetrical.

[0039] When the alternating suction cup wheel structure is in operation, the vacuum pumping device is connected to the vacuum connector 6, and the compressed air inlet 52 is connected to the compressed air output device. The vacuum pumping device continuously pumps vacuum, and the compressed air output device continuously outputs compressed air. When the alternating suction cup wheel structure is in operation, the rotating wheel 4 is in a rolling state. Each through hole 41 in each group of through holes in the vacuum suction zone is connected to the first cavity 53 through the corresponding horizontal channel 23. The vacuum pumping device pumps vacuum, thereby achieving vacuum adsorption in each through hole that contacts the smooth surface. Each through hole 41 in each group of through holes in the compressed air output zone is connected to the second cavity 54 through the corresponding horizontal channel 23. The compressed air output device supplies compressed air to the second cavity, allowing compressed air to enter each through hole that does not contact the smooth surface, thus breaking the vacuum. This achieves alternating vacuum adsorption and release of the rotating wheel 4 during rolling, ensuring that the climbing robot equipped with several alternating suction cup wheels can climb steadily on smooth surfaces. Furthermore, the rolling mechanism of the alternating suction cup wheel structure allows the mechanism to adhere and roll on both smooth flat surfaces and smooth curved surfaces.

[0040] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any other way. Any modifications or equivalent changes made based on the technical essence of the present invention shall still fall within the scope of protection claimed by the present invention.

Claims

1. An alternating suction cup wheel structure, including: A support shaft, comprising a connecting shaft on the left and a main shaft on the right, forming an integral stepped shaft structure; characterized in that: a sleeve is movably supported on the main shaft by a bearing assembly; a first collar protruding outward is provided on the left end of the sleeve, and a second collar protruding outward is provided on the right end of the sleeve; several horizontally placed gas channels are opened to the right on the left end face of the sleeve, and each gas channel does not penetrate the second collar and the right end face of the sleeve; each gas channel is arranged in a ring array relative to the axis of the sleeve, and each gas channel forms an independent elongated groove structure on the outer circumferential sidewall of the sleeve between the first and second collars; a rotating wheel made of soft material is fixedly installed on the sleeve between the first and second collars, and the left end face of the rotating wheel contacts the right end face of the first collar, and the right end face of the rotating wheel contacts the left end face of the second collar; on the outer circumferential sidewall of the rotating wheel, along the circle Several groups of air holes are evenly spaced in the circumferential direction. Each group of air holes consists of several air holes arranged sequentially from left to right, and each group of air holes corresponds to a gas channel, so that each air hole in each group of air holes is connected to the corresponding gas channel. The cover is fixedly installed on the support shaft after being fitted onto the connecting shaft end. A cylindrical baffle is provided on the right end face of the cover. The baffle is fitted onto the first shaft ring from the left end. A sealing structure is provided between the baffle and the first shaft ring. The bottom area of ​​the rotating wheel is the vacuum adsorption zone. The other circumferential areas of the rotating wheel, excluding the vacuum adsorption zone, are the compressed air output zone. A vacuuming structure is provided between the cover and the first shaft ring to provide vacuum adsorption force to the air holes in each group of air holes moving to the vacuum adsorption zone. A vacuum release structure is also provided between the cover and the first shaft ring to provide compressed air to the air holes in each group of air holes moving to the compressed air output zone.

2. The alternating adsorption suction cup wheel structure according to claim 1, characterized in that: The vacuum structure is as follows: a first cavity is provided inward at the lower part of the right end face of the cover, the first cavity is connected to the gas channels corresponding to each group of air holes that move to the vacuum adsorption zone, and a vacuum connector connected to the first cavity is installed on the left end face of the cover.

3. The alternating adsorption suction cup wheel structure according to claim 2, characterized in that: During the rotation of the rotating wheel, the number of groups of air holes that move to the vacuum adsorption zone is always no less than two; the first cavity is a fan-shaped cavity structure with a small upper part and a large lower part, and the symmetrical center plane of the first cavity overlaps with the vertical center plane of the cover, and the axis of the vacuum connector overlaps with the symmetrical center plane of the first cavity.

4. The alternating adsorption suction cup wheel structure according to claim 2 or 3, characterized in that: A location mark indicating the position of the vacuum connector is provided on the left end face of the cover located at the vacuum connector.

5. The alternating adsorption suction cup wheel structure according to claim 1, 2, or 3, characterized in that: The vacuum release structure is as follows: a second cavity is provided inward on the right end face of the cover. The second cavity and the first cavity are independent of each other. The second cavity is connected to the gas channels corresponding to each group of air holes that move to the compressed air output area. A compressed air inlet connected to the second cavity is provided on the left end face of the cover.

6. The alternating adsorption suction cup wheel structure according to claim 5, characterized in that: The symmetrical center plane of the second cavity overlaps with the vertical center plane of the cover. The compressed air inlet is located in the upper part of the second chamber, and the axis of the compressed air inlet overlaps with the symmetrical center plane of the second cavity.

7. The alternating adsorption suction cup wheel structure according to claim 1 or 2, characterized in that: The sealing structure is as follows: at least two first annular mounting grooves are spaced apart from left to right on the outer circumferential sidewall of the first collar; and second annular mounting grooves, corresponding one-to-one in position and number to each of the first annular mounting grooves, are spaced apart from left to right on the inner circumferential sidewall of the retaining edge. Each first annular mounting groove and its corresponding second annular mounting groove form a complete mounting groove for placing a sealing ring. A Y-shaped sealing ring is placed in each mounting groove, and a lubricating fluid layer is filled in the gap between two adjacent Y-shaped sealing rings.

8. The alternating adsorption suction cup wheel structure according to claim 5, characterized in that: The sealing structure is as follows: at least two first annular mounting grooves are spaced apart from left to right on the outer circumferential sidewall of the first collar; and second annular mounting grooves, corresponding one-to-one in position and number to each of the first annular mounting grooves, are spaced apart from left to right on the inner circumferential sidewall of the retaining edge. Each first annular mounting groove and its corresponding second annular mounting groove form a complete mounting groove for placing a sealing ring. A Y-shaped sealing ring is placed in each mounting groove, and a lubricating fluid layer is filled in the gap between two adjacent Y-shaped sealing rings.

9. The alternating adsorption suction cup wheel structure according to claim 1, characterized in that: The gas channels are circular, with all gas channels having the same aperture, and the axes of all gas channels are distributed on the intersection line between the left end face of the sleeve and the left end face of the first collar.

10. The alternating adsorption suction cup wheel structure according to claim 9, characterized in that: Each group of air holes on the rotating wheel made of rubber has no fewer than three air holes, and the air holes in each group are evenly spaced horizontally from left to right; each air hole is a circular through hole of the same size, and the diameter of each air hole is the same as the diameter of each gas channel.

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