Centrifugal ring current impeller type suction cup

Abstract

The application discloses an underwater centrifugal circular flow impeller type suction cup. The suction cup shell is a hollow columnar structure, the impeller bottom plate and the centrifugal circular flow impeller are fixedly connected and then are installed in the internal cavity, the waterproof direct current motor and the Bernoulli bottom plate are coaxially and fixedly installed on the upper side and the lower side of the suction cup shell respectively, the lower end of the waterproof direct current motor output shaft is fixedly connected with the impeller bottom plate and the shaft end baffle in sequence after penetrating through the suction cup shell, the upper part of the centrifugal circular ring is provided with a plurality of trapezoidal grooves so as to form a convex block between the adjacent trapezoidal grooves, the inner side inclined straight blade and the outer side inclined straight blade are fixedly connected through the convex block, and the inclination angles between the inner side inclined straight blade and the outer side inclined straight blade are same and the inclination directions thereof are opposite. The underwater centrifugal circular flow impeller type suction cup can generate greater suction force than the traditional centrifugal impeller type suction cup or the Bernoulli suction cup, and the energy consumption of the suction cup is small.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of mechanical innovative design, and particularly relates to a centrifugal ring flow impeller type suction cup for underwater survey. BACKGROUND

[0002] Underwater adsorption technology and underwater grabbing technology are one of the key technologies for underwater survey and operation, and are widely used in many fields such as marine geological survey, resource exploration and mineral assessment, deep sea salvage and the like, to complete various engineering operations such as underwater sampling, underwater salvage, underwater adsorption and the like. If the traditional underwater adsorption technology wants to make the underwater robot bearing heavy operation such as drilling cutting, high pressure cleaning and the like to be stably adsorbed, a large suction cup or multiple small suction cups are needed, which leads to the complexity and heaviness of the whole mechanism, and the underwater grabbing technology mostly adopts mechanical grabbing devices, which has problems such as complex design and inconvenient operation, and is difficult to adapt to many irregularly shaped objects, and may cause damage to the grabbed objects, and cannot be adsorbed in a water-free environment.

[0003] Robot technology has always been one of the research hotspots in academia and industry. In recent years, with the wide application of robots in various fields, special robot technology has also developed rapidly. Unlike industrial and service robots, special robots are aimed at solving difficult problems in professional fields, so they need to be refined and strengthened in some special functions and needs. The underwater wall climbing robot as a new important branch of special robots plays a very important role in marine equipment cleaning, underwater structure exploration and water conservancy equipment maintenance. However, how to realize stable adsorption on different types of surfaces has always been one of the research difficulties of underwater wall climbing robots.

[0004] Traditional underwater robots rely on magnetic adsorption, vacuum adsorption or negative pressure adsorption to realize the attachment on the structure and equipment, and then the current various adsorption technologies all have certain defects. The application scene of magnetic adsorption is limited to the surface of ferromagnetic materials, and cannot play a role on non-ferromagnetic material structures such as bridge piers and dam bodies. Vacuum adsorption is difficult to get rid of the limitation of vacuum pump, and the vacuum cup is prone to leakage in underwater environment, greatly increasing the difficulty of mechanism design and actual operation. Cyclone negative pressure adsorption relies on high pressure water pump or high power motor to generate negative pressure area in the suction cup cavity. The negative pressure adsorption technology belongs to contact adsorption, which depends on the sealing performance, and the suction cup body or connecting pipeline is easy to block, causing adsorption failure.

[0005] For the negative pressure adsorption technology, the currently applied suction cups can be mainly divided into two categories: one is to rely on a vacuum generating device to generate a vacuum negative pressure to perform adsorption. This suction cup can work in a liquid medium environment because it relies on a vacuum generating device. The disadvantage is that the device is relatively complex, the operation requirements are relatively high, and the cost is also relatively high. The other is to exclude the medium in the sealed space through mechanical movement to form a negative pressure environment to form adsorption. This suction cup is simple in structure and convenient to operate, but its adsorption capacity is limited under certain volume and power restrictions, and it cannot meet the needs of some heavy-duty fields, so it is of great application value to design a small-sized, low-powered and high-capacity underwater suction cup.

[0006] A Bernoulli suction cup suitable for underwater operation disclosed in the patent document with publication number CN112478109A, the suction cup comprises a suction body and a propeller in the suction body. The suction cup generates environmental flow through the propeller, forms a flow gap between the suction surface and the wall surface through the support structure at the bottom of the suction surface, and forms the adsorption force of the whole suction cup due to the Bernoulli effect of the suction surface and the reaction force of the propeller. The advantage of this design is simple structure, convenient control, and convenient manufacturing and installation. However, the use of propeller as the power source of the suction cup will cause large water flow disturbance, affecting underwater observation; in addition, the support structure is easy to wear on rough surfaces. In addition, the adsorption capacity of the separate centrifugal impeller type suction cup or the suction cup after adding the Bernoulli bottom disc is limited, and multiple suction cups need to be configured to perform heavy underwater drilling, cutting and other heavy operations, which occupies a large area and volume, and requires a large power. SUMMARY

[0007] In order to solve the problems in the background art, the purpose of the present application is to design an underwater centrifugal circular flow impeller type suction cup. The underwater centrifugal circular flow impeller type suction cup of the present application is convenient to install and has greater adsorption force.

[0008] The technical scheme of the present application is as follows:

[0009] The present application comprises a waterproof DC motor, a suction cup shell, a shaft end check ring, a ring-shaped Bernoulli bottom disc and a centrifugal mechanism. The suction cup shell is a hollow columnar structure with a hole at the top end and an opening at the bottom end. The centrifugal mechanism is arranged in the cavity inside the suction cup shell and does not contact the inner side wall of the suction cup shell. The waterproof DC motor and the Bernoulli bottom disc are coaxially fixedly installed on the upper and lower sides of the suction cup shell, respectively. The shaft end check ring is located in the middle of the centrifugal mechanism. The lower end of the output shaft of the waterproof DC motor is fixedly connected with the centrifugal mechanism and the shaft end check ring in sequence after passing through the suction cup shell.

[0010] The output shaft of the waterproof DC motor drives the centrifugal mechanism to rotate, causing water to flow out of the cavity of the suction cup shell, thereby forming a vacuum negative pressure in the cavity of the suction cup shell, and realizing underwater adsorption of the suction cup.

[0011] The centrifugal mechanism comprises a disc-shaped impeller base and a centrifugal circular flow impeller fixedly connected to the lower surface of the impeller base, and the impeller base and the centrifugal circular flow impeller are coaxially installed in a cavity in the inside of the suction disc shell after being fixedly connected, the middle part of the impeller base and the centrifugal circular flow impeller are both provided with a hole, and the bottom end of the waterproof DC motor output shaft is coaxially fixedly connected with the impeller base and the shaft end baffle in sequence after penetrating through the suction disc shell.

[0012] The centrifugal circular flow impeller mainly comprises a centrifugal circular ring and an array of inclined blades, the upper part of the centrifugal circular ring is provided with a plurality of trapezoidal grooves so as to form a protruding block between adjacent trapezoidal grooves, the array of inclined blades is mainly formed by a plurality of inclined blades uniformly and spacedly arranged along the circumferential direction of the centrifugal circular ring, each inclined blade is arranged along the radial direction of the centrifugal circular ring, and each inclined blade is fixedly connected with the protruding block of the centrifugal circular ring.

[0013] The inclined blade comprises an inner inclined straight blade and an outer inclined straight blade, the inner inclined straight blade and the outer inclined straight blade are fixedly connected to the inner side wall and the outer side wall of the centrifugal circular ring respectively, the inclination angles between the inner inclined straight blade and the outer inclined straight blade are the same, and the inclination directions thereof are opposite.

[0014] The number and arrangement position distribution of the inner inclined straight blade, the outer inclined straight blade and the protruding block are the same and aligned.

[0015] The inner diameter of the Bernoulli disc is equal to the inner diameter of the suction disc shell, and the outer diameter of the Bernoulli disc is greater than the outer diameter of the suction disc shell.

[0016] The lower end surface of the centrifugal circular flow impeller is not lower than the lower end surface of the Bernoulli disc.

[0017] The length of the outer inclined straight blade is greater than the length of the inner inclined straight blade.

[0018] The principle of the application is as follows:

[0019] As Figure 6As shown, the waterproof DC motor is coaxially connected with the centrifugal circular flow impeller and the impeller base, the waterproof DC motor rotates at high speed to drive the centrifugal circular flow impeller and the impeller base to rotate at high speed synchronously, the inner inclined straight blades in the centrifugal circular flow impeller agitate the water flow in the center of the centrifugal circular flow impeller to push outward, the water flow at the center of the centrifugal circular flow impeller enters the action area of the outer inclined straight blades after passing through the trapezoidal grooves at the centrifugal circular ring. Since the outer inclined straight blades and the central axis of the centrifugal circular flow impeller are at a certain inclination angle, the outer inclined straight blades give the water flow in the suction cup a force not only of centrifugal force but also of upward pushing when rotating at high speed. A part of the water flow in the suction cup is thrown to the edge of the centrifugal circular flow impeller due to the centrifugal force, and then flows out of the cavity of the centrifugal circular flow impeller, so that a local vacuum negative pressure is formed in the suction cup to generate suction force, when the water flow flows out of the cavity of the centrifugal circular flow impeller and then flows to the external environment through the annular Bernoulli base, the water flow in the centrifugal circular flow impeller and the lower part of the Bernoulli base forms a flow velocity difference to form a Bernoulli effect, thereby generating greater suction force. Another part of the water flow in the suction cup flows upward and meets the barrier of the impeller base and the inner wall of the suction cup shell, so that a part of the water flow accumulates at the upper edge of the inner wall of the suction cup shell, thereby forming a circumferential circular flow with relatively increased pressure, relatively stable speed and relatively concentrated distribution. The circumferential circular flow with increased fluid viscosity drives the fluid below the suction cup to do high-speed circular motion along the circumferential tangent through fluid internal friction, thereby generating a vortex and further increasing the suction force of the suction cup. Therefore, the centrifugal circular flow suction cup generates a pressure difference to form an internal vacuum negative pressure through the joint action of fluid internal friction and centrifugal force, rather than relying on centrifugal impeller type centrifugal force to generate a pressure difference to form a vacuum negative pressure.

[0020] The suction cup can realize non-contact adsorption, belongs to a kind of non-contact suction cup, and does not require roughness of adsorbed wall surface and material of adsorbed wall surface. The waterproof DC motor rotates at high speed to drive the impeller base and the centrifugal circular flow impeller to rotate coaxially, a part of the water flow in the suction cup flows out of the cavity of the centrifugal circular flow impeller under the guidance of the special structure of the centrifugal circular flow impeller, so that a vacuum negative pressure is formed in the cavity of the centrifugal circular flow impeller, and another part of the water flow accumulates at the edge of the impeller base to form a circumferential circular flow. The circumferential circular flow drives the fluid below the suction cup to do high-speed circular motion through fluid internal friction, thereby generating a vortex and centrifugal force, and further increasing the adsorption capacity of the suction cup.

[0021] The present application has the following advantages:

[0022] 1. Under the same adsorption area and rotation speed, the underwater centrifugal circulating impeller suction cup of the present invention can generate a greater adsorption force and has a stronger adsorption capacity than the traditional centrifugal impeller suction cup or Bernoulli suction cup.

[0023] 2. Compared with traditional underwater centrifugal impeller suction cups, the suction cup of the present invention consumes less power under the same adsorption force conditions, that is, it has higher energy utilization efficiency.

[0024] 3. The present invention has a simple structure, is easy to manufacture and install, and is portable, making it possible for large-scale processing and manufacturing as well as practical engineering applications.

[0025] 4. The suction cup of this invention has a simple and adjustable adsorption force, which can be adjusted by controlling the speed of the underwater waterproof motor. Attached Figure Description

[0026] Figure 1 This is an unfolded view of the centrifugal circulating impeller suction cup structure of the present invention;

[0027] Figure 2 This is an isometric view of the centrifugal circulating impeller suction cup of the present invention;

[0028] Figure 3 This is an isometric drawing of the centrifugal circulating impeller of the present invention;

[0029] Figure 4 This is a top view of the centrifugal circulating impeller of the present invention;

[0030] Figure 5 This is a bottom view of the centrifugal circulating impeller of the present invention;

[0031] Figure 6 This is a cross-sectional view and schematic diagram of the centrifugal circulating impeller suction cup of the present invention.

[0032] In the diagram: 1. Waterproof DC motor; 2. Suction cup housing; 3. Impeller chassis; 4. Centrifugal circulating impeller; 5. Shaft end retaining ring; 6. Bernoulli chassis; 7. Trapezoidal groove; 8. Outer inclined straight blade; 9. Inner inclined straight blade; 10. Centrifugal ring. Detailed Implementation

[0033] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0034] The implementation process of the embodiments of the present invention is as follows:

[0035] like Figure 1 and Figure 2As shown, the suction cup comprises a waterproof DC motor 1, a suction cup shell 2, a shaft end check ring 5, an annular Bernoulli bottom disc 6 and a centrifugal mechanism; the suction cup shell 2 is a hollow columnar structure with a hole at the top end and an opening at the bottom end, the centrifugal mechanism with a hole in the middle is arranged in the cavity inside the suction cup shell 2 and does not contact the inner side wall of the suction cup shell, the waterproof DC motor 1 and the Bernoulli bottom disc 6 are coaxially fixedly installed on the upper and lower sides of the suction cup shell 2 respectively, the shaft end check ring 5 is located in the middle of the centrifugal mechanism, and the lower end of the output shaft of the waterproof DC motor 1 is fixedly connected with the centrifugal mechanism and the shaft end check ring 5 in sequence from top to bottom after penetrating through the suction cup shell 2.

[0036] The output shaft of the waterproof DC motor 1 drives the centrifugal mechanism to rotate, causing water to flow out of the cavity of the suction cup shell 2, thereby forming a vacuum negative pressure in the cavity of the suction cup shell 2, and further realizing efficient underwater adsorption of the suction cup.

[0037] The centrifugal mechanism comprises a disc-shaped impeller bottom disc 3 and a centrifugal ring flow impeller 4, the centrifugal ring flow impeller 4 is fixedly connected to the lower surface of the impeller bottom disc 3, and the impeller bottom disc 3 and the centrifugal ring flow impeller 4 are coaxially installed in the cavity inside the suction cup shell 2 after being fixedly connected, the middle part of the impeller bottom disc 3 and the centrifugal ring flow impeller 4 is provided with a hole, and the bottom end of the output shaft of the waterproof DC motor 1 is coaxially fixedly connected with the impeller bottom disc 3 and the shaft end check ring 5 in sequence after penetrating through the suction cup shell 2.

[0038] The shaft end check ring 5 is used for axially limiting and fixing the impeller bottom disc 3 and the centrifugal ring flow impeller 4. The side surface and the upper surface of the centrifugal mechanism composed of the impeller bottom disc 3 and the centrifugal ring flow impeller 4 tightly pasted maintain a certain size gap (the size of the gap is generally 1mm-5mm) with the side surface and the upper surface of the inner wall of the suction cup shell 2.

[0039] The waterproof DC motor 1 penetrates through the central hole at the upper end of the suction cup shell 2 to be coaxially connected with the centrifugal ring flow impeller 4 and the impeller bottom disc 3, and drives the centrifugal mechanism composed of the centrifugal ring flow impeller 4 and the impeller bottom disc 3 to rotate at high speed. The annular Bernoulli bottom disc 6 is coaxially installed on the lower end surface of the suction cup shell 2, and the height of the suction cup shell 2 needs to ensure that the lower end surface of the centrifugal ring flow impeller 4 is not lower than the lower end surface of the Bernoulli bottom disc 6.

[0040] As shown in Figure 3 , Figure 4 and Figure 5 , the centrifugal ring flow impeller 4 mainly comprises an annular centrifugal ring 10 and an inclined blade array, the upper part of the centrifugal ring 10 is provided with a plurality of trapezoidal grooves 7 to form protruding blocks between adjacent trapezoidal grooves 7, the inclined blade array is mainly formed by a plurality of inclined blades uniformly and spaced apart along the circumferential direction of the centrifugal ring 10, each inclined blade is arranged along the radial direction of the centrifugal ring 10, each inclined blade is fixedly connected with the corresponding protruding block of the centrifugal ring 10, and each inclined blade corresponds to one protruding block.

[0041] The inclined blades include inner inclined straight blades 9 and outer inclined straight blades 8, which are fixedly connected to the inner side wall and the outer side wall of the centrifugal circular flow impeller 4 respectively, and the inclination angles between the inner inclined straight blades 9 and the outer inclined straight blades 8 are the same and the inclination directions are opposite.

[0042] The number and arrangement position distribution of the inner inclined straight blades 9, the outer inclined straight blades 8 and the protruding blocks are the same and aligned.

[0043] The part of the centrifugal circular ring 10 except the protruding blocks is taken as a center circular ring, and the top and bottom of the inner inclined straight blades 9 are fixedly connected to the top and bottom of the outer inclined straight blades 8 through the protruding blocks and the center circular ring respectively.

[0044] The inner diameter of the Bernoulli disc 6 is equal to the inner diameter of the suction disc shell 2, and the outer diameter of the Bernoulli disc 6 is greater than the outer diameter of the suction disc shell 2, and the lower surface of the Bernoulli disc 6 always maintains a small gap with the wall surface to be adsorbed during the actual working process of the suction disc.

[0045] The lower end surface of the centrifugal circular flow impeller 4 is not lower than the lower end surface of the Bernoulli disc 6.

[0046] The length of the outer inclined straight blade 8 is greater than the length of the inner inclined straight blade 9.

[0047] The number of the inner inclined straight blades 9 and the outer inclined straight blades 8 of the centrifugal circular flow impeller 4 is indefinite, and when the length of the outer inclined straight blade 8 is greater than the length of the inner inclined straight blade 9, the adsorption force of the suction disc is larger and the adsorption effect is better.

[0048] When the waterproof DC motor 1 works, it drives the centrifugal circular flow impeller 4 and the impeller disc 3 to rotate at high speed, and the water flow is centrifuged out of the hollow cavity of the suction disc shell 2 under the high-speed rotation of the centrifugal circular flow impeller 4, so that a vacuum negative pressure is formed in the hollow cavity of the suction disc shell 2, thereby realizing the underwater adsorption of the suction disc.

[0049] The centrifugal ring flow impeller 4 in the application is different from the traditional centrifugal impeller in principle. When the traditional centrifugal impeller rotates at high speed, water is directly thrown to the edge of the impeller under the action of centrifugal force, and a vacuum negative pressure is formed at the center of the impeller due to the water being thrown out. When the centrifugal ring flow impeller 4 rotates at high speed, the inner inclined straight blade 9 forms a certain inclination angle with the axis of the centrifugal ring flow impeller 4, so as to push the water at the center of the centrifugal ring flow impeller 4 upward, and under the action of centrifugal force, the water enters the action area of the outer inclined straight blade 8 through the trapezoidal groove 7 of the centrifugal ring 10. The outer inclined straight blade 8 throws part of the water outward, and the other part of the water is extruded upward and accumulates at the edge of the lower end surface of the impeller base 3 under the action of centrifugal force, forming a circumferential ring flow with relatively stable and concentrated speed distribution to drive the water below to rotate at high speed. Therefore, the centrifugal ring flow impeller type suction cup generates a pressure difference to form a vacuum negative pressure through the fluid internal friction and centrifugal force.

[0050] Under the same conditions of rotational speed and impeller diameter, the centrifugal ring flow impeller type suction cup of the application can generate greater and more stable suction force than the traditional centrifugal impeller type suction cup or Bernoulli suction cup. Under the same conditions of impeller diameter, the ring flow impeller diameter of the underwater centrifugal ring flow impeller type suction cup of the application and the impeller diameter of the ordinary centrifugal impeller type suction cup are both 125 mm, the outer shell diameter of the two suction cups is both 135 mm, the Bernoulli disc diameter is 190 mm, the rotational speed is 2000 r / min, the gap between the outer shell and the wall is 4 mm, and other conditions are the same. Under the same conditions, the underwater centrifugal ring flow impeller type suction cup of the application generates a suction force of 546 N on the suction wall, and consumes a power of 312 W. The ordinary centrifugal impeller type suction cup generates a suction force of 472 N on the suction wall, and consumes a power of 293 W. That is, the suction force of the underwater centrifugal ring flow impeller type suction cup is obviously improved compared with the ordinary centrifugal impeller type suction cup. If the ordinary centrifugal impeller type suction cup wants to generate a suction force of 546 N, it needs to consume a power of about 370 W, that is, the ordinary centrifugal impeller type suction cup needs to consume more power to achieve the same suction effect as the underwater centrifugal ring flow impeller type suction cup. Therefore, the suction performance of the underwater centrifugal ring flow impeller type suction cup is obviously improved compared with the existing ordinary centrifugal impeller type suction cup.

Claims

1.A water centrifugal ring flow impeller type suction cup, characterized in that: comprising a waterproof DC motor (1), a suction cup shell (2), a shaft end check ring (5), a ring-shaped Bernoulli bottom disc (6) and a centrifugal mechanism; the suction cup shell (2) is a hollow columnar structure with a hole at the top end and an opening at the bottom end, the centrifugal mechanism is arranged in the cavity inside the suction cup shell (2) and does not contact the inner side wall of the suction cup shell, the waterproof DC motor (1) and the Bernoulli bottom disc (6) are coaxially fixedly installed on the upper and lower sides of the suction cup shell (2) respectively, the shaft end check ring (5) is located in the middle of the centrifugal mechanism, and the lower end of the output shaft of the waterproof DC motor (1) is fixedly connected with the centrifugal mechanism and the shaft end check ring (5) in sequence after penetrating through the suction cup shell (2); the output shaft of the waterproof DC motor (1) drives the centrifugal mechanism to rotate, causing water to flow out of the cavity of the suction cup shell (2), thereby forming a vacuum negative pressure in the cavity of the suction cup shell (2), and realizing underwater adsorption of the suction cup; the centrifugal mechanism comprises a disc-shaped impeller bottom disc (3) and a centrifugal ring flow impeller (4), the centrifugal ring flow impeller (4) is fixedly connected to the lower surface of the impeller bottom disc (3), and the impeller bottom disc (3) and the centrifugal ring flow impeller (4) are coaxially installed in the cavity inside the suction cup shell (2) after being fixedly connected, the middle part of the impeller bottom disc (3) and the centrifugal ring flow impeller (4) are both provided with holes, and the bottom end of the output shaft of the waterproof DC motor (1) is coaxially fixedly connected with the impeller bottom disc (3) and the shaft end check ring (5) in sequence after penetrating through the suction cup shell (2); the centrifugal ring flow impeller (4) mainly comprises a centrifugal ring (10) and an array of inclined blades, a plurality of trapezoidal grooves (7) are formed in the upper part of the centrifugal ring (10), thereby forming protruding blocks between adjacent trapezoidal grooves (7), the array of inclined blades is mainly formed by a plurality of inclined blades which are uniformly and spacedly arranged along the circumferential direction of the centrifugal ring (10), each inclined blade is arranged along the radial direction of the centrifugal ring (10), and each inclined blade is fixedly connected with the protruding blocks of the centrifugal ring (10); the inclined blade comprises an inner inclined straight blade (9) and an outer inclined straight blade (8), the inner inclined straight blade (9) and the outer inclined straight blade (8) are fixedly connected to the inner side wall and the outer side wall of the centrifugal ring (10) respectively, and the inclination angles between the inner inclined straight blade (9) and the outer inclined straight blade (8) are the same and the inclination directions thereof are opposite; the number and arrangement position distribution of the inner inclined straight blade (9), the outer inclined straight blade (8) and the protruding blocks are the same and aligned; the inner diameter of the Bernoulli bottom disc (6) is equal to the inner diameter of the suction cup shell (2), and the outer diameter of the Bernoulli bottom disc (6) is greater than the outer diameter of the suction cup shell (2). 2.The water centrifugal ring flow impeller type suction cup according to claim 1, characterized in that: the lower end surface of the centrifugal ring flow impeller (4) is not lower than the lower end surface of the Bernoulli bottom disc (6). 3.The water centrifugal ring flow impeller type suction cup according to claim 1, characterized in that: the length of the outer inclined straight blade (8) is greater than the length of the inner inclined straight blade (9). ​ ​ ​

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