CN201711969U - Negative pressure adsorption module with self-bring vacuum source - Google Patents
Negative pressure adsorption module with self-bring vacuum source Download PDFInfo
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- CN201711969U CN201711969U CN2010202545467U CN201020254546U CN201711969U CN 201711969 U CN201711969 U CN 201711969U CN 2010202545467 U CN2010202545467 U CN 2010202545467U CN 201020254546 U CN201020254546 U CN 201020254546U CN 201711969 U CN201711969 U CN 201711969U
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Abstract
The utility model relates to a negative pressure adsorption module with a self-bring vacuum source. The module connects three vacuum chucks together, and a self-bring vacuum pump of the module simultaneously pumps vacuum to form negative pressure. The negative pressure adsorption module mainly comprises a vacuum chuck, a check valve, a vacuum pump, a main support, a vacuum pressure sensor, a two-position two-way vacuum electromagnetic valve, a connecting rack, an air pipe, etc. The two-position two-way vacuum electromagnetic valve controls the on-off of the chamber of the three vacuum chucks and atmosphere, when off communication, the vacuum chuck and the adsorbed surface form a sealed cavity, the working of the vacuum pump forms negative pressure in the chamber to produce an adsorption function; when communicated, the pressure of the chuck is released to disengage the module from the adsorption surface. The negative pressure adsorption module is advantaged by simple structure, self integration, independence and completeness, as well as easy connection with other module or part, and can be used as the end actuator of the adsorption feet or the operating arms of the wall-climbing robot.
Description
Technical field
The utility model relates to the Robotics field, is used for climbing robot and in the negative pressure adsorption module of the self-contained vacuum source of industrial quarters in particular to a kind of.
Background technology
Negative-pressure adsorption depends on as a kind of that atmospheric pressure is realized grasping or fixing technology, have pollution-free, cost is low, easy to use, safeguard easily, environment had good advantages such as adaptability, therefore be the extensively employing of industrial quarters institute.According to forming pressure difference method, generally negative-pressure adsorption can be divided into vacuum suction, air-negative-pressure absorption and extruding exhaust absorption etc.Air-negative-pressure absorption produces inspiratory effects based on venturi principle, thereby need carry compressed air continuously for the negative-pressure adsorption device, is inconvenient to move, and noise is bigger, and efficient is also very low, uses more in industry.Extruding exhaust absorption then relies on the airtight cavity of extruding to discharge gas as far as possible and forms vacuum, and the vacuum that can produce is very limited, is difficult to deal with the demand of heavy load.
A kind of negative-pressure adsorption unit of Lanxing Harbin Polytechnical Uinv. Robot Tech. Co., Ltd., Beijing's development (patent No.: z101202018.4) adopt the combination of the single sucking disc and centrifugal blower, by high-speed centrifugal fan to sucker chamber extracting vacuum, but the vacuum that this structure provided is limited and noise is big, in case blower fan stops, adsorbent equipment lost efficacy at once; University of U.S. Michigan has developed the single sucking disc " intelligent robot foot (SmartRobotic Foot, SRF) " of heavy 35g, and domestic Shenyang automation research institute has also developed similar device.But only bearing a heavy burden at microminiature, develops this SRF.It is above-mentioned that both all adopt the single sucking disc mechanism, and bigger torsional deformation takes place in sucker inevitably after big the heavy burden, to cause load to produce a side perk of obviously inclination and sucker, the possibility of inefficacy is increased greatly, reduce the reliability and the security of absorption.Therefore, this negative-pressure adsorption device is used for the wall-climbing device man-hour, must bring more strict requirement to ROBOT CONTROL, and robot only can carry out work such as some simple detections, then powerless for the stock size climbing robot in fields such as building, chemical industry, nuclear industry and fire-fighting.To sum up, towards the stock size climbing robot, develop that absorption is solid and reliable, structure and the simple vacuum suction module of control, significant to climbing robot.
The utility model content
The purpose of this utility model is to provide a kind of negative pressure adsorption module of self-contained vacuum source, it is simple in structure, control is easy, use is reliable, both can be used as an independent adsorption module of bionic wall climbing robot, two that serve as climbing robot are adhered to foot, can be used as the end effector of robot arm again, also can be used as the general self-contained vacuum source of a kind of industrial quarters, need heavy load and long terminal adsorbent equipment apart from locomotivity.The negative-pressure adsorption of self-contained vacuum source is that long distance moves, one of the ideal operation mode of the mechanical system end effector of heavy load.
The utility model discloses a kind of negative pressure adsorption module of self-contained vacuum source, mainly divides the gas joint to constitute by vacuum cup, check valve, vavuum pump, main support, vacuum pressure sensor, bi-bit bi-pass vacuum solenoid, link, L shaped push-in nipple, tracheae, four unifications; Three vacuum cups are the equilateral triangle layout and are fixed on the main support, three vacuum cups connect L shaped push-in nipple respectively, tracheae is drawn from three L shaped push-in nipple tops respectively, and divide gas joints to converge to together by four unifications, be connected with the bi-bit bi-pass vacuum solenoid by minute gas joint again; Tracheae is drawn from the bi-bit bi-pass vacuum solenoid other end, by check valve, push-in reducer union, receives on the bleeding point of vavuum pump; Vacuum pressure sensor be connected to branch gas joint by tracheae one of them converge on the mouth, communicate with above-mentioned vacuum cup inner chamber gas circuit.
Vavuum pump is fixed on the main support by the vavuum pump fixed head; Link is fixed on the main support by soket head cap screw, divides the gas joint to be arranged in the link; Vacuum pressure sensor and bi-bit bi-pass vacuum solenoid all are fixed on the main support by screw.
Three vacuum cups are coniform sucker, are fixed on the main support by hexagonal (hexagon)nut separately, and three vacuum cups connect L shaped push-in nipple by the screwed hexagonal (hexagon)nut in top respectively.
The utility model adopts DSP2812 as master controller; Vacuum pressure sensor inserts 16 A/D modules of DSP2812 and carries out data acquisition and conversion, is used for monitoring in real time the vacuum cup air pressure inside; By DSP2812 by drive circuit control work whether vavuum pump and bi-bit bi-pass vacuum solenoid; When being connected to form system with other parts, master controller DSP2812 is arranged by host computer as slave computer, and RS232 serial ports or CAN bus communication are passed through in the instruction of response host computer between them.
Adopt a plurality of identical suckers on module of the utility model and do not adopt single big sucker, can effectively solve behind the stand under load that the single sucking disc module exists because of the sucker large deformation makes module and tilt to cause the problem of control difficulty significantly, improve the reliability and the security of absorption.The operation principle and the process of this functional module are as follows: when host computer (as PC) provides the absorption instruction, the master controller DSP2812 of adsorption module (being slave computer) response, drive vaccum pump motor, begin three vacuum cups and be adsorbed the surperficial closed cavity that forms to vacuumize, constantly gather the output of vacuum pressure sensor simultaneously, monitor the vacuum of confined space in real time; When vacuum reaches requiring of support load, can stop vacuum pumping, and by vacuum in check valve and the bi-bit bi-pass vacuum solenoid holding chamber.Take off when instruction absorption when host computer provides, slave computer is connected the bi-bit bi-pass vacuum solenoid, makes closed cavity directly be communicated with atmosphere, recovery air pressure, and disengagement is adsorbed.Sucker inner chamber vacuum adopts pressure sensor detects, and gathers in real time and uses by slave computer, and keep supplying that the position is machine-readable gets and demonstration etc.
Adsorption module carries vavuum pump, thereby has broken away from the constraint of traction blowpipe.Select the dry type rotary vacuum pump for use, drive, the absolute pressure about 25KPa (vacuum) can be provided by the 24V direct current generator.Whether 24V bi-bit bi-pass DC driven solenoid control vacuum cup inner chamber is communicated with atmosphere, cooperates with vavuum pump and correspondingly produces absorption and take off suction-operated.Check valve guarantees the power-off protection function of adsorption module.
The utility model compared with prior art has following advantage:
1. carry the condition of high vacuum degree vavuum pump, broken away from the constraint of traction blowpipe;
2. form by a plurality of identical suckers, adsorption reliability, the deficiency of the single sucking disc module has been eliminated in non-loaded substantially distortion;
3. simple in structure, have a style of one's own, independent completion, easy to connect, quick with other module;
4. gas circuit is simple, and control easily.
Description of drawings
Fig. 1 is the outside drawing of the utility model negative pressure adsorption module;
Fig. 2 is the structure expanded view of the utility model negative pressure adsorption module;
Fig. 3 is the gas circuit connection layout of the utility model negative pressure adsorption module;
Fig. 4 is the schematic diagram of gas circuit of the utility model negative pressure adsorption module.
The specific embodiment
As Fig. 1, Fig. 2, Fig. 3, shown in Figure 4, the negative pressure adsorption module of self-contained vacuum source comprises vacuum cup 01, check valve 02, vavuum pump 03, main support 04, vacuum pressure sensor 05, bi-bit bi-pass vacuum solenoid 06, link 07, hexagonal (hexagon)nut 08, vavuum pump fixed head 13 and soket head cap screw 14.Three vacuum cups 01 are coniform sucker, are fixed on the main support 04 by hexagonal (hexagon)nut 08 separately, are equilateral triangle and arrange.Three vacuum cups 01 connect L shaped push-in nipple 09 by the screwed hexagonal (hexagon)nut 08 in top respectively, tracheae 11 is drawn from three L shaped push-in nipple 09 tops respectively, and divide gas joints 12 to converge to together by four unifications, then be connected with bi-bit bi-pass vacuum solenoid 06 (connecing normally closed port) by push-in reducer union 10 again by L shaped push-in nipple 09.Tracheae 11 is drawn from bi-bit bi-pass vacuum solenoid 06 other end, by check valve 02, push-in reducer union 10, receives on the bleeding point of vavuum pump 03.Vacuum pressure sensor 05 be connected to branch gas joint 12 by tracheae 11 one of them converge on the mouth, communicate with above-mentioned air road, in order to detect the vacuum of sucker inner chamber; Vavuum pump 03 is fixed on the main support 04 by vavuum pump fixed head 13; Link 07 is fixed on the main support 04 by soket head cap screw 14, divides gas joint 12 to be arranged in the link 07; Vacuum pressure sensor 05 and bi-bit bi-pass vacuum solenoid 06 all are fixed on the main support 04 by screw.
Whole adsorption module of the present utility model adopts DSP2812 as master controller.16 A/D modules that vacuum pressure sensor 05 inserts DSP2812 are carried out data acquisition and conversion, with real-time monitoring vacuum cup air pressure inside; By DSP2812 by drive circuit control work whether vavuum pump 03 and bi-bit bi-pass vacuum solenoid 06.When being connected to form system with other parts, master controller DSP2812 is as slave computer, is subjected to host computer (as PC etc.) domination, the instruction of response host computer, between them by RS232 serial ports or CAN bus communication.
Three vacuum cups 01 are equilateral triangle to be arranged, can effectively reduce owing to bearing a heavy burden to cause the sucker distortion to bring influences such as robot body inclination.
Operation principle of the present utility model and process are as follows: during beginning, this negative pressure adsorption module be adsorbed the surface and fit tightly, bi-bit bi-pass vacuum solenoid 06 is failure to actuate, and promptly is operated in right position, three vacuum cups 01 and be adsorbed interplanar and form a closed cavity that is communicated with vavuum pump.When host computer (as PC, do not draw among the figure) when providing the absorption instruction, the master controller DSP2812 of adsorption module (being slave computer) response, drive vavuum pump 03 motor, begin this closed cavity is vacuumized, constantly gather the output of vacuum pressure sensor 05 simultaneously, monitor the vacuum of confined space in real time; When vacuum reaches requiring of support load, can stop vacuum pumping, and by vacuum in check valve 02 holding chamber; And when vacuum is reduced to a certain degree in the output indication closed chamber of vacuum pressure sensor 05, slave computer starts 03 pair of closed chamber of vavuum pump once more and vacuumizes operation, can guarantee that so repeatedly absorption was not only solid and reliable but also save the energy (this is particularly important for self-powered climbing robot).Take off when instruction absorption when host computer provides, as long as connect bi-bit bi-pass vacuum solenoid 06, promptly be operated in position, a left side, make closed cavity directly be communicated with atmosphere, can recover its air pressure, disengagement is adsorbed.
Claims (4)
1. the negative pressure adsorption module of a self-contained vacuum source is characterized in that mainly dividing the gas joint to constitute by vacuum cup, check valve, vavuum pump, main support, vacuum pressure sensor, bi-bit bi-pass vacuum solenoid, link, L shaped push-in nipple, tracheae, four unifications; Three vacuum cups are the equilateral triangle layout and are fixed on the main support, three vacuum cups connect L shaped push-in nipple respectively, tracheae is drawn from three L shaped push-in nipple tops respectively, and divide gas joints to converge to together by four unifications, be connected with the bi-bit bi-pass vacuum solenoid by minute gas joint again; Tracheae is drawn from the bi-bit bi-pass vacuum solenoid other end, by check valve, push-in reducer union, receives on the bleeding point of vavuum pump; Vacuum pressure sensor be connected to branch gas joint by tracheae one of them converge on the mouth, communicate with above-mentioned vacuum cup inner chamber gas circuit.
2. negative pressure adsorption module according to claim 1 is characterized in that vavuum pump is fixed on the main support by the vavuum pump fixed head; Link is fixed on the main support by soket head cap screw, divides the gas joint to be arranged in the link; Vacuum pressure sensor and bi-bit bi-pass vacuum solenoid all are fixed on the main support by screw.
3. negative pressure adsorption module according to claim 1 and 2, it is characterized in that three vacuum cups are coniform sucker, be fixed on the main support by hexagonal (hexagon)nut separately, three vacuum cups connect L shaped push-in nipple by the screwed hexagonal (hexagon)nut in top respectively.
4. negative pressure adsorption module according to claim 3 is characterized in that adopting DSP2812 as master controller; Vacuum pressure sensor inserts 16 A/D modules of DSP2812 and carries out data acquisition and conversion, is used for monitoring in real time the vacuum cup air pressure inside; By DSP2812 by drive circuit control work whether vavuum pump and bi-bit bi-pass vacuum solenoid; When being connected to form system with other parts, master controller DSP2812 is arranged by host computer as slave computer, and RS232 serial ports or CAN bus communication are passed through in the instruction of response host computer between them.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010202545467U CN201711969U (en) | 2010-07-09 | 2010-07-09 | Negative pressure adsorption module with self-bring vacuum source |
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| CN2010202545467U CN201711969U (en) | 2010-07-09 | 2010-07-09 | Negative pressure adsorption module with self-bring vacuum source |
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| CN103836054A (en) * | 2012-11-20 | 2014-06-04 | 昆山研达电脑科技有限公司 | Sucker prevented from falling off |
| CN104589351A (en) * | 2015-01-20 | 2015-05-06 | 桂林航天工业学院 | Height-adaptive material grabbing manipulator |
| CN104918757A (en) * | 2013-01-15 | 2015-09-16 | 名幸电子有限公司 | Reduced pressure adhesion device |
| CN105005249A (en) * | 2015-08-24 | 2015-10-28 | 铜陵学院 | Fully automatic four-wheel two-core high speed fire extinguishing robot servo controller |
| CN105045288A (en) * | 2015-08-24 | 2015-11-11 | 铜陵学院 | Single-wheel full-automatic middle-speed fire-fighting robot servo control system |
| CN105045289A (en) * | 2015-08-24 | 2015-11-11 | 铜陵学院 | Single-wheel full-automatic high-speed fire-fighting robot servo control system |
| CN105068558A (en) * | 2015-08-24 | 2015-11-18 | 铜陵学院 | Single-wheeled dual-core high speed fire-fighting robot servo control system |
| CN105068557A (en) * | 2015-08-24 | 2015-11-18 | 铜陵学院 | Fully-automatic four-wheeled dual-core middle-speed fire-fighting robot servo controller |
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2010
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| CN103836054A (en) * | 2012-11-20 | 2014-06-04 | 昆山研达电脑科技有限公司 | Sucker prevented from falling off |
| CN104918757A (en) * | 2013-01-15 | 2015-09-16 | 名幸电子有限公司 | Reduced pressure adhesion device |
| CN104918757B (en) * | 2013-01-15 | 2016-10-19 | 名幸电子有限公司 | Adsorbent equipment |
| CN104589351A (en) * | 2015-01-20 | 2015-05-06 | 桂林航天工业学院 | Height-adaptive material grabbing manipulator |
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| CN109399432A (en) * | 2018-11-23 | 2019-03-01 | 燕山大学 | A kind of hoistway job platform that climbs certainly |
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| CN109333438A (en) * | 2018-11-26 | 2019-02-15 | 中国航发南方工业有限公司 | Cellular component decomposer |
| CN109747726A (en) * | 2019-03-04 | 2019-05-14 | 安徽理工大学 | A kind of Novel sucker group |
| CN113400296A (en) * | 2020-03-16 | 2021-09-17 | 阿里巴巴集团控股有限公司 | Installation control method and device, article and terminal equipment |
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| CN112045337A (en) * | 2020-09-14 | 2020-12-08 | 中国船舶科学研究中心 | Sucker base |
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Granted publication date: 20110119 Termination date: 20130709 |