CN102009707A - Vacuum system of machinery leg of window wiping robot - Google Patents
Vacuum system of machinery leg of window wiping robot Download PDFInfo
- Publication number
- CN102009707A CN102009707A CN2010105531189A CN201010553118A CN102009707A CN 102009707 A CN102009707 A CN 102009707A CN 2010105531189 A CN2010105531189 A CN 2010105531189A CN 201010553118 A CN201010553118 A CN 201010553118A CN 102009707 A CN102009707 A CN 102009707A
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- vacuum
- filter
- window wiping
- wiping robot
- valve component
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Abstract
The invention discloses a vacuum system of a machinery leg of a window wiping robot. The vacuum system comprises six sucking discs arranged at the front end of the four-freedom degree machinery leg, a straightway filter, a solenoid valve component, a shunt and four vacuum pumps, wherein each sucking disc is connected with the straightway filter through a vacuum pipe; the straightway filter is connected with the solenoid valve component through a vacuum pipe; and the solenoid valve component is connected with the vacuum pumps through the shunt. The vacuum pumps are driven to vacuumize; the vacuum pumps vacuumize an opened vacuum tube branch of the solenoid valve component by the shunt so as to fulfill the aim of sucking out the air in the sucking discs; particles, such as air impurities, dust and the like in the sucking discs can be filtered out because the straightway filter is connected to each sucking disc; and the service life of the solenoid valve and the service life of the vacuum pumps are guaranteed.
Description
Technical field
The present invention relates to a kind of window wiping robot, specifically in the vacuum-control(led) system of the window wiping robot pedipulator of high-risk applications.
Background technology
Robot in high-risk applications substantially also is in the starting stage, develops a kind of window wiping robot, can promote the development of aerial lift device technology significantly.The present invention mainly solves the comprehensive mobile technical matters of window wiping robot in glass curtain wall surface or marble surface: choose the pedipulator of a kind of articulation mechanism of 4DOF as window wiping robot, the travel mechanism of window wiping robot is made of 6 pedipulators that are installed on this body support frame of window wiping robot, 6 pedipulator coordinations, drive machines people moves on adsorption plane, and pedipulator provides power by the AC servo motor that is installed in each pedipulator joint.
Summary of the invention
The vacuum system that the purpose of this invention is to provide a kind of window wiping robot pedipulator of high-risk applications, the suctorial four-degree-of-freedom pedipulator work of rotating band.
The objective of the invention is to be achieved through the following technical solutions:
The vacuum system of window wiping robot pedipulator, comprise that six are installed in the sucker of four-degree-of-freedom pedipulator front end, straight-through filter, electromagnetic valve component, diverter and four vacuum pumps, each sucker is connected with straight-through filter by vacuum lamp, straight-through filter is connected with electromagnetic valve component by vacuum lamp, and electromagnetic valve component is connected with vacuum pump by diverter.Driving vacuum pump vacuumizes, the air that vacuum pump is in the Electronic Valve assembly by diverter in the vacuum lamp branch road of open mode vacuumizes, and then reach the purpose that the air in the sucker is siphoned away, and each sucker all is connected with straight-through filter, particulate matters such as the interior air plankton of sucker, dust are filtered, guarantee the service life of electromagnetic valve, vacuum pump.
The present invention mainly solves the comprehensive mobile technical matters of window wiping robot in glass curtain wall surface or marble surface: choose the pedipulator of a kind of articulation mechanism of 4DOF as window wiping robot, the travel mechanism of window wiping robot is made of 6 pedipulators that are installed on this body support frame of window wiping robot, 6 pedipulator coordinations, drive machines people moves on adsorption plane, and pedipulator provides power by the AC servo motor that is installed in each pedipulator joint.
Description of drawings
With embodiment the present invention is described in further detail with reference to the accompanying drawings below.
Fig. 1 is the vacuum system constructional drawing of window wiping robot pedipulator of the present invention.
The specific embodiment
As shown in Figure 1, the vacuum system of window wiping robot pedipulator, comprise that six are installed in the sucker 5 of four-degree-of-freedom pedipulator front end, straight-through filter 4, electromagnetic valve component 3, diverter 2 and four vacuum pumps 1, each sucker 5 is connected with straight-through filter 4 by vacuum lamp 6, straight-through filter 4 is connected with electromagnetic valve component 3 by vacuum lamp 6, and electromagnetic valve component 3 is connected with vacuum pump 1 by diverter 2.Driving vacuum pump 1 vacuumizes, the air that vacuum pump 1 is in Electronic Valve assembly 3 by diverter 2 in vacuum lamp 6 branch roads of open mode vacuumizes, and then reach the purpose that the air in the sucker 5 are siphoned away, and each sucker 5 all is connected with straight-through filter 4, particulate matters such as the interior air plankton of sucker, dust are filtered, guarantee the service life of electromagnetic valve, vacuum pump.
The vacuum extractor of window wiping robot vacuum system provides power by four vacuum pumps, when suction disc vacuum pumping, gas in the sucker, through straight-through filter, the electromagnetic valve on the pairing pipeline is opened simultaneously, and gas is through behind the electromagnetic valve, enter 1-3 diverter (3-1 direction) with reversing sense, enter 4-2 diverter (2-4 direction) with reversing sense again, with in the air exhaust to atmosphere, so just can realize the adsorption function of sucker through vacuum pump.When sucker need break away from adherent surface, vaccum pump motor is commutated.
The present invention mainly solves the comprehensive mobile technical matters of window wiping robot in glass curtain wall surface or marble surface: choose the pedipulator of a kind of articulation mechanism of 4DOF as window wiping robot, the travel mechanism of window wiping robot is made of 6 pedipulators that are installed on this body support frame of window wiping robot, 6 pedipulator coordinations, drive machines people moves on adsorption plane, and pedipulator provides power by the AC servo motor that is installed in each pedipulator joint.
Claims (1)
1. the vacuum system of window wiping robot pedipulator, comprise that six are installed in the sucker of four-degree-of-freedom pedipulator front end, straight-through filter, electromagnetic valve component, diverter and four vacuum pumps, it is characterized in that, each sucker is connected with straight-through filter by vacuum lamp, straight-through filter is connected with electromagnetic valve component by vacuum lamp, and electromagnetic valve component is connected with vacuum pump by diverter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105531189A CN102009707A (en) | 2010-11-22 | 2010-11-22 | Vacuum system of machinery leg of window wiping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105531189A CN102009707A (en) | 2010-11-22 | 2010-11-22 | Vacuum system of machinery leg of window wiping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102009707A true CN102009707A (en) | 2011-04-13 |
Family
ID=43840087
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010105531189A Pending CN102009707A (en) | 2010-11-22 | 2010-11-22 | Vacuum system of machinery leg of window wiping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102009707A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102358496A (en) * | 2011-09-28 | 2012-02-22 | 深圳市创思泰科技有限公司 | Vacuum system of pneumatic disk sucking machine |
| WO2013149589A1 (en) * | 2012-04-05 | 2013-10-10 | 科沃斯机器人科技(苏州)有限公司 | Glass-wiping device |
| WO2013149590A1 (en) * | 2012-04-05 | 2013-10-10 | 科沃斯机器人科技(苏州)有限公司 | Suction apparatus, glass-wiping device, and run control method therefor |
| WO2013149584A1 (en) * | 2012-04-05 | 2013-10-10 | 科沃斯机器人科技(苏州)有限公司 | Suction apparatus and glass-wiping device having the suction apparatus |
| CN103637742A (en) * | 2013-12-06 | 2014-03-19 | 桂林电子科技大学 | Glass-climbing robot |
| CN104644063A (en) * | 2013-11-20 | 2015-05-27 | 苏州科沃斯商用机器人有限公司 | Pipeline connecting system among vacuum pump and suckers |
| CN106043486A (en) * | 2016-07-06 | 2016-10-26 | 重庆交通大学 | Crawling robot used for concrete cable bent tower apparent crack detection |
| CN106264355A (en) * | 2016-08-25 | 2017-01-04 | 广州科技职业技术学院 | Robot moving mechanism |
| CN107616758A (en) * | 2017-11-09 | 2018-01-23 | 广东豪信激光装备制造有限公司 | A kind of glass wall cleaning robot with walking mechanism |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0401120A1 (en) * | 1989-06-02 | 1990-12-05 | Bouygues | Remote-controlled mobile robot for working surfaces, particularly for cleaning glass-walls |
| CN2693766Y (en) * | 2004-05-08 | 2005-04-20 | 中国凯盛国际工程有限公司 | Suction cup device for large size glass |
| US20070161323A1 (en) * | 2005-12-29 | 2007-07-12 | Marvel Characters, Inc. | Vacuum assisted wall climbing toy |
| CN201185910Y (en) * | 2008-03-31 | 2009-01-28 | 浙江大学 | Distance type wall-climbing cleaning robot |
| CN201872807U (en) * | 2010-11-22 | 2011-06-22 | 江苏申锡建筑机械有限公司 | Vacuum system of mechanical legs of window wiping robot |
-
2010
- 2010-11-22 CN CN2010105531189A patent/CN102009707A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0401120A1 (en) * | 1989-06-02 | 1990-12-05 | Bouygues | Remote-controlled mobile robot for working surfaces, particularly for cleaning glass-walls |
| CN2693766Y (en) * | 2004-05-08 | 2005-04-20 | 中国凯盛国际工程有限公司 | Suction cup device for large size glass |
| US20070161323A1 (en) * | 2005-12-29 | 2007-07-12 | Marvel Characters, Inc. | Vacuum assisted wall climbing toy |
| CN201185910Y (en) * | 2008-03-31 | 2009-01-28 | 浙江大学 | Distance type wall-climbing cleaning robot |
| CN201872807U (en) * | 2010-11-22 | 2011-06-22 | 江苏申锡建筑机械有限公司 | Vacuum system of mechanical legs of window wiping robot |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102358496A (en) * | 2011-09-28 | 2012-02-22 | 深圳市创思泰科技有限公司 | Vacuum system of pneumatic disk sucking machine |
| US9743816B2 (en) | 2012-04-05 | 2017-08-29 | Ecovacs Robotics Co., Ltd. | Glass-wiping device having a suction apparatus |
| WO2013149589A1 (en) * | 2012-04-05 | 2013-10-10 | 科沃斯机器人科技(苏州)有限公司 | Glass-wiping device |
| WO2013149590A1 (en) * | 2012-04-05 | 2013-10-10 | 科沃斯机器人科技(苏州)有限公司 | Suction apparatus, glass-wiping device, and run control method therefor |
| WO2013149584A1 (en) * | 2012-04-05 | 2013-10-10 | 科沃斯机器人科技(苏州)有限公司 | Suction apparatus and glass-wiping device having the suction apparatus |
| US10610070B2 (en) | 2012-04-05 | 2020-04-07 | Ecovacs Robotics Co., Ltd. | Suction apparatus, glass-wiping device, and run control method thereof |
| US10016102B2 (en) | 2012-04-05 | 2018-07-10 | Ecovacs Robotics Co., Ltd. | Suction apparatus, glass-wiping device, and run control method therefor |
| WO2015074561A1 (en) * | 2013-11-20 | 2015-05-28 | 苏州科沃斯商用机器人有限公司 | Pipeline connecting system between vacuum pump and suction cups |
| CN104644063B (en) * | 2013-11-20 | 2017-04-19 | 科沃斯商用机器人有限公司 | Pipeline connecting system among vacuum pump and suckers |
| CN104644063A (en) * | 2013-11-20 | 2015-05-27 | 苏州科沃斯商用机器人有限公司 | Pipeline connecting system among vacuum pump and suckers |
| CN103637742B (en) * | 2013-12-06 | 2015-10-28 | 桂林电子科技大学 | Climb glass robot |
| CN103637742A (en) * | 2013-12-06 | 2014-03-19 | 桂林电子科技大学 | Glass-climbing robot |
| CN106043486A (en) * | 2016-07-06 | 2016-10-26 | 重庆交通大学 | Crawling robot used for concrete cable bent tower apparent crack detection |
| CN106264355A (en) * | 2016-08-25 | 2017-01-04 | 广州科技职业技术学院 | Robot moving mechanism |
| CN107616758A (en) * | 2017-11-09 | 2018-01-23 | 广东豪信激光装备制造有限公司 | A kind of glass wall cleaning robot with walking mechanism |
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Application publication date: 20110413 |