CN104921652A - Automatic movement device with clamping mechanism - Google Patents
Automatic movement device with clamping mechanism Download PDFInfo
- Publication number
- CN104921652A CN104921652A CN201410098433.5A CN201410098433A CN104921652A CN 104921652 A CN104921652 A CN 104921652A CN 201410098433 A CN201410098433 A CN 201410098433A CN 104921652 A CN104921652 A CN 104921652A
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- CN
- China
- Prior art keywords
- matrix
- snap fastener
- housing
- self
- moving device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 239000011159 matrix material Substances 0.000 claims description 79
- 239000003463 adsorbent Substances 0.000 claims description 6
- 241000219098 Parthenocissus Species 0.000 claims description 3
- 239000000758 substrate Substances 0.000 abstract 6
- 238000010586 diagram Methods 0.000 description 11
- 230000000694 effects Effects 0.000 description 7
- 239000000203 mixture Substances 0.000 description 5
- 238000004140 cleaning Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
Classifications
-
- 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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an automatic movement device with a clamping mechanism. The device comprises a substrate (100) and an outer frame (200), wherein the substrate is arranged on the outer frame in a rotary manner; the clamping mechanism (A) is arranged between the substrate and the outer frame, and is used for fixedly clamping the substrate and the outer frame or separating the substrate from the outer frame. The automatic movement device is simple and diversified in structure, and relative rotation of the substrate and the outer frame can be effectively ensured, and the automatic movement device can be accurately positioned and clamped after rotation to ensure that the advancing direction of the automatic movement device is always perpendicular to the corresponding edge of the outer frame of the automatic movement device.
Description
Technical field
The present invention relates to a kind of self-moving device with snap fastener, belong to family expenses small electric apparatus manufacturing technology field.
Background technology
Self-moving device is as simple to operate with it in window wiping robot, motion is flexible, is used more and more widely, also makes this work of wiping window become more and more easier simultaneously.How making it implement more efficiently to wipe window action, become the developing direction of self-moving device, under normal circumstances, if self-moving device is when running to window edge, if can directly rotate in original place, obviously greatly can improve the wiping window efficiency of robot.The body of self-moving device generally includes matrix and housing two parts, and the rotation of robot rotates realization by matrix on housing.Conveniently the original place of self-moving device rotates, and after turning, can also locate between the matrix of robot and housing according to desired location simultaneously, just needs to realize above-mentioned functions by a kind of snap fastener.
Summary of the invention
Technical problem to be solved by this invention is for the deficiencies in the prior art, a kind of self-moving device with snap fastener is provided, structure of the present invention is simply various, but the relative rotation of matrix and housing can effectively be ensured, can accurately locate after rotating simultaneously and block, guarantee that the direction of advance of self-moving device is vertical with the housing corresponding sides of self-moving device all the time.
Technical problem to be solved of the present invention is achieved by the following technical solution:
With a self-moving device for snap fastener, comprise matrix and housing, described matrix is rotatable to be arranged on housing, is provided with snap fastener between described matrix and housing, for both being fixed together or making both be separated from each other.
Described snap fastener can be realized by various structures, in embodiment one, snap fastener is mechanical type snap fastener, comprise removable fixing steady pin on the matrix, one end of described steady pin is fixing on the matrix, and the other end is plunger, on described housing, correspondence offers cotter way, enable plunger be fixed in described cotter way, described steady pin is arranged with spring, and described spring is located between matrix and plunger.
Conveniently connect, one end of described steady pin is on the matrix spacing by screw.
In embodiment two, described snap fastener is electric machine controlled snap fastener, comprise removable fixing latch on the matrix, the cotter way on described housing is arranged on correspondence, motor is connected with cam and drives it to rotate, described latch is arranged with spring, and described latch is provided with stop part, and described spring is located between matrix and stop part.
Conveniently connect, described latch is fixing on the matrix by latch holder.
In embodiment three, described snap fastener is magnet control formula snap fastener, comprises fixing electromagnet on the matrix, removablely on described electromagnet is provided with latch, and on described housing, correspondence is provided with cotter way.
When snap fastener is in clamped position matrix and housing are fixed, the direction of advance of described self-moving device is vertical with the corresponding sides of housing.
Conveniently self-moving device walking, described matrix is provided with walking mechanism, and described walking mechanism is be arranged on driving wheel on matrix or creeper undercarriage.
Described matrix is provided with adsorbent equipment, described adsorbent equipment comprises sucker, wireway and vavuum pump, under the control of described control device, described vavuum pump is connected with sucker by wireway, and described sucker is found time form negative pressure, self-movement robot is adsorbed on and treats on operation surface.
Conveniently rotate, the periphery of described housing is square.
In sum, structure of the present invention is simply various, but effectively can ensure matrix and the relative rotation of housing, accurately can locate simultaneously and block, guarantee that robot direction of advance is vertical with machine housing corresponding sides all the time after rotating.
Below in conjunction with the drawings and specific embodiments, technical scheme of the present invention is described in detail.
Accompanying drawing explanation
Fig. 1 and Fig. 2 is respectively the connection status schematic diagram of the embodiment of the present invention one mechanical type snap fastener under robot ambulation state and rotary state;
Fig. 3, Fig. 4 and Fig. 5 are respectively the connection status schematic diagram of the embodiment of the present invention two electric machine controlled snap fastener under robot ambulation state and rotary state;
Fig. 6, Fig. 7 and Fig. 8 are respectively the connection status schematic diagram of the embodiment of the present invention three magnet control formula snap fastener under robot ambulation state and rotary state;
Fig. 9 and Figure 10 is respectively the overall structure schematic diagram of self-moving device of the present invention;
Figure 11 is self-moving device walking states schematic diagram of the present invention.
Detailed description of the invention
Embodiment one
Mechanical type snap fastener
Fig. 1 and Fig. 2 is respectively the connection status schematic diagram of the embodiment of the present invention one snap fastener under robot ambulation state and rotary state.As Fig. 1 and shown in composition graphs 2, the present embodiment provides a kind of mechanical type snap fastener, is mainly used in the self-moving device of rotatable walking, relatively between matrix 100 with housing 200 engage for making and be separated.As shown in Figure 1, this mechanical type snap fastener specifically comprises the steady pin 300 be arranged on matrix 100, and one end of steady pin 300 is fixed on matrix 100, and the other end is free end, forms plunger 310, offers pin-and-hole 210 at the correspondence position of housing 200.Be provided with spring 400 in the outer cover of steady pin 300, the two ends of this spring 400 are supported respectively on matrix 100 and plunger 310.Steady pin 300 can also be spacing on matrix 100 by trip bolt 500.When self-moving device is in rectilinear motion state, when needing to be fixed to one another between matrix 100 and housing 200, under the elastic force effect of spring 400, plunger 310 is inserted in pin-and-hole 210.As shown in Figure 2, when self-moving device needs to rotate, extraneous applying one is greater than the external force of spring 400 elastic force, and spring 400 is shunk automatically, plunger 310 on matrix 100 is lifted in the pin-and-hole 210 of housing 200, mutually departs from and can relatively rotate between matrix 100 and housing 200.In other words, as Fig. 1 and shown in composition graphs 2, plunger 310 is fixedly mounted on matrix 100, spring 400 is installed between plunger 310 and matrix 100, housing 200 has pin-and-hole 210 in the position of correspondence, and when robot is at normal transport condition, plunger 310 is pushed down in pin-and-hole 210 in the effect of spring 400 elastic force, blocking housing prevents it from rocking, and ensures that the limit of housing is vertical with the direction of machine travel simultaneously.When robot proceeds to window corner, the side of housing 200 is then against in window jamb and can not rotates, and the matrix 100 of robot relatively rotates under the effect being arranged on the drive wheel power bottom it and between housing 200.When the power of rotating is greater than the elastic force of spring, plunger 310 is lifted from pin-and-hole 210; When matrix 100 turns to desired location, driving wheel no longer applies the power rotated, plunger 310 is again pressed in the pin-and-hole 210 of housing 200 correspondence under the effect of spring restoring force, blocks housing 200, thus ensures that the limit that the direction of travel of robot is corresponding with housing is mutually vertical.
Described matrix is rotatable to be arranged on housing, and when snap fastener is in clamped position matrix and housing are fixed, the direction of advance of described self-moving device is vertical with the corresponding sides of housing.Conveniently self-moving device walking, described matrix is provided with walking mechanism, and described walking mechanism is be arranged on driving wheel on matrix or creeper undercarriage.Described matrix can also be provided with adsorbent equipment, described adsorbent equipment comprises sucker, wireway and vavuum pump, under the control of described control device, described vavuum pump is connected with sucker by wireway, and described sucker is found time form negative pressure, self-movement robot is adsorbed on and treats on operation surface.The periphery of described housing is square.
To sum up, the mechanical type snap fastener that the present embodiment provides, effectively can ensure matrix and the relative rotation of housing, can accurately block location after rotating simultaneously.
Embodiment two
Electric machine controlled snap fastener
Fig. 3, Fig. 4 and Fig. 5 are respectively the connection status schematic diagram of the embodiment of the present invention two electric machine controlled snap fastener under robot ambulation state and rotary state.Shown in composition graphs 5, a kind of electric machine controlled snap fastener in the present embodiment, is provided as Fig. 3, Fig. 4.This electric machine controlled snap fastener also can be mainly used in the self-moving device of rotatable walking, as shown in Figure 3, relatively rotating conveniently between matrix 100 and housing 200, electric machine controlled snap fastener in the present embodiment relies on cam 600, and spring 400 realize the inserting in the pin-and-hole 210 of housing 200 of the latch 700 on matrix 100 lower with lift, facilitate matrix 100 and housing 200 relatively rotating and fixing.Specifically, conveniently fix, latch 700 is fixed on matrix 100 by latch holder 720, latch 700 matrix is arranged with spring 400, and latch is provided with stop part 710, and spring is located between matrix 100 and stop part 710.Install cam 600 above latch 700, cam 600 is controlled by motor 800, and housing 200 is provided with pin-and-hole 210 in the position of correspondence.When robot is at normal transport condition, cam 600 turns to below and is pressed in pin-and-hole 210 by latch 700, blocks housing 200 and prevents it from rocking, ensure that the limit of housing is vertical with the direction of machine travel simultaneously.As Fig. 4 and shown in composition graphs 5, when robot proceeds to window corner, the side of housing 200 is then against in window jamb and can not rotates.At this moment cam 600 lifts, and latch 700 lifts under the effect of spring 400 restoring force from pin-and-hole 210, and the matrix 100 of robot relatively rotates with housing 200 under the driving force effect of driving wheel.When matrix 100 turns to desired location, driving wheel no longer applies the power rotated, cam 600 is rotated down and is pressed in pin-and-hole 210 corresponding on housing 200 by latch 700, blocks housing 200, thus ensures that the limit that the direction of travel of robot is corresponding with housing is vertical.
To sum up, the electric machine controlled snap fastener that the present embodiment provides effectively can ensure matrix and the relative rotation of housing, accurately can locate simultaneously and block, guarantee that robot direction of advance is vertical with machine housing corresponding sides all the time after rotating.
Embodiment three
Magnet control formula snap fastener
Fig. 6, Fig. 7 and Fig. 8 are respectively the connection status schematic diagram of the embodiment of the present invention three magnet control formula snap fastener under robot ambulation state and rotary state.As shown in Fig. 6, Fig. 7 and Fig. 8, the present embodiment provides a kind of magnet control formula snap fastener, the self-moving device of rotatable walking can be mainly used in equally, realize relatively rotating between matrix 100 and housing 200, rely on the characteristic of electromagnet, realize the inserting lower and lifting in the pin-and-hole 210 of housing 200 of the latch 700 on electromagnet, facilitate relatively rotating and fixing between matrix 100 and housing 200.Specifically, there is a latch 700 electromagnet 900 inside, controls stretching out and withdrawal of latch 700 by circuit.Electromagnet 900 is arranged on matrix 100, and housing 200 offers pin-and-hole 210 in the position of correspondence.As shown in Figure 6, when robot is at normal transport condition, electromagnet 900 works and to be stretched out by latch 700 in press-in pin-and-hole 210, blocks housing 200 and prevents it from shaking, and ensures that the side of housing 200 is vertical with robot direction of advance simultaneously.As Fig. 7 and shown in composition graphs 8, when robot proceeds to window corner, the side of housing 200 is then against in window jamb and can not rotates, at this moment electromagnet 900 receives signal again, latch 700 is lifted from pin-and-hole 210, the matrix 100 of robot relatively rotates with housing 200 under the driving force effect of driving wheel, when matrix 100 turns to desired location, driving wheel no longer applies the power rotated, latch 700 stretches out and to be pressed on housing 200 in corresponding pin-and-hole 210 by electromagnet 900 again Received signal strength, block housing 200, ensure that the limit that the direction of travel of robot is corresponding with housing is vertical.
To sum up, the present embodiment provides a kind of magnet control formula snap fastener, effectively can ensure matrix and the relative rotation of housing, accurately can locate simultaneously and block, guarantee that robot direction of advance is vertical with machine housing corresponding sides all the time after rotating.
Fig. 9 and Figure 10 is respectively the overall structure schematic diagram of self-moving device of the present invention.As shown in Figure 9 and Figure 10, the snap fastener A that the present invention provides in above-mentioned three embodiments, is mainly used in the self-moving device B of rotatable walking.This self-moving device B mainly comprises housing 200 and matrix 100, and wherein matrix 100 can relatively rotate with housing 200, as shown in Figure 10, can block location each other between the two by snap fastener A, or matrix 100 rotates in housing 200.
Figure 11 is self-moving device walking states schematic diagram of the present invention.As shown in figure 11, self-moving device B is in the glass surface work with frame M, N, and original position is positioned at X place, now, this self-moving device B does rectilinear motion along frame M, and mutually engaged by snap fastener A between matrix 100 and housing 200, both do rectilinear motion together.When this self-moving device B moves to the window corner Y formed by frame M and N, matrix 100 needs to turn under the driving force of driving wheel 1000, now snap fastener A opens, relatively rotate between matrix 100 and housing 200, when turning to desired location, snap fastener A is again by matrix 100 and housing 200 snap lock, and both continuation do rectilinear motion along frame N together, the Z position namely in diagram.
In sum, structure of the present invention is simply various, but the relative rotation of matrix and housing can effectively be ensured, can accurately locate after rotating simultaneously and block, when snap fastener is in clamped position matrix and housing are fixed, the direction of advance of described self-moving device is vertical with the corresponding sides of housing.That is, when self-moving device is normally walked, matrix engages with housing, prevents outer frame inclining or rocks; And engaging time, by the direction of advance of self-moving device and the corresponding sides of housing vertical, when making self-moving device encounter corner, the housing energy very first time props up glass frame, facilitates matrix phase to rotate housing.In addition, it should be noted that, self-moving device of the present invention is not limited in window wiping robot, can also be robot for cleaning wall surfaces, robot for cleaning floor etc., concrete, self-moving device also by its adsorption device adsorbs in various surface to be cleaned, as metope, inclined plane etc., thus carry out cleaning.
Claims (10)
1. the self-moving device with snap fastener, comprise matrix (100) and housing (200), described matrix is rotatable to be arranged on housing, it is characterized in that, snap fastener (A) is provided with, for both being fixed together or making both be separated from each other between described matrix and housing.
2. as claimed in claim 1 with the self-moving device of snap fastener, it is characterized in that, described snap fastener is mechanical type snap fastener, comprise the removable steady pin (300) be fixed on described matrix (100), one end of described steady pin is fixing on the matrix, the other end is plunger (310), the upper correspondence of described housing (200) offers cotter way (210), plunger is enable to be fixed in described cotter way, described steady pin is arranged with spring (400), described spring is located between matrix and plunger.
3. as claimed in claim 2 with the self-moving device of snap fastener, it is characterized in that, one end of described steady pin (300) is spacing on described matrix (100) by screw (500).
4. as claimed in claim 1 with the self-moving device of snap fastener, it is characterized in that, described snap fastener is electric machine controlled snap fastener, comprise removable latch (700) on described matrix (100) and the correspondence of being fixed on and be arranged on cotter way (210) on described housing (200), motor (800) is connected with cam (600) and drives it to rotate, described latch is arranged with spring (400), described latch is provided with stop part (710), and described spring is located between matrix and stop part.
5., as claimed in claim 4 with the self-moving device of snap fastener, it is characterized in that, described latch (700) is fixed on described matrix (100) by latch holder (720).
6. as claimed in claim 1 with the self-moving device of snap fastener, it is characterized in that, described snap fastener is magnet control formula snap fastener, comprise the electromagnet (900) be fixed on described matrix (100), removablely on described electromagnet be provided with latch (700), the upper correspondence of described housing (200) is provided with cotter way (210).
7., as claimed in claim 1 with the self-moving device of snap fastener, it is characterized in that, when snap fastener is in clamped position matrix and housing are fixed, the direction of advance of described self-moving device is vertical with the corresponding sides of housing (200).
8. as claimed in claim 1 with the self-moving device of snap fastener, it is characterized in that, described matrix (100) is provided with walking mechanism, and described walking mechanism is be arranged on driving wheel on matrix or creeper undercarriage.
9. as claimed in claim 8 with the self-moving device of snap fastener, it is characterized in that, described matrix (100) is provided with adsorbent equipment, described adsorbent equipment comprises sucker, wireway and vavuum pump, under the control of described control device, described vavuum pump is connected with sucker by wireway, and is found time by described sucker to form negative pressure, self-movement robot is adsorbed on and treats on operation surface.
10., as claimed in claim 1 with the self-moving device of snap fastener, it is characterized in that, the periphery of described housing (200) is square.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410098433.5A CN104921652A (en) | 2014-03-17 | 2014-03-17 | Automatic movement device with clamping mechanism |
| PCT/CN2015/074392 WO2015139616A1 (en) | 2014-03-17 | 2015-03-17 | Self-moving device provided with a fastening mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410098433.5A CN104921652A (en) | 2014-03-17 | 2014-03-17 | Automatic movement device with clamping mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104921652A true CN104921652A (en) | 2015-09-23 |
Family
ID=54109348
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410098433.5A Pending CN104921652A (en) | 2014-03-17 | 2014-03-17 | Automatic movement device with clamping mechanism |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN104921652A (en) |
| WO (1) | WO2015139616A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107725913A (en) * | 2017-11-14 | 2018-02-23 | 张家港市华鸿金属制品有限公司 | A kind of rubber tube wire binding apparatus |
| CN110403532A (en) * | 2019-08-06 | 2019-11-05 | 内蒙古工业大学 | Mother-in-law household intelligent cleaning robot |
| CN111649777A (en) * | 2020-07-14 | 2020-09-11 | 广州科语机器人有限公司 | A drop bar detection device and window cleaning machine |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112774330B (en) * | 2020-12-30 | 2022-07-29 | 寿县玉兰春酒业有限公司 | Vinasse waste gas treatment device and treatment method for winery |
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| CN201865442U (en) * | 2010-11-18 | 2011-06-15 | 广州智嘉通讯科技有限公司 | Electrically controlled bolt lock |
| CN102973200A (en) * | 2011-09-02 | 2013-03-20 | 泰怡凯电器(苏州)有限公司 | Window cleaning device and barrier avoiding method |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2015139616A1 (en) | 2015-09-24 |
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Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant before: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. |
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Effective date of registration: 20160907 Address after: Wuzhong District Wuzhong Economic Development Zone Suzhou city Jiangsu province 215104 the River Street Youxiang Road No. 18 building 7 Applicant after: ECOVACS HOME ROBOT (SUZHOU) Co.,Ltd. Address before: Wuzhong District, Jiangsu Province, China, 108 West Lake stone road, No. Applicant before: ECOVACS ROBOTICS Co.,Ltd. |
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Application publication date: 20150923 |