CN104644065A - Pressure detection and air leakage device and absorptive robot with same - Google Patents
Pressure detection and air leakage device and absorptive robot with same Download PDFInfo
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- CN104644065A CN104644065A CN201310590021.9A CN201310590021A CN104644065A CN 104644065 A CN104644065 A CN 104644065A CN 201310590021 A CN201310590021 A CN 201310590021A CN 104644065 A CN104644065 A CN 104644065A
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- Prior art keywords
- pressure detecting
- hole
- releasing device
- air releasing
- sealing base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Abstract
The invention relates to a pressure detection and air leakage device and an absorptive robot with the same. The device comprises a pressure detection circuit board (1) and a seal base (2). A seal cavity (21) is formed in the seal base (2), the pressure detection circuit board (1) is in seal connection with the seal cavity, a pressure detection element (11) for detecting the air pressure in the seal cavity (21) is arranged on the pressure detection circuit board (1), a through hole (22) is formed in the surface of the seal base (2) and is communicated with the seal cavity (21), and an air leakage mechanism is arranged on the seal base (2) and reciprocates to enable the through hole (22) to be sealed or opened. The device and the absorptive robot have the advantages of being compact in structure, small in required space, low in cost and capable of achieving pressure detection and air leakage integrated control over the absorptive robot.
Description
Technical field
The present invention relates to a kind of pressure detecting and air releasing device and the absorption type robot with this device, belong to small household appliances manufacturing technology field.
Background technology
Existing pressure-detecting device principle be greatly seal chamber pressure detecting element being set directly at adsorbent equipment sealing surface on (as suction cup sealed face), thus record and need the pressure of seal chamber inside (i.e. so-called vacuum).And existing air releasing device mostly by needs vacuum cavity (as sucker) connect an air releasing device, the mode manually or automatically controlled makes seal chamber lose heart, to reach the effect of losing heart to cavity.
Generally, the cavity after vacuumizing loses heart relatively slow automatically, needs to install the air releasing device controlled manually or automatically, when to use above-mentioned stream oriented device simultaneously, has following shortcoming: part is many, does not concentrate, take up space.
Especially, for split type adsorbent equipment, the posterior sucker alternating sorbent scope of operation of its anterior sucker by front organism bottom or rear organism bottom is walked, and more needs an integrated device that can detect sucker vacuum simultaneously and lose heart to sucker.
Summary of the invention
Technical problem to be solved by this invention is, a kind of pressure detecting and air releasing device and the absorption type robot with this device is provided for the deficiencies in the prior art, this apparatus structure is compact, requisite space is less, cost is low, achieves and carries out pressure detecting and the control of one of losing heart to absorption type robot.
Technical problem to be solved by this invention is achieved by the following technical solution:
A kind of pressure detecting and air releasing device, comprise: pressure detection circuit plate and sealing base, seal chamber is provided with in sealing base, described pressure detection circuit plate and described seal chamber are tightly connected, pressure detection circuit plate is provided with the pressure detecting element for detecting sealing cavity internal gas pressure, and described sealing base surface is provided with through hole, and described through hole is communicated with seal chamber, described sealing base is provided with exhaust mechanism, and described exhaust mechanism moves back and forth and makes described through hole airtight or open.
Particularly, described exhaust mechanism comprises: lose heart linear electric motors and the diaphragm seal support pivotally connected with disappointing pedestal side, described diaphragm seal support is provided with the bleeding point corresponding with the through hole that described sealing base is arranged, and described disappointing linear electric motors are supported mutually with described diaphragm seal support.
Sealing ring is provided with between close interior envelope cavity in described pressure detection circuit plate and sealing base.
The quantity of described through hole is corresponding with seal chamber quantity, and the quantity of described pressure detecting element is corresponding with the quantity of described seal chamber.
Another embodiment, described sealing base surface is also provided with sucker connecting hole, and described sucker connecting hole is communicated with described seal chamber.
Particularly, described exhaust mechanism comprises: lose heart linear electric motors and diaphragm seal support, described diaphragm seal support is provided with the seal fixed by cover plate, and the setting position of described seal is corresponding with described through hole, and described disappointing linear electric motors are supported mutually with described diaphragm seal support or are connected.
The quantity of described through hole and sucker connecting hole is corresponding with the quantity of described seal chamber, and the quantity of described pressure detecting element is corresponding with the quantity of described seal chamber.
When the quantity of described seal chamber is a pair, above-mentioned diaphragm seal support comprises symmetrically arranged two support elements, and each support element is " L " type.
The present invention also provides a kind of absorption type robot, comprise: body, cleaning unit, driver element, adsorbent equipment and control unit, described control unit is connected with cleaning unit and driver element respectively, described body is provided with and comprises above-mentioned pressure detecting and air releasing device, described pressure detection circuit plate is connected with control unit, and described adsorbent equipment is connected with aspiration pump and sealing base.
The artificial split type absorption robot of described absorption type machine, described body comprises: front body, rear body and driven unit, and described front body is connected by driven unit with rear body, and described front body and/or rear body are provided with pressure detecting and air releasing device.
Described absorption type robot is integral type absorption robot, and described body also comprises: walking unit, and described control unit controls the walking of drive unit drives walking unit.
In sum, the invention provides a kind of pressure detecting and air releasing device and the absorption robot with this device, this apparatus structure is compact, and requisite space is less, and cost is low, achieves and carries out pressure detecting and the control of one of losing heart to robot.
Below in conjunction with the drawings and specific embodiments, technical scheme of the present invention is described in detail.
Accompanying drawing explanation
Figure 1A is the embodiment of the present invention one pressure detecting and air releasing device explosion type structural representation;
Figure 1B is the sealing base structural representation of the embodiment of the present invention one;
Fig. 2 is the embodiment of the present invention two pressure detecting and air releasing device explosion type structural representation;
Fig. 3 A is the embodiment of the present invention three pressure detecting and air releasing device structural representation;
Fig. 3 B is the embodiment of the present invention three pressure detecting and air releasing device internal structure schematic diagram;
Fig. 4 is the structural representation of the embodiment of the present invention four adsorption machine formula cleaner people;
Fig. 5 is the structural representation of the embodiment of the present invention five adsorption machine formula cleaner people;
Fig. 6 is the structural representation of the embodiment of the present invention six adsorption machine formula cleaner people;
Fig. 7 is the structural representation of the embodiment of the present invention seven adsorption machine formula cleaner people.
Detailed description of the invention
Embodiment one
Figure 1A is the embodiment of the present invention one pressure detecting and air releasing device explosion type structural representation, Figure 1B is the sealing base structural representation of the embodiment of the present invention one, as Figure 1A and with reference to shown in Figure 1B, the present embodiment provides a kind of pressure detecting and air releasing device, comprise: pressure detection circuit plate 1 and sealing base 2, seal chamber 21 is provided with in sealing base 2, described pressure detection circuit plate 1 is tightly connected with described seal chamber, pressure detection circuit plate 1 is provided with the pressure detecting element 11 for detecting sealing cavity 21 internal gas pressure, sealing ring 3 is provided with between close interior envelope cavity 21 in described pressure detection circuit plate 1 and sealing base 2, described sealing base 2 surface is provided with through hole 22, described through hole 22 is communicated with seal chamber 21, described sealing base 2 is provided with exhaust mechanism, described exhaust mechanism moves back and forth and makes described through hole 22 airtight or open, the quantity of described through hole 22 is corresponding with seal chamber 21 quantity, and the quantity of described pressure detecting element 11 is corresponding with the quantity of described seal chamber 21.
Described exhaust mechanism comprises: lose heart linear electric motors 4 and diaphragm seal support 5, the side being connected to through hole 22 of diaphragm seal support 5 pivot, described diaphragm seal support 5 is provided with the bleeding point 51 corresponding with the through hole 22 that described sealing base 2 is arranged, also be provided with motor in described sealing base 2 and place through hole 23, described disappointing linear electric motors 4 are placed through hole 23 by this motor and are supported mutually with described diaphragm seal support 5.In order to ensure sealing when bleeding point 51 is connected with through hole 22, the inwall of bleeding point 51 is also provided with sealing ring 6.
Operation principle:
When disappointing linear electric motors 4 cut out, seal chamber 21 is connected with bleeding point 51 by through hole 22, namely through hole 22 is sealed by bleeding point 51, bleeding point 51 connects aspiration pump and bleeds to seal chamber 21, is now arranged in the pressure detecting element 11 pairs of seal chambers on pressure detection circuit plate 1 and carries out pressure detecting; When detection is complete, aspiration pump cuts out, when the linear electric motors 4 that lose heart bring into operation, described disappointing linear electric motors 4 stretch out with diaphragm seal support 5 phase support end, one end of diaphragm seal support 5 is separated with sealing base 2, and now seal chamber 21 is communicated with air by through hole 22, reaches disappointing effect.
Embodiment two
Fig. 2 is the embodiment of the present invention two pressure detecting and air releasing device explosion type structural representation, as shown in Figure 2, the device of the present embodiment and the substantially identical of embodiment one, difference is, described sealing base 2 surface is also provided with sucker connecting hole 24, and described sucker connecting hole 24 is communicated with described seal chamber.
The quantity of described through hole 22 and sucker connecting hole 24 is corresponding with the quantity of described seal chamber, and the quantity of described pressure detecting element 11 is corresponding with the quantity of described seal chamber.
In addition, exhaust mechanism in the present embodiment comprises: lose heart linear electric motors 4 and diaphragm seal support 5, described diaphragm seal support 5 is provided with the seal 53 fixed by cover plate 52, the setting position of described seal 53 is corresponding with described through hole 22, also be provided with motor in described sealing base 2 and place through hole 23, described disappointing linear electric motors 4 are placed through hole 23 by this motor and are supported mutually with described diaphragm seal support 5.
Operation principle:
Sucker connecting hole 24 is connected with air extractor, this air extractor is aspiration pump, when aspiration pump is opened, after bleeding to seal chamber, pressure detecting element 11 pairs of seal chambers carry out pressure detecting, detect complete, aspiration pump cuts out, when the linear electric motors 4 that lose heart bring into operation, described disappointing linear electric motors 4 stretch out with diaphragm seal support 5 phase support end, diaphragm seal support 5 one end is separated with sealing base 2, and now seal chamber is communicated with air by through hole 22, reaches disappointing effect.
In the above two embodiments, described diaphragm seal support 5 comprises symmetrically arranged two support elements, and each support element is " L " type.
Embodiment three
Fig. 3 A is the embodiment of the present invention three pressure detecting and air releasing device structural representation, Fig. 3 B is the embodiment of the present invention three pressure detecting and air releasing device internal structure schematic diagram, as Fig. 3 A and with reference to shown in figure 3B, pressure detecting of the present invention and air releasing device, comprise sealing base 2, form seal chamber in sealing base 2, sealing base 2 is provided with pressure detection circuit plate 1, pressure detection circuit plate 1 is provided with pressure detecting element 11 and is used for detecting the pressure in seal chamber; Seal chamber is connected with the bleeder port 22 ' be positioned on sealing base 2 and sucker connector 24 '.
Sealing base 2 is provided with disappointing linear electric motors 4, the linear electric motors 4 that lose heart connect seal chamber, these disappointing linear electric motors 4 comprise: base (not shown), be arranged on the coil brace 42 on base, on coil brace, 42 are wound with the coil (not shown) that can be energized, the iron core 43 and armature 44 that abut against is provided with successively in coil brace 42, back-moving spring 45 is provided with between iron core 43 and armature 44, upper cover fixed connection and sealing part 46 is passed, the salable bleeder port 22 ' of the seal 46 in the top of armature 44.
Its operation principle is as follows: produce magnetic field during energising in coil brace 42 and make iron core 43 produce magnetic, adsorbed by armature 44, and because armature 44 and seal 46 are fixed, be pulled outwardly by seal 46, bleeder port 44 ' is opened; During power-off, under the effect of back-moving spring 45, seal 46 is pushed up back closed bleeder port 44 '.
Embodiment four
Fig. 4 is the structural representation of the embodiment of the present invention four adsorption machine formula cleaner people, as shown in Figure 4, the present embodiment provides a kind of absorption type clean robot, comprise: body 31, cleaning unit (not shown), driver element (not shown), adsorbent equipment, pressure detecting in embodiment one or embodiment two and air releasing device 33 and control unit (not shown), described control unit driver element connects, organism bottom is provided with cleaning unit (accompanying drawing does not indicate) described body 31 and comprises: front body 311, rear body 312 and driven unit 313, feed screw nut pair can be adopted, described front body 311 is connected by driven unit 313 with rear body 312, adsorbent equipment 321 and rear adsorbent equipment 322 before described front body 311 and rear body 312 are respectively equipped with, described front body 313 is provided with pressure detecting and air releasing device 33, described pressure detecting is connected with control unit with the pressure detection circuit plate in air releasing device 33, described front adsorbent equipment 321 is connected with the seal chamber of aspiration pump (accompanying drawing does not indicate) and sealing base.Described adsorbent equipment can be sucker.
Operation principle:
Please refer to shown in Figure 1A and Figure 1B, if pressure detecting and air releasing device are pressure detecting in embodiment one and air releasing device, so adsorbent equipment is connected with the bleeding point 51 in the sealed support 5 in aspiration pump and sealing base 2.
When aspiration pump runs and bleeds to seal chamber 21, the linear electric motors 4 that lose heart are the first operating position, now pressure detecting element 11 detects the force value in seal chamber 21, that is detect the force value in adsorbent equipment simultaneously, and this force value is sent to as pressure value signal is too small in control unit, then can judge that adsorbent equipment leaks gas.When disappointing linear electric motors 4 run to the second operating position, described disappointing linear electric motors 4 stretch out with diaphragm seal support 5 phase support end, the one end making diaphragm seal support 5 be provided with bleeding point 51 is separated with sealing base 2, now seal chamber 21 is communicated with air by through hole 22, reaches the effect of losing heart to adsorbent equipment 321.
Please refer to Fig. 2, if pressure detecting and air releasing device are pressure detecting in embodiment two and air releasing device, sucker connecting hole 24 is connected with air extractor and adsorbent equipment 321, this air extractor is aspiration pump, when aspiration pump is opened, bleed to adsorbent equipment 321 and seal chamber 221, pressure detecting element 211 can carry out air pressure detection to seal chamber 211 in real time; Detect complete, aspiration pump can cut out, when the linear electric motors 4 that lose heart bring into operation, described disappointing linear electric motors 4 stretch out with diaphragm seal support 5 phase support end, the diaphragm seal 53 of diaphragm seal support 5 is separated with the through hole 22 on sealing base 2, now seal chamber is communicated with air by through hole 22, reaches the effect of losing heart to adsorbent equipment 321.
Embodiment five
Fig. 5 is the structural representation of the embodiment of the present invention five adsorption machine formula cleaner people, as shown in Figure 5, absorption type robot in the present embodiment and the structure in embodiment four basically identical, difference is, pressure detecting and air releasing device 33 are arranged in the rear on body 312.The absorption type robot operation principle of the present embodiment and consistent in embodiment four, do not repeat them here.
Embodiment six
Fig. 6 is the structural representation of the embodiment of the present invention six absorption type robot, as shown in Figure 6, structure in absorption type robot in embodiment and embodiment four and embodiment five is basically identical, difference is, consistent before described front body 312 with rear body 312 are respectively equipped with in the absorption type robot operation principle of pressure detecting and air releasing device 33 and rear pressure detecting and air releasing device 33 the present embodiment and embodiment four, does not repeat them here.
Embodiment seven
Fig. 7 is the structural representation of the embodiment of the present invention seven adsorption machine formula cleaner people, as shown in Figure 7, the present embodiment provides a kind of monomer absorption type robot, comprise: the pressure detecting in body 31, cleaning unit (not shown), driver element (not shown), adsorbent equipment 32, embodiment one or embodiment two and air releasing device 33, control unit (not shown) and unit 34 of walking, described control unit is connected with cleaning unit and driver element respectively, and described control unit controls drive unit drives walking unit 34 and walks.Body 31 is provided with adsorbent equipment 32, and described pressure detecting is connected with control unit with the pressure detection circuit plate in air releasing device 33, and described front adsorbent equipment 32 is connected with sealing base by aspiration pump.Described adsorbent equipment 32 is sucker.
The absorption type robot operation principle of the present embodiment and consistent in embodiment four, do not repeat them here.
In sum, the invention provides a kind of pressure detecting and air releasing device and the absorption robot with this device, this apparatus structure is compact, and requisite space is less, and cost is low, achieves and carries out pressure detecting and the control of one of losing heart to robot.
Claims (10)
1. a pressure detecting and air releasing device, it is characterized in that, comprise: pressure detection circuit plate (1) and sealing base (2), seal chamber (21) is provided with in sealing base (2), described pressure detection circuit plate (1) and described seal chamber are tightly connected, pressure detection circuit plate (1) is provided with the pressure detecting element (11) for detecting sealing cavity (21) internal gas pressure, described sealing base (2) surface is provided with through hole (22), described through hole (22) is communicated with seal chamber (21), described sealing base (2) is provided with exhaust mechanism, described exhaust mechanism moves back and forth and makes described through hole (22) airtight or open.
2. pressure detecting as claimed in claim 1 and air releasing device, it is characterized in that, described exhaust mechanism comprises: lose heart linear electric motors (4) and the diaphragm seal support (5) pivotally connected with disappointing pedestal side, described diaphragm seal support (5) is provided with the bleeding point (51) corresponding with the through hole (22) that described sealing base (2) is arranged, and described disappointing linear electric motors are supported mutually with described diaphragm seal support (5).
3. pressure detecting as claimed in claim 2 and air releasing device, is characterized in that, be provided with sealing ring (3) between the close interior envelope cavity (21) in described pressure detection circuit plate (1) and sealing base (2).
4. pressure detecting as claimed in claim 3 and air releasing device, it is characterized in that, the quantity of described through hole (22) is corresponding with seal chamber (21) quantity, and the quantity of described pressure detecting element (11) is corresponding with the quantity of described seal chamber (21).
5. pressure detecting as claimed in claim 1 and air releasing device, it is characterized in that, described sealing base (2) surface is also provided with sucker connecting hole (24), and described sucker connecting hole (24) is communicated with described seal chamber (21).
6. pressure detecting as claimed in claim 5 and air releasing device, it is characterized in that, described exhaust mechanism comprises: lose heart linear electric motors (4) and diaphragm seal support (5), described diaphragm seal support (5) is provided with seal (53), the setting position of described seal (53) is corresponding with described through hole (22), and described disappointing linear electric motors (4) are supported mutually with described diaphragm seal support (5) or are connected.
7. pressure detecting as claimed in claim 6 and air releasing device, it is characterized in that, the quantity of described through hole (22) and sucker connecting hole (24) is corresponding with the quantity of described seal chamber (21), and the quantity of described pressure detecting element (11) is corresponding with the quantity of described seal chamber (21).
8. an absorption type robot, comprise: body (31), cleaning unit, driver element, adsorbent equipment and control unit, described control unit is connected with cleaning unit and driver element respectively, it is characterized in that, described body is provided with the pressure detecting comprised as described in any one of claim 1-8 and air releasing device (33), described pressure detection circuit plate is connected with control unit, and described adsorbent equipment is connected with aspiration pump and sealing base.
9. absorption type robot as claimed in claim 8, it is characterized in that, the artificial split type absorption robot of described absorption type machine, described body (31) comprising: front body (311), rear body (312) and driven unit (313), described front body (311) is connected by driven unit (313) with rear body (312), and described front body (311) and/or rear body (312) are provided with pressure detecting and air releasing device (33).
10. absorption type robot as claimed in claim 8, it is characterized in that, described absorption type robot is integral type absorption robot, and described body (31) also comprises: walking unit (34), and described control unit controls drive unit drives walking unit (34) walking.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310590021.9A CN104644065B (en) | 2013-11-20 | 2013-11-20 | Pressure detecting and air releasing device and the absorption type robot with the device |
| PCT/CN2014/091591 WO2015074556A1 (en) | 2013-11-20 | 2014-11-19 | Pressure detection and release apparatus and adsorption robot provided with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310590021.9A CN104644065B (en) | 2013-11-20 | 2013-11-20 | Pressure detecting and air releasing device and the absorption type robot with the device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104644065A true CN104644065A (en) | 2015-05-27 |
| CN104644065B CN104644065B (en) | 2017-09-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310590021.9A Active CN104644065B (en) | 2013-11-20 | 2013-11-20 | Pressure detecting and air releasing device and the absorption type robot with the device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN104644065B (en) |
| WO (1) | WO2015074556A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023174103A1 (en) * | 2022-03-16 | 2023-09-21 | 北京赫特智慧科技有限公司 | Cleaning apparatus |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109394075B (en) * | 2018-12-17 | 2023-05-26 | 南京林业大学 | Full-automatic sofa maintenance robot |
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| EP0391340A1 (en) * | 1989-04-05 | 1990-10-10 | KUKA Schweissanlagen GmbH | Method and device for cleaning of vehicle parts, especially vehicle windows |
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| US4797969A (en) * | 1987-01-09 | 1989-01-17 | Caduff Edward A | Building exterior cleaning apparatus |
| JPS6436586A (en) * | 1987-07-31 | 1989-02-07 | Yokohama Rubber Co Ltd | Wall surface walking machine |
| CN201790749U (en) * | 2010-08-30 | 2011-04-13 | 山东科技大学 | Cleaning robot for cleaning glass curtain |
| CN202194802U (en) * | 2011-06-23 | 2012-04-18 | 宁波布拉沃冲气具制造有限公司 | Intelligent air charging and discharging device |
| CN103110396A (en) * | 2013-03-12 | 2013-05-22 | 贵州大学 | Automatic cleaning machine for high-rise buildings |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0325424A2 (en) * | 1988-01-18 | 1989-07-26 | Yachiyo Micro Science Inc | Aeroplane window polishing device |
| EP0391340A1 (en) * | 1989-04-05 | 1990-10-10 | KUKA Schweissanlagen GmbH | Method and device for cleaning of vehicle parts, especially vehicle windows |
| CN2603385Y (en) * | 2003-03-05 | 2004-02-11 | 青岛基珀密封工业有限公司 | Detection instrument for airtightness of joint of seal piece |
| CN201665256U (en) * | 2010-01-08 | 2010-12-08 | 李国志 | Self-climbing type multi-functional wall robot |
| CN201641889U (en) * | 2010-04-16 | 2010-11-24 | 东南大学 | Wall cleaning robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2023174103A1 (en) * | 2022-03-16 | 2023-09-21 | 北京赫特智慧科技有限公司 | Cleaning apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104644065B (en) | 2017-09-19 |
| WO2015074556A1 (en) | 2015-05-28 |
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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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