Sucking disc

Abstract

The utility model relates to the technical field of sucker structures, in particular to a sucker. The utility model provides a suction cup which comprises a suction cup body. A first gear is arranged on the suction cup body, the suction cup body is arranged on a rotating frame, a second rotating shaft and a third rotating shaft are arranged on the two sides of the rotating frame, a second gear and a third gear are arranged on the second rotating shaft and the third rotating shaft respectively, and the second gear and the third gear are both meshed with the first gear. The technical problems that in the prior art, a suction cup is fixed, and the position and the angle cannot be adjusted are solved.

Description

Technical Field

[0001] This utility model relates to the technical field of suction cup structures, and in particular to a suction cup. Background Technology

[0002] The working principle of a suction cup is based on vacuum negative pressure technology. When the suction cup comes into contact with and seals an object, an air extraction device (such as a vacuum pump) draws air out of the suction cup, creating a vacuum inside and generating negative pressure. This negative pressure creates a strong adhesive force between the suction cup and the object, firmly adhering the object to the suction cup.

[0003] When suction cups are used in rescue robots, they need to be able to adjust their position and angle according to the situation on site.

[0004] Therefore, it is necessary to propose a suction cup that can be adjusted in position. Summary of the Invention

[0005] The purpose of this utility model is to overcome the shortcomings of the prior art and provide a suction cup that solves the technical problem that the suction cup in the prior art is fixed and cannot be adjusted in position and angle.

[0006] To achieve the above objectives, this utility model proposes a suction cup, including a suction cup body; a first gear is provided on the suction cup body, the suction cup body is mounted on a rotating frame, a second rotating shaft and a third rotating shaft are provided on both sides of the rotating frame, a second gear and a third gear are respectively provided on the second rotating shaft and the third rotating shaft, and the second gear and the third gear mesh with the first gear.

[0007] Preferably, the suction cup body includes a suction nozzle ring, an inclined ring connected to the suction nozzle ring and tilted inward, a horizontal ring disposed on the inclined ring, and a base, wherein the base is provided with an air extraction hole.

[0008] Preferably, the suction nozzle ring is a corrugated suction cup; multiple inclined rings and horizontal rings are provided and connected in sequence; the openings of the inclined rings and horizontal rings gradually decrease from the suction nozzle ring along the direction of the base; the suction nozzle ring is racetrack shaped.

[0009] Preferably, the first gear, the second gear, and the third gear are all bevel gears. The outer diameter plane of the first gear is perpendicular to the outer diameter planes of the second gear and the third gear, respectively, and the outer diameter planes of the second gear and the third gear are parallel.

[0010] Preferably, a U-shaped fixing frame is mounted on the second and third rotating shafts.

[0011] Preferably, a first motor and a second motor are connected to both sides of the fixing frame, and a first small pulley is connected to the first motor; a second small pulley is connected to the second motor.

[0012] Preferably, a first large pulley is connected to the second rotating shaft, and a second large pulley is connected to the third rotating shaft; the first small pulley and the first large pulley are connected by a synchronous belt, and the second small pulley and the second large pulley are connected by a synchronous belt.

[0013] Compared with the prior art, the beneficial effects of the suction cup provided by this utility model are as follows:

[0014] 1. A differential mechanism is formed by the first, second, and third gears. When the first and second motors rotate at the same speed but in opposite directions, the suction cup will rotate around the roll axis. When the first and second motors rotate at the same speed and in the same direction, the suction cup will pitch around the pitch axis. Changing the speed and direction of rotation of the first and second motors allows the suction cup to perform both pitch and rotation simultaneously.

[0015] 2. The design feature of the corrugated suction cup is the wave shape at its bottom. This structure gives the suction cup good flexibility and deformation adaptability, and it can better fit irregular or curved surfaces, such as protrusions or depressions on the robot shell.

[0016] The features and advantages of this utility model will be described in detail through embodiments and accompanying drawings. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the suction cup according to an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of the front view structure of the suction cup according to an embodiment of the present invention.

[0019] Figure 3 This is a bottom view of the suction cup structure according to an embodiment of the present invention.

[0020] Figure 4 This is a top view of the suction cup structure according to an embodiment of the present invention.

[0021] Figure 5 This is a schematic diagram of the suction cup structure in an embodiment of the present invention from the left side.

[0022] in:

[0023] 1-Suction cup body; 11-Suction nozzle ring; 12-Tilting ring; 13-Horizontal ring; 14-Base; 15-Ejection hole; 2-First gear; 3-Rotating frame; 4-Second rotating shaft; 41-First large pulley; 5-Third rotating shaft; 51-Second large pulley; 6-Second gear; 7-Third gear; 8-Fixed frame; 81-First motor; 811-First small pulley; 82-Second motor; 821-Second small pulley; 9-Dual-headed air tube; 10-Thermal sensor. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit its scope. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the present utility model.

[0025] In the description of this utility model, it should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to or indirectly connected to the other element.

[0026] In the description of this utility model, it should be noted that the terms "center," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified. "Several" means one or more, unless otherwise explicitly specified.

[0027] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0028] This invention relates to a rescue robot that uses suction cups to move objects or other robots during automated rescue operations. Since the suction cups are machine-controlled, finding the most suitable angle is necessary to maximize their effectiveness. Furthermore, the robot needs to maintain a minimum size during transport; therefore, the angle and position of the suction cups must be adjusted. Example 1

[0029] See Figure 1-5 This utility model provides a suction cup, including a suction cup body 1. A first gear 2 is disposed on the suction cup body 1, which is mounted on a rotating frame 3, the rotating frame 3 being U-shaped. A second rotating shaft 4 and a third rotating shaft 5 are disposed on both sides of the rotating frame 3, and the second rotating shaft 4 and the third rotating shaft 5 are rotatable relative to the rotating frame 3. A second gear 6 and a third gear 7 are respectively disposed on the second rotating shaft 4 and the third rotating shaft 5, both of which mesh with the first gear 2. The first gear 2, the second gear 6, and the third gear 7 are all bevel gears. The outer diameter plane of the first gear 2 is perpendicular to the outer diameter planes of the second gear 6 and the third gear 7, respectively, while the outer diameter planes of the second gear 6 and the third gear 7 are parallel, thus forming a differential.

[0030] See Figure 1 In an optional embodiment, the second rotating shaft 4 and the third rotating shaft 5 are mounted on a fixed frame 8, which is U-shaped. The second rotating shaft 4 and the third rotating shaft 5 are rotatably mounted on the fixed frame 8.

[0031] See Figure 1 In an optional embodiment, a first motor 81 and a second motor 82 are respectively connected to both sides of the fixing frame 8. A first small pulley 811 is connected to the first motor 81; a second small pulley 821 is connected to the second motor 82. A first large pulley 41 is connected to the second rotating shaft 4, and a second large pulley 51 is connected to the third rotating shaft 5. The first small pulley 811 and the first large pulley 41 are connected by a synchronous belt, and the second small pulley 821 and the second large pulley 51 are connected by a synchronous belt. The synchronous belt is not shown in the figure.

[0032] A differential mechanism is formed by the first, second, and third gears. This mechanism is driven by two 2006 motors (the first and second motors). When the first and second motors rotate at the same speed but in opposite directions, the suction cup rotates around the roll axis. When they rotate at the same speed and in the same direction, the suction cup pitches around the pitch axis. Changing the speed and direction of rotation of the first and second motors allows the suction cup to perform both pitch and rotation simultaneously. Furthermore, the robot achieves a high degree of freedom at the forearm end within a relatively small space, and the 2006 motors can be placed closer to the root, reducing the forward shift of the forearm's overall center of gravity. Example 2

[0033] See Figure 1 and Figure 3 In an optional embodiment, the suction cup body 1 includes a nozzle ring 11, an inclined ring 12 connected to the nozzle ring 11 and tilted inward, a horizontal ring 13 disposed on the inclined ring 12, and a base 14, wherein the base 14 is provided with an air extraction hole 15. The nozzle ring 11 is racetrack-shaped, and the nozzle ring 11 has the largest area. A large-size suction cup can effectively improve the adsorption force by increasing the contact area with the object being adsorbed. This is especially important for low surface energy materials (such as smooth plastics or painted surfaces), which are usually difficult to adsorb with a small area. The larger area also helps to evenly distribute the suction force on the contact surface between the suction cup and the object, reducing local stress concentration and preventing damage or slippage due to excessive pressure. It is suitable for delicate surfaces that require gentle handling. When facing uneven or slightly undulating surfaces, a large-size suction cup is more likely to cover enough effective contact points. Even if some areas are not completely adhered, the adsorption of the remaining large area can maintain overall stability.

[0034] In an optional embodiment, the suction nozzle ring 11 is a corrugated suction cup. The main functions of the corrugated suction cup are as follows:

[0035] Shape adaptability: The corrugated suction cup is characterized by its wavy bottom. This structure gives the suction cup good flexibility and deformation adaptability, allowing it to better fit irregular or curved surfaces, such as protrusions or depressions on a robot shell.

[0036] Improved sealing: When subjected to force, the corrugations can expand outward to form a tighter seal. For materials with high surface texture or roughness, this sealing can significantly improve the adsorption effect, prevent air leakage, and maintain a negative pressure state.

[0037] Dynamic compensation: The corrugated structure also has a certain degree of height compensation capability, which can adapt to materials of different thicknesses or slight deformations to a certain extent. Even if there are slight differences in the robot shell, it can still achieve effective adsorption.

[0038] See Figure 1 In an optional embodiment, multiple inclined rings 12 and horizontal rings 13 are provided and connected sequentially; the openings of the inclined rings 12 and horizontal rings 13 gradually decrease from the nozzle ring 11 along the base 14. Specifically, by Figure 1 See, from right to left: nozzle ring, tilt ring, horizontal ring, tilt ring, horizontal ring, and base. You can add more tilt rings and horizontal rings depending on the situation; the openings of different tilt rings and horizontal rings gradually decrease from left to right.

[0039] See Figure 3 In an optional embodiment, the suction port 15 can be connected to a double-ended air pipe 9, one end of which is connected to an air pump, and the other end to a fire extinguisher. A thermal sensor 10 is installed on the rotating frame 3 near the suction cup body 1 to detect temperature. When the temperature is too high, the suction cup body 1 cannot be used directly; instead, a fire extinguisher is used to cool or extinguish the fire first, with the extinguishing agent sprayed from the suction port 15. This allows the suction cup to perform more functions on the robot.

[0040] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A suction cup, comprising a suction cup body (1); characterized in that: The suction cup body (1) is provided with a first gear (2). The suction cup body (1) is mounted on a rotating frame (3). The rotating frame (3) is provided with a second rotating shaft (4) and a third rotating shaft (5) on both sides. The second rotating shaft (4) and the third rotating shaft (5) are respectively provided with a second gear (6) and a third gear (7). The second gear (6) and the third gear (7) mesh with the first gear (2).

2. A suction cup as described in claim 1, characterized in that: The suction cup body (1) includes a suction nozzle ring (11), an inclined ring (12) connected to the suction nozzle ring (11) and inclined inward, a horizontal ring (13) disposed on the inclined ring (12), and a base (14), wherein an air extraction hole (15) is provided on the base (14).

3. A suction cup as described in claim 2, characterized in that: The suction ring (11) is a corrugated suction cup; multiple inclined rings (12) and horizontal rings (13) are provided and connected in sequence; from the suction ring (11) along the direction of the base (14), the openings of the inclined ring (12) and the horizontal ring (13) gradually become smaller; the suction ring (11) is in the shape of a racetrack.

4. A suction cup as described in claim 1, characterized in that: The first gear (2), the second gear (6) and the third gear (7) are all bevel gears. The outer diameter plane of the first gear (2) is perpendicular to the outer diameter plane of the second gear (6) and the third gear (7), respectively. The outer diameter planes of the second gear (6) and the third gear (7) are parallel.

5. A suction cup as described in claim 1, characterized in that: The second rotating shaft (4) and the third rotating shaft (5) are mounted on a fixed frame (8), which is U-shaped.

6. A suction cup as described in claim 5, characterized in that: A first motor (81) and a second motor (82) are connected to both sides of the fixed frame (8). A first small pulley (811) is connected to the first motor (81); a second small pulley (821) is connected to the second motor (82).

7. A suction cup as described in claim 6, characterized in that: The second rotating shaft (4) is connected to the first large pulley (41), and the third rotating shaft (5) is connected to the second large pulley (51); the first small pulley (811) and the first large pulley (41) are connected by a synchronous belt, and the second small pulley (821) and the second large pulley (51) are connected by a synchronous belt.

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