阅读说明：本技术 真空吸盘式爬行装置 (Vacuum chuck type crawling device ) 是由 杨孟涛 杨子龄 黎泽伦 于 2020-07-06 设计创作，主要内容包括：本发明涉及一种真空吸盘式爬行装置。波纹伸缩管两端的连接套环分别套在两个真空吸盘颈肩的凹槽中,密封垫粘接固定在真空吸盘的底面,各气管分别插在伸缩气管接头和两个吸盘气管接头上。通过气管吸气使波纹伸缩管形成真空而缩短,通过气管向波纹伸缩管充气而伸长,再通过气管依次控制前后两个真空吸盘形成真空,吸附在光滑平面上,各气管的抽真空和充气依次进行,从而使前后两个真空吸盘依次形成爬行动作,实现装置的移动。本真空吸盘式爬行装置特别适合在光滑的平面上实现爬行动作,而且具有较高的柔性,可用于工业和民用的各种场合。(The invention relates to a vacuum chuck type crawling device. The connecting lantern rings at the two ends of the corrugated expansion pipe are respectively sleeved in the grooves of the neck shoulders of the two vacuum suckers, the sealing gaskets are bonded and fixed on the bottom surfaces of the vacuum suckers, and the air pipes are respectively inserted into the expansion air pipe joint and the two sucker air pipe joints. The air pipe is used for sucking air to enable the corrugated expansion pipe to form vacuum to be shortened, the air pipe is used for inflating the corrugated expansion pipe to extend, the front vacuum sucker and the rear vacuum sucker are sequentially controlled by the air pipe to form vacuum to be adsorbed on a smooth plane, vacuumizing and inflating of each air pipe are sequentially carried out, so that the front vacuum sucker and the rear vacuum sucker sequentially form crawling action, and the device is moved. The vacuum sucker type crawling device is particularly suitable for crawling on a smooth plane, has high flexibility and can be used in various industrial and civil occasions.)

1. The vacuum sucker type crawling device mainly comprises a rear vacuum sucker, a sealing gasket, a rear sucker air pipe, a connecting rod, a corrugated telescopic pipe, an air inflation and suction pipe, a communicating pipe, a front sucker air pipe, a front vacuum sucker, a sucker neck and shoulder, a sucker air pipe joint, an air inflation and suction pipe joint and a connecting lantern ring; the method is characterized in that: the two corrugated expansion pipes are connected with two ends of the communicating pipe, form a cavity with the communicating pipe and the air charging and sucking pipe joint on the communicating pipe, the other ends of the two corrugated expansion pipes are fixed on two connecting rod ends, and the two connecting lantern rings are respectively fixed on the other ends of the two connecting rods; the sealing gaskets are respectively bonded and fixed on the bottom surfaces of the two vacuum suckers, the two sucker neck shoulders are respectively fixed on the upper parts of the two vacuum suckers, the two sucker air pipe joints are respectively fixed on the upper parts of the two sucker neck shoulders, and the sucker air pipe joints, the sucker neck shoulders and the vacuum suckers form a cavity with a closed inner part; the two connecting lantern rings are respectively sleeved on the grooves of the two sucker neck shoulders, the rear sucker air pipe is inserted into the sucker air pipe connector on the rear vacuum sucker, the air charging and sucking pipe is inserted into the air charging and sucking pipe connector on the communicating pipe, and the front sucker air pipe is inserted into the sucker air pipe connector on the front vacuum sucker.

2. The vacuum chuck type crawling device of claim 1, wherein the front vacuum chuck is first sucked by a front chuck air pipe to form a vacuum to be adsorbed on a smooth plane, and the rear chuck air pipe is deflated to release the adsorption of the rear vacuum chuck; then, air is sucked through an air inflation and suction pipe, so that the two corrugated expansion pipes are shortened, and the rear vacuum sucker is driven to move forwards; then, sucking air through a rear sucker air pipe to enable a rear vacuum sucker to form vacuum and be adsorbed on a smooth plane; the front vacuum chuck is released from adsorption through the air pipe of the front chuck for air discharge; the two corrugated expansion pipes are extended by inflating the air of the air inflation and suction pipe to drive the front vacuum sucker to move forwards; the mode is repeated circularly, and the air suction and the air inflation of each air pipe are performed in sequence, so that the front vacuum sucker and the rear vacuum sucker form a crawling action in sequence, and the device can move forwards; on the contrary, the vacuum sucker type crawling device can move backwards in the opposite direction only by exchanging the sequence of air suction and air discharge of the front vacuum sucker and the rear vacuum sucker.

Technical Field

The invention relates to a vacuum chuck type crawling device, which is characterized in that a corrugated expansion pipe is vacuumized and shortened by air suction of an air pipe, the corrugated expansion pipe is inflated by the air pipe to be elongated, then the front and the rear vacuum chucks are sequentially controlled to be vacuumized by air suction of the air pipe and adsorbed on a smooth plane, and air suction and inflation of each air pipe are sequentially carried out, so that crawling action is sequentially formed by the front and the rear vacuum chucks, and the device is moved.

Background

The conventional crawling device is provided with a rigid mechanical mechanism, a pneumatic soft mechanism and the like. The rigid mechanical mechanism has a complex structure, is expensive and is made of hard materials; the pneumatic soft mechanism mainly adopts compressed air to control the deformation of the mechanism, so as to realize the operation of the mechanism. These mechanisms are generally adapted to move on rough surfaces, and tend to slip on smooth surfaces, failing to perform a given motion.

Disclosure of Invention

The invention provides a vacuum chuck type crawling device. The connecting lantern rings at the two ends of the corrugated expansion pipe are respectively sleeved in the grooves of the neck shoulders of the two vacuum suckers, the sealing gaskets are bonded and fixed on the bottom surfaces of the vacuum suckers, and the air pipes are respectively inserted into the expansion air pipe joint and the two sucker air pipe joints. The air pipe is used for sucking air to enable the corrugated expansion pipe to form vacuum to be shortened, the air pipe is used for inflating the corrugated expansion pipe to extend, the front vacuum sucker and the rear vacuum sucker are sequentially controlled by the air pipe to form vacuum to be adsorbed on a smooth plane, vacuumizing and inflating of each air pipe are sequentially carried out, so that the front vacuum sucker and the rear vacuum sucker sequentially form crawling action, and the device is moved. The vacuum sucker type crawling device is particularly suitable for crawling on a smooth plane, has high flexibility and can be used in various industrial and civil occasions.

The invention relates to a vacuum sucker type crawling device, which mainly comprises a rear vacuum sucker, a sealing gasket, a rear sucker air pipe, a connecting rod, a corrugated telescopic pipe, an air inflation and suction pipe, a communicating pipe, a front sucker air pipe, a front vacuum sucker, a sucker neck and shoulder, a sucker air pipe joint, an air inflation and suction pipe joint and a connecting lantern ring; the two corrugated expansion pipes are connected with two ends of the communicating pipe, form a cavity with the communicating pipe and the air charging and sucking pipe joint on the communicating pipe, the other ends of the two corrugated expansion pipes are fixed on two connecting rod ends, and the two connecting lantern rings are respectively fixed on the other ends of the two connecting rods; the sealing gaskets are respectively bonded and fixed on the bottom surfaces of the two vacuum suckers, the two sucker neck shoulders are respectively fixed on the upper parts of the two vacuum suckers, the two sucker air pipe joints are respectively fixed on the upper parts of the two sucker neck shoulders, and the sucker air pipe joints, the sucker neck shoulders and the vacuum suckers form a cavity with a closed inner part; the two connecting lantern rings are respectively sleeved on the grooves of the two sucker neck shoulders, the rear sucker air pipe is inserted into the sucker air pipe connector on the rear vacuum sucker, the air charging and sucking pipe is inserted into the air charging and sucking pipe connector on the communicating pipe, and the front sucker air pipe is inserted into the sucker air pipe connector on the front vacuum sucker.

Firstly, sucking air through a front sucker air pipe to enable a front vacuum sucker to form vacuum and be adsorbed on a smooth plane, and deflating a rear sucker air pipe to enable a rear vacuum sucker to be desorbed; then, air is sucked through an air inflation and suction pipe, so that the two corrugated expansion pipes are shortened, and the rear vacuum sucker is driven to move forwards; then, sucking air through a rear sucker air pipe to enable a rear vacuum sucker to form vacuum and be adsorbed on a smooth plane; the front vacuum chuck is released from adsorption through the air pipe of the front chuck for air discharge; the two corrugated expansion pipes are extended by inflating the air of the air inflation and suction pipe to drive the front vacuum sucker to move forwards; the mode is repeated circularly, and the air suction and the air inflation of each air pipe are carried out in sequence, so that the front vacuum suction cup and the rear vacuum suction cup form a crawling action in sequence, and the forward movement of the device can be realized.

On the contrary, the vacuum sucker type crawling device can move backwards in the opposite direction only by exchanging the sequence of air suction and air discharge of the front vacuum sucker and the rear vacuum sucker.

The components of the vacuum chuck type crawling device can be made of the parts or flexible materials available on the market. The 3D printing mode can be adopted, or the mass production can be realized through a mold.

The vacuum sucking disc type crawling device adopts a gas filling and sucking mode to simulate the crawling action of a soft crawling animal, is particularly suitable for realizing the crawling action on a smooth plane, has higher flexibility, and can be used in various industrial and civil occasions. The invention provides a new method and thought for the design, manufacture and application of a device moving on a smooth plane, and has good application value.

Drawings

Fig. 1 is a three-dimensional effect view of the vacuum chuck type crawling apparatus of the present invention.

FIG. 2 is a three-dimensional effect of the vacuum chuck, the chuck neck and shoulder, and the chuck air tube joint of the present invention after assembly.

Fig. 3 is a three-dimensional effect diagram of the gasket of the present invention.

Fig. 4 is a three-dimensional effect diagram of the assembled corrugated expansion pipe, communication pipe, expansion pipe joint, connecting rod and connecting sleeve of the present invention.

Fig. 5 is a three-dimensional sectional effect view of the vacuum chuck type crawling apparatus of the present invention.

Fig. 6 is a three-dimensional effect view of three steps of forward crawling of the vacuum chuck type crawling apparatus of the present invention.

In the figure: 1-air pipe, 2-base, 3-joint, 4-rubber pipe, 5-big hoop, 6-spring, 7-small hoop and 8-plugging sleeve.

1-rear vacuum chuck, 2-sealing gasket, 3-rear chuck air pipe, 4-connecting rod, 5-corrugated expansion pipe, 6-air inflation pipe, 7-communicating pipe, 8-front chuck air pipe, 9-front vacuum chuck, 10-chuck neck and shoulder, 11-chuck air pipe joint, 12-air inflation pipe joint, 13-connecting lantern ring

Detailed Description

The vacuum chuck type crawling device mainly comprises a rear vacuum chuck 1, a sealing gasket 2, a rear chuck air pipe 3, a connecting rod 4, a corrugated expansion pipe 5, an air inflation pipe 6, a communicating pipe 7, a front chuck air pipe 8, a front vacuum chuck 9, a chuck neck shoulder 10, a chuck air pipe joint 11, an air inflation pipe joint 12 and a connecting lantern ring 13; the two corrugated expansion pipes 5 are connected with two ends of the communicating pipe 7, and form an internally closed cavity with the communicating pipe 7 and the air charging and sucking pipe joint 12 on the communicating pipe, the other ends of the two corrugated expansion pipes 5 are fixed at the ends of the two connecting rods 4, and the two connecting lantern rings 13 are respectively fixed at the other ends of the two connecting rods 4; the sealing gaskets 2 are respectively bonded and fixed on the bottom surfaces of the two vacuum suckers (1, 9), the two sucker neck shoulders 10 are respectively fixed on the upper parts of the two vacuum suckers (1, 9), the two sucker air pipe joints 11 are respectively fixed on the upper parts of the two sucker neck shoulders 10, and the sucker air pipe joints 11, the sucker neck shoulders 10 and the vacuum suckers (1, 9) form a cavity with a closed inner part; the two connecting lantern rings 13 are respectively sleeved on the grooves of the two sucker neck shoulders 10, the rear sucker air pipe 3 is inserted on the sucker air pipe joint 11 on the rear vacuum sucker 1, the air inflation and suction pipe 6 is inserted on the air inflation and suction pipe joint 6 on the communicating pipe 4, and the front sucker air pipe 8 is inserted on the sucker air pipe joint 11 on the front vacuum sucker 9.

Firstly, sucking air through a front sucker air pipe 8 to enable a front vacuum sucker 9 to form vacuum and be adsorbed on a smooth plane, and deflating a rear sucker air pipe 3 to enable a rear vacuum sucker 1 to be desorbed; then, air is sucked through an air-inflating and sucking pipe 6, so that the two corrugated expansion pipes 5 are shortened, and the rear vacuum sucker 1 is driven to move forwards; then, sucking air through a rear sucker air pipe 3 to enable the rear vacuum sucker 1 to form vacuum and be adsorbed on a smooth plane; the front vacuum chuck 9 is released from adsorption by the air pipe 8 of the front chuck; the two corrugated expansion pipes 5 are extended by inflating the air inflating and sucking pipe 6 to drive the front vacuum sucker 9 to move forwards; the mode is repeated circularly, and the air suction and the air inflation of each air pipe are carried out in sequence, so that the front and the back vacuum suction cups (1 and 9) form a crawling action in sequence, and the forward movement of the device can be realized.

On the contrary, the vacuum sucker type crawling device can move backwards in the opposite direction only by exchanging the sequence of air suction and air discharge of the front vacuum sucker 9 and the rear vacuum sucker 1.

The components of the vacuum chuck type crawling device can be made of the parts or flexible materials available on the market. The 3D printing mode can be adopted, or the mass production can be realized through a mold.