The invention discloses a vacuum suction cup device capable of self-adapting to the wall curvature. The vacuum suction cup device comprises a fractal component and a suction cup assembly. The fractal component is of a three-layer tree-shaped structure, and the suction cup assembly is installed on the three-stage fractal component serving as a leaf node of the tree-shaped structure. Through sliding between the fractal body components, the suction cup assembly adapts to and is attached to the curved wall face; meanwhile, an elastic damping device on the suction cup assembly has a good vibration eliminating effect when the rigid suction cup makes contact with the wall face and is separated from the wall face for adsorption; the adsorption stability of the climbing robot is guaranteed, and the climbing robot can adapt to complex curved surfaces; compared with a climbing robot which adapts to the wall curvature by designing a complex moving structure, the modular device can be directly applied to the climbing robot, and the structure is simple and reliable.

    本发明公开了一种自适应壁面曲率的真空吸盘装置,包括分形体构件、吸盘组件;分形体构件采用三层树状结构,作为树状结构叶子节点的三级分形体构件上安装吸盘组件。本发明通过分形体构件间的滑动,让吸盘组件适应贴合曲形壁面;同时吸盘组件上的弹性阻尼装置,在刚性吸盘接触壁面时和脱离壁面吸附的情况下,有良好消除震动效果;既保证了攀爬机器人吸附时的稳定性,又可以适应复杂曲面;相比较于通过设计复杂移动结构去适应壁面曲率的攀爬机器人,本发明作为模块化装置可直接应用于攀爬机器人,结构简单可靠。


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    Title :

    Vacuum chuck device capable of self-adapting to wall surface curvature


    Additional title:

    一种自适应壁面曲率的真空吸盘装置


    Contributors:

    Publication date :

    2022-05-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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