CN104644050B - Adsorb robot and the rotating direction control method of the absorption robot - Google Patents
Adsorb robot and the rotating direction control method of the absorption robot Download PDFInfo
- Publication number
- CN104644050B CN104644050B CN201310589797.9A CN201310589797A CN104644050B CN 104644050 B CN104644050 B CN 104644050B CN 201310589797 A CN201310589797 A CN 201310589797A CN 104644050 B CN104644050 B CN 104644050B
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- Prior art keywords
- sucker
- robot
- rotating mechanism
- absorption
- driving
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Toys (AREA)
Abstract
The present invention provides a kind of forward method for adsorbing robot and controlling the absorption robot, and the robot includes：Body（4）, the body（4）Bottom is provided with the sucker for adsorption operation face（2）, it is characterised in that the absorption robot is additionally provided with rotating mechanism（1）, the sucker passes through rotating mechanism（1）It is connected to body（4）, body（4）By driving rotating mechanism（1）So that body rotates predetermined angle relative to sucker, so as to complete the steering of robot.Absorption robot provided by the invention with rotating mechanism and sucker, accurately controls the rotational angle of robot, the phenomenon of skidding can be avoided the occurrence of in rotation, and reduces the possibility in the adsorbed face of infringement.
Description
Technical field
Robot and the rotating direction control method of the absorption robot are adsorbed the present invention relates to a kind of, belongs to small household appliances manufacture
Technical field.
Background technology
Existing most of cleaning device by sucker suction, turned to or not by the different of two driving wheels when it is rotated
Realized with rotating speed, such as current glass-cleaning robot, provided with driving wheel and sucker, sucker passes through airway tube and vacuum
Source is connected, and steering is realized by controlling two driving wheels differential, and driving wheel skidding easily occurs in such machine, turns to
Situations such as not in place, inaccurate, and because Mechanics Cause may damage adsorption plane.
In addition, existing split air conditioner is provided with preceding machine and rear machine, preceding machine is connected with rear machine by feed screw nut, and preceding machine is with after
Motor spindle is respectively equipped with anterior sucker and posterior sucker.The split air conditioner mainly passes through the forward and backward sucker alternating sorbent scope of operation, screw mandrel spiral shell
Mother drives the division of preceding machine and rear machine to complete the walking of the wriggling of robot.However, straight line moving is driven by feed screw nut
Split air conditioner, generally there is technical barrier that is in stays or turning to complexity in it.
The content of the invention
The technical problems to be solved by the invention are, in view of the shortcomings of the prior art, there is provided one kind absorption robot and
The forward method of the absorption robot is controlled, accurately controls the rotational angle of robot, skidding can be avoided the occurrence of in rotation
Phenomenon, and reduce the possibility in the adsorbed face of infringement.
The technical problems to be solved by the invention are achieved by the following technical solution：
The present invention provides a kind of absorption robot, including：Body, the organism bottom are provided with for adsorption operation face
Sucker, the absorption robot are additionally provided with rotating mechanism, and the sucker is connected to body by rotating mechanism, and body passes through drive
Dynamic rotating mechanism so that body rotates predetermined angle relative to sucker, so as to complete the steering of robot.
Preferably, drive mechanism, the drive mechanism is by driving rotating mechanism control machine body phase to the adsorption operation
The sucker rotation predetermined angle in face.
Preferably, the rotating mechanism includes：Gear wheel, described in the little gear engaged with the gear wheel and driving
The drive mechanism of little gear, the little gear are fixedly connected with the body, and the gear wheel is fixedly connected with the sucker,
The gear wheel is rotatably arranged on body, and such as described gear wheel is connected with body by bearing.
Another embodiment, the rotating mechanism include：Gear wheel, the driving wheel being connected by belt with gear wheel and
The drive mechanism of the driving wheel is driven, the driving wheel is fixedly connected with the body, and the gear wheel is consolidated with the sucker
Fixed connection, the gear wheel are rotatably arranged on body, and such as described gear wheel is connected with body by bearing.
Preferably, the rotating mechanism also includes：Tensioning wheel, the tensioning wheel be located at the gear wheel and driving wheel it
Between, and be connected by belt with gear wheel and driving wheel.
A kind of embodiment, the artificial split type absorption robot of absorption machine, including：Before being connected by drive component
The organism bottom of body and rear body, preceding body and rear body is respectively equipped with anterior sucker and posterior sucker, the drive component driving
Robot is acted on the alternating sorbent of walkway surface by anterior sucker and posterior sucker, make preceding body and rear body separate relatively or
Close up, complete the creeping motion type straight line moving of robot, wherein, the anterior sucker is connected to preceding body by rotating mechanism；Or
The posterior sucker is connected to rear body by rotating mechanism.
Specifically, the drive component using leading screw, screw pair, rack-and-pinion, cylinder piston be secondary, expansion screw or
Extension sleeve.
Another embodiment, the absorption robot also include：It is arranged on the travel wheel of the organism bottom, the suction
Attached robot is walked by travel wheel in the scope of operation.
The present invention also provides a kind of rotating direction control method of above-mentioned split type absorption robot, and anterior sucker or posterior sucker are inhaled
It is attached to operation surface, drive mechanism driving rotating mechanism so that sucker of the body relative to the adsorption operation face rotates preset angle
Degree, so as to realize that body turns to.
When adsorbing machine artificially split type absorption robot, before rotation：Drive component driving absorption robot borrows
The suction-operated of anterior sucker or posterior sucker to walkway surface is helped, controls preceding body and rear body to close up.
The present invention also provides a kind of rotating direction control method of above-mentioned integral type absorption robot, and sucker suction is in schedule work
Face, drive rotating mechanism so that sucker of the body relative to the adsorption operation face rotates predetermined angle, so as to realize that body turns
To.
When the artificial integral type absorption robot of absorption machine, before rotation：Adsorb robot control and stop driving row
Enter wheel.
Absorption robot provided by the invention and the forward method for controlling the absorption robot, accurately control robot
Rotational angle, the phenomenon of skidding can be avoided the occurrence of in rotation, and reduce the possibility in the adsorbed face of infringement.Especially
, solve the technical barrier that split air conditioner is in stays or steering mechanism is complicated.
Technical scheme is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is the rotating mechanism structural representation that the embodiment of the present invention one adsorbs robot；
Fig. 2 is the rotating mechanism structural representation that the embodiment of the present invention two adsorbs robot；
Fig. 3 is the structural representation of body before the rotating mechanism of the absorption of the embodiment of the present invention three robot is arranged on；
Fig. 4 is that the absorption robot rotating mechanism of the embodiment of the present invention four is arranged on the structural representation of rear body；
Fig. 5 is that the absorption robot rotating mechanism of the embodiment of the present invention five is separately positioned on the knot of preceding body and rear body
Structure schematic diagram；
Fig. 6 is the absorption robot structural representation of the embodiment of the present invention six.
Embodiment
Embodiment one：
Fig. 1 is the rotating mechanism structural representation of the embodiment of the present invention one, as shown in figure 1, the rotating mechanism includes：
The drive mechanism 3 of gear wheel 11, the little gear 12 engaged with the gear wheel 11 and the driving little gear 12 is described small
Gear 12 is fixedly connected with the body 4, and the gear wheel 11 is fixedly connected with the sucker, the rotatable setting of gear wheel
On body.
Operation principle：When adsorbing robot steering, sucker suction is fixedly connected in the scope of operation, sucker and with sucker
Gear wheel 11 it is fixed, the driving pinion 12 of drive mechanism 3 rotates, because body 4 is fixedly connected with little gear 12, so
When little gear 12 rotates, whole body 4 is driven to be rotated using the center of circle of gear wheel 11 as pivot, so as to complete
Into the steering of absorption robot.
Embodiment two
Fig. 2 is the rotating mechanism structural representation of the embodiment of the present invention two, as shown in Fig. 2 the rotation provided in the present embodiment
Rotation mechanism includes：Gear wheel 11 ', the driving wheel 12 ' being connected by belt 13 ' with gear wheel 11 ', the driving driving wheel 12 '
Drive mechanism 3 and tensioning wheel 14 ', the tensioning wheel 14 ' between the gear wheel 11 ' and driving wheel 12 ', and
It is connected by belt 13 ' with gear wheel 11 ' and driving wheel 12 ', the driving wheel 12 ' is fixedly connected with the body 4, described
Gear wheel 11 ' is fixedly connected with the sucker.The gear wheel is connected with body by bearing, and gear wheel connects with bearing outer ring
Connect, body is connected with bearing inner race.
Operation principle：When adsorbing robot steering, sucker and the gear wheel 11 ' being fixedly connected with sucker are fixed not
Dynamic, drive mechanism 3 drives driving wheel 12 ' to rotate, and the driving wheel 12 ' is connected by belt 13 ' with gear wheel 11 ', and belt
13 ' are tensioned further through tensioning wheel 14 '；Because body 4 is fixedly connected with driving wheel 12 ', so when driving wheel 12 ' rotates, band
Move whole body 4 to be rotated as pivot using the center of circle of gear wheel 11 ', so as to complete to adsorb the steering of robot.
Embodiment three
Fig. 3 is the structural representation of body before the rotating mechanism of the embodiment of the present invention three is arranged on, and is adsorbed in the present embodiment
The rotating mechanism of robot is applied to a kind of any of the above described rotating mechanism, as shown in figure 3, including：Body 4, the bottom of body 4
Portion is provided with the sucker 2 for adsorption operation face, and the absorption robot is additionally provided with rotating mechanism 1, and the sucker passes through whirler
Structure 1 is connected to body 4, and body 4 is by driving rotating mechanism 1 so that body rotates predetermined angle relative to sucker, so as to complete
Into the steering of robot.
Specifically, the artificial split type absorption robot of absorption machine in the present embodiment, including：Body 4, institute
Stating body 4 includes：The preceding body 41 and rear body 42 being connected by drive component 5, the drive component 5 can use leading screw, screw rod
Secondary, rack-and-pinion or cylinder piston pair；The organism bottom of preceding body 41 and rear body 42 is respectively equipped with anterior sucker 21 with after
Sucker 22, the drive component 5 drive robot to make by anterior sucker 21 and posterior sucker 22 to the alternating sorbent of walkway surface
With, preceding body 41 and rear body 42 is separated or is closed up relatively, complete the creeping motion type straight line moving of robot, wherein, before described
Body 41 before sucker 21 is connected to by rotating mechanism 1.
A kind of forward method for controlling above-mentioned split type absorption robot, the driving absorption of drive component 5 robot is by preceding
Sucker 21 and posterior sucker 22 are acted on the alternating sorbent of walkway surface, preceding body 41 and rear body 42 is separated or is closed up relatively,
The creeping motion type straight line moving of robot is completed, when turning to, by the adsorption operation surface of anterior sucker 21, drive mechanism 3 is driven
Dynamic rotating mechanism 1 controls anterior sucker 21 of the body 4 relative to the adsorption operation face to rotate predetermined angle, realizes turning for robot
To preferably：Before control absorption robot turns to, control preceding body 41 and rear body 42 to close up first, avoid fuselage mistake
Turned to caused by long difficult.
Example IV
Fig. 4 is that the absorption robot rotating mechanism of the embodiment of the present invention four is arranged on the structural representation of rear body, is such as schemed
Shown in 4, the split type absorption robot in the present embodiment and the absorption robot in embodiment three are basically identical, difference
It is, the split type absorption robot in the present embodiment, posterior sucker 22 is connected to rear body 42 by rotating mechanism 1.
In the present embodiment, the forward method of the absorption robot in the present embodiment is controlled with implementing the steering side in three
Method is basically identical, and difference is, in the present embodiment, during steering, passes through the adsorption operation surface of posterior sucker 22, drives
Motivation structure 3 controls posterior sucker 22 of the body 4 relative to the adsorption operation face to rotate predetermined angle by rotating mechanism 1, realizes machine
The steering of device people.
Embodiment five
Fig. 5 is that the absorption robot rotating mechanism of the embodiment of the present invention five is separately positioned on the knot of preceding body and rear body
Structure schematic diagram, as shown in figure 5, the split type absorption robot in the present embodiment and the absorption in embodiment three and example IV
Robot is basically identical, and difference is, the split type absorption robot in the present embodiment, anterior sucker 21 passes through whirler
Structure 1 ' is connected to preceding body 41 and posterior sucker 22 is connected to rear body 42 by rotating mechanism 1 ".
In the present embodiment, the forward method of the absorption robot in the present embodiment is controlled with implementing three and example IV
Forward method it is basically identical, difference is, in the present embodiment, during steering, absorption robot judged by itself or
Action is set, to enable anterior sucker 21 or the rotation of posterior sucker 22 to drive the overall steering work of absorption robot, if opened
During with anterior sucker 21 to complete to turn to work, by the adsorption operation surface of anterior sucker 21, drive mechanism 3 ' passes through rotation
Anterior sucker 21 of the control machine human organism of mechanism 1 ' relative to the adsorption operation face rotates predetermined angle, realizes turning for robot
To；It is logical by the adsorption operation surface of posterior sucker 22, drive mechanism 3 " if enable posterior sucker 22 to complete to turn to work
Cross posterior sucker 22 of the control machine of the rotating mechanism 1 " human organism relative to the adsorption operation face and rotate predetermined angle, realize machine
The steering of people.
Embodiment six
Fig. 6 is the absorption robot structural representation of the embodiment of the present invention six, as shown in fig. 6, the suction that the present embodiment provides
The artificial integral type absorption robot of random device, including：Body 4, the bottom of body 4 are provided with the sucker 2 for adsorption operation face
And rotating mechanism 1, the sucker 2 are connected to body 4, the rotation that body 4 is controlled by drive mechanism 3 by rotating mechanism 1
Mechanism 1 turns to, and the absorption robot also includes：It is arranged on the travel wheel 6 of the bottom of body 4, the absorption robot
Walked by travel wheel 6 in the scope of operation；The rotating mechanism of absorption robot in the present embodiment is applied to embodiment one or implemented
Any one of example two rotating mechanism.
Control forward method：The controlling organization control for adsorbing robot first stops driving travel wheel 6, then passes through institute
The adsorption operation surface of sucker 2 is stated, drive mechanism 3 passes through the relatively described adsorption operation face of the control machine human organism 4 of rotating mechanism 1
Sucker 2 rotate predetermined angle, realize the steering of robot.
Claims (9)
1. one kind absorption robot, the artificial split type absorption robot of absorption machine, including：Body (4), the body bag
Preceding body (41) and rear body (42) are included, body (4) bottom is provided with the sucker (2) for adsorption operation face, and its feature exists
In, the absorption robot is additionally provided with rotating mechanism (1), and the sucker (2) is connected to body (4) by rotating mechanism (1), its
In, preceding body (41) and rear body (42) can be separated or closed up relatively, complete the creeping motion type straight line moving of robot, body (4)
By driving rotating mechanism (1) so that body rotates predetermined angle relative to sucker (2), so as to complete the steering of robot, and
Before control absorption robot turns to, preceding body (41) and rear body (42) is controlled to close up first.
2. absorption robot as claimed in claim 1, it is characterised in that the absorption robot also includes：Drive mechanism
(3), the drive mechanism is by driving rotating mechanism (1) to control sucker (2) of the body (4) relative to the adsorption operation face to rotate
Predetermined angle.
3. absorption robot as claimed in claim 1, it is characterised in that the rotating mechanism (1) includes：Gear wheel (11),
The little gear (12) and the drive mechanism (3) of the driving little gear (12) engaged with the gear wheel (11), the small tooth
Wheel (12) is fixedly connected with the body (4), and the gear wheel (11) is fixedly connected with the sucker (2).
4. absorption robot as claimed in claim 1, it is characterised in that the rotating mechanism (1) includes：Gear wheel (11 '),
The driving wheel (12 ') and the drive mechanism of the driving driving wheel (12 ') being connected by belt (13 ') with gear wheel (11 ')
(3), the driving wheel (12 ') is fixedly connected with the body (4), the gear wheel (11 ') and the fixed company of the sucker (2)
Connect.
5. absorption robot as claimed in claim 4, it is characterised in that the rotating mechanism (1) also includes：Tensioning wheel
(14 '), the tensioning wheel (14 ') between the gear wheel (11 ') and driving wheel (12 '), and by belt (13 ') with
Gear wheel (11 ') and driving wheel (12 ') connection.
6. the absorption robot as described in claim any one of 1-5, it is characterised in that the preceding body (41) and rear body
(42) be connected by drive component (5), the organism bottom of preceding body (41) and rear body (42) be respectively equipped with anterior sucker (21) and
Posterior sucker (22), drive component (5) the driving absorption robot is by anterior sucker (21) and posterior sucker (22) to walkway surface
Alternating sorbent effect, make preceding body (41) and rear body (42) relatively separated or close up, complete the creeping motion type straight line of robot
Walking, wherein,
The anterior sucker (21) is connected to preceding body (41) by rotating mechanism (1)；
Or the posterior sucker (22) is connected to rear body (42) by rotating mechanism (1)；
Or the anterior sucker (21) and posterior sucker (22) are connected to preceding body (41) and rear body (42) by rotating mechanism respectively.
7. absorption robot as claimed in claim 6, it is characterised in that the drive component (5) is leading screw, screw pair, tooth
Rack-and-pinion, cylinder piston pair, expansion screw or extension sleeve.
A kind of 8. rotating direction control method of absorption robot as claimed in claim 6, it is characterised in that anterior sucker (21) or after
Sucker (22) absorption is in operation surface, drive mechanism (3) driving rotating mechanism (1) so that the relatively described adsorption operation of body (4)
The sucker rotation predetermined angle in face, so as to realize that body turns to.
9. the rotating direction control method of absorption robot as claimed in claim 8, it is characterised in that before rotation, drive component
The preceding body of driving (41) and rear body (42) close up.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310589797.9A CN104644050B (en) | 2013-11-20 | 2013-11-20 | Adsorb robot and the rotating direction control method of the absorption robot |
| PCT/CN2014/091403 WO2015074541A1 (en) | 2013-11-20 | 2014-11-18 | Suction robot and steering control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310589797.9A CN104644050B (en) | 2013-11-20 | 2013-11-20 | Adsorb robot and the rotating direction control method of the absorption robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104644050A CN104644050A (en) | 2015-05-27 |
| CN104644050B true CN104644050B (en) | 2017-11-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310589797.9A Active CN104644050B (en) | 2013-11-20 | 2013-11-20 | Adsorb robot and the rotating direction control method of the absorption robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN104644050B (en) |
| WO (1) | WO2015074541A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109199207B (en) * | 2018-09-11 | 2021-05-11 | 广东聚晨知识产权代理有限公司 | Movable window cleaning robot |
| CN110900622B (en) * | 2019-11-22 | 2023-03-24 | 深圳怪虫机器人有限公司 | Method for cleaning turning operation of robot |
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| CN101626873A (en) * | 2007-02-09 | 2010-01-13 | 金容旭 | Robot for cleaning outer wall |
| CN102167102A (en) * | 2011-04-08 | 2011-08-31 | 上海电机学院 | Suction cup type pneumatic wall-climbing robot |
| CN102631173A (en) * | 2012-04-16 | 2012-08-15 | 北京理工大学 | Track sucker type wall surface cleaning robot |
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| JP2005265219A (en) * | 2004-03-16 | 2005-09-29 | Ue Ruko:Kk | Disinfection detergent vessel for forced circulation type bath and disinfection washing method for water and hot water conduit in forced circulation type bath |
| CN203234687U (en) * | 2013-04-02 | 2013-10-16 | 兰州山海环保科技有限公司 | Adsorption dual-layer full corner automatic cleaner for high-rising glass curtain wall |
| CN203766926U (en) * | 2013-11-20 | 2014-08-13 | 苏州科沃斯商用机器人有限公司 | Suction cup capable of increasing friction force and adsorption type self-moving device |
| CN203612097U (en) * | 2013-11-20 | 2014-05-28 | 苏州科沃斯商用机器人有限公司 | Rotating seal suction device and suction type self-moving device comprising same |
| CN203612096U (en) * | 2013-11-20 | 2014-05-28 | 苏州科沃斯商用机器人有限公司 | Split type robot with suckers |
| CN203609367U (en) * | 2013-12-06 | 2014-05-28 | 桂林电子科技大学 | Robot for climbing glass |
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2013
- 2013-11-20 CN CN201310589797.9A patent/CN104644050B/en active Active
-
2014
- 2014-11-18 WO PCT/CN2014/091403 patent/WO2015074541A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101626873A (en) * | 2007-02-09 | 2010-01-13 | 金容旭 | Robot for cleaning outer wall |
| CN102167102A (en) * | 2011-04-08 | 2011-08-31 | 上海电机学院 | Suction cup type pneumatic wall-climbing robot |
| CN102631173A (en) * | 2012-04-16 | 2012-08-15 | 北京理工大学 | Track sucker type wall surface cleaning robot |
| CN202665434U (en) * | 2012-06-28 | 2013-01-16 | 科沃斯机器人科技(苏州)有限公司 | Glass-wiping robot |
| CN203609365U (en) * | 2013-11-20 | 2014-05-28 | 苏州科沃斯商用机器人有限公司 | Suction robot |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2015074541A1 (en) | 2015-05-28 |
| CN104644050A (en) | 2015-05-27 |
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Address after: Wuzhong Economic Development Zone in Suzhou City, Jiangsu Province, the River Street 215104 Youxiang Road No. 18 building 3 Applicant after: Ecovacs commercial robot Co Ltd Address before: Wuzhong District Wuzhong Economic Development Zone Suzhou city Jiangsu province 215104 the River Street Youxiang Road No. 18 building 3 Applicant before: Butterworth business machine people Co., Ltd of Suzhou section |
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