CN108903821A - It is capable of the soft robot of removing dust and clearing ash - Google Patents
It is capable of the soft robot of removing dust and clearing ash Download PDFInfo
- Publication number
- CN108903821A CN108903821A CN201810860747.2A CN201810860747A CN108903821A CN 108903821 A CN108903821 A CN 108903821A CN 201810860747 A CN201810860747 A CN 201810860747A CN 108903821 A CN108903821 A CN 108903821A
- Authority
- CN
- China
- Prior art keywords
- cavity
- air
- blower
- substrate
- swing arm
- 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.)
- Granted
Links
- 239000000428 dust Substances 0.000 title claims abstract description 32
- 239000000758 substrate Substances 0.000 claims abstract description 31
- 238000005452 bending Methods 0.000 claims abstract description 6
- 230000002452 interceptive Effects 0.000 abstract 1
- 239000000463 material Substances 0.000 description 12
- 206010044565 Tremor Diseases 0.000 description 6
- 238000004140 cleaning Methods 0.000 description 5
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 229920001971 elastomer Polymers 0.000 description 2
- 238000003912 environmental pollution Methods 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 238000003786 synthesis reaction Methods 0.000 description 2
- 230000002194 synthesizing Effects 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 241000270295 Serpentes Species 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000002035 prolonged Effects 0.000 description 1
- 229920002379 silicone rubber Polymers 0.000 description 1
- 239000000243 solution Substances 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
Abstract
The invention discloses the soft robots for capableing of removing dust and clearing ash, including：At least one substrate, the substrate are flexible piece, and the first cavity is equipped with inside the substrate, and first inside cavity extends the substrate and extend along air motion direction filled with air；A plurality of swing arms, a plurality of swing arms can be realized bending and/or be extended by the stream pressure difference, can be worked independently, not interfere with each other between each swing arm；At least one main air blower, the main air blower are arranged between adjacent wantonly two swing arm, and described main air blower one end is connected with disposal box, can collect dust；The freedom degree of each swing arm is very high, can individually non-interfering swing, realize that the deashing dedusting of different zones, flexibility are higher.
Description
Technical field
The present invention relates to soft robots, more particularly to are capable of the soft robot of removing dust and clearing ash.
Background technique
Soft robot is a kind of Flexiable robot, can only be driven with air, scientist's current research it is soft
Body robot is made of can be bent, reverse and pick up more than 100 times of own wt of object, software using papery and silicon rubber
The design inspiration of robot is to imitate internal structure or shape framework of insect of the mankind etc..
Some is not provided with multiple blowers, cannot be cooperated by main air blower and the second blower, third blower, together
When swing arm free end there is no movable brush that dust gathers together, be easy to cause cleaning it is unclean, cannot by soft robot into
Row replaces work, and some swing arms cannot be realized bending or be extended by stream pressure difference, cannot independent work between each swing arm
Make, efficiency of dust collection is poor.
Summary of the invention
The present invention overcomes the deficiencies in the prior art, the soft robot for capableing of removing dust and clearing ash is provided.
In order to achieve the above objectives, the technical solution adopted by the present invention is：It is capable of the soft robot of removing dust and clearing ash, including：
At least one substrate, the substrate are flexible piece, are equipped with the first cavity inside the substrate, first inside cavity is filled with sky
Gas extends the substrate and extends along air motion direction；A plurality of swing arms, a plurality of swing arms can pass through the air-flow
Pressure difference is realized bending and/or is extended, and can work independently, not interfere with each other between each swing arm；At least one master
Blower, the main air blower are arranged between adjacent wantonly two swing arm, and described main air blower one end is connected with disposal box, can collect
Dust.
It further include the second blower and third blower in a preferred embodiment of the present invention, second blower and described the
Three blowers are arranged symmetrically along the substrate center line.
In a preferred embodiment of the present invention, the swing arm free end is equipped at least one movable brush.
In a preferred embodiment of the present invention, dust can be gathered in close to the main air blower center line by the movable brush
Near direction.
In a preferred embodiment of the present invention, the main air blower and second blower, the third blower are to generate
The air-introduced machine of negative pressure.
It further include air compressor machine in a preferred embodiment of the present invention, the air compressor machine provides air for first cavity.
It include the second cavity and third cavity, second chamber inside the swing arm in a preferred embodiment of the present invention
Body and the third inside cavity are filled with air.
In a preferred embodiment of the present invention, the stream pressure of second inside cavity is greater than the third inside cavity
Stream pressure when, the swing arm is towards the third cavity curving.
In a preferred embodiment of the present invention, the air-flow passes through air compressor machine or air syringe pump or cylinder to described first
Cavity, the second cavity and third inside cavity aspirate air.
In a preferred embodiment of the present invention, the substrate material be synthesis paper material or fabric or wire or
Rubber material.
In a preferred embodiment of the present invention, the air-flow flowing is that intermittent tremor formula moves, and passes through the air-flow energy to tremble
It enough realizes the swing arm to move back and forth.
The invention solves the defect existing in the background technology, and the present invention has following beneficial effect：
(1) substrate is flexible piece, and the first cavity is equipped with inside substrate, and the injection of the first inside cavity has air, prolongs substrate
It stretches and extends along air motion direction, make soft robot during removing dust and clearing ash, flexibility is higher.
(2) a plurality of swing arms can be realized bending and/or be extended by stream pressure difference, between each swing arm
It can work independently, not interfere with each other, can be improved the efficiency of dedusting.
It (3) include the second cavity and third cavity inside swing arm, the second cavity and third inside cavity are filled with air, and second
When the stream pressure of inside cavity is greater than the stream pressure of third inside cavity, swing arm is towards third cavity curving, Neng Gouling
The swaying direction and oscillator arc of control swing arm living, use are more flexible.
(4) air-flow flowing is that intermittent tremor formula moves, and swing arm can be made to realize by the air-flow to tremble and moved back and forth, with people
Swing phase when work is swept the floor is same, cleans cleaner.
(5) main air blower and the second blower, third blower are the air-introduced machine for generating negative pressure, prevent from making during dedusting
It splashes at dust, to cause environmental pollution.
(6) it is cooperated by main air blower and the second blower, third blower, while the activity of swing arm free end setting
Brush gathers together dust, can be realized no dead angle and cleans, under to artificial dead angle hard to cleaning or hazardous environment, Neng Goutong
It crosses soft robot to carry out replacing work, safety is higher.
Detailed description of the invention
Fig. 1 is the soft robot partial structural diagram of the preferred embodiment of the present invention；
Fig. 2 (a), Fig. 2 (b) are the swing arm swing state schematic diagrames of the preferred embodiment of the present invention；
Fig. 3 is the swing arm internal structure sectional view of the preferred embodiment of the present invention；
Appended drawing reference：
Substrate 10；Main air blower 11；Second blower 12；Third blower 13；Swing arm 14；Movable brush 15；First cavity 16；Second
Cavity 17；Third cavity 18；
Air compressor machine 20；Pipeline 21；
Disposal box 30.
Specific embodiment
Presently in connection with drawings and examples, the present invention is described in further detail, these attached drawings are simplified signal
Figure, the basic structure of the invention will be illustrated schematically only, therefore it only shows the composition relevant to the invention.
(a) and Fig. 2 (b) as shown in Figure 1, Figure 2, for the soft robot that pipeline 21 detects, including：At least one substrate 10,
A plurality of swing arms 14 and at least one main air blower 11 form.
Specifically, substrate 10 is flexible piece, it is equipped with the first cavity 16 inside substrate 10, filled with sky inside the first cavity 16
Gas extends substrate 10 and extends along air motion direction, and swing arm 14 can be realized bending and/or be prolonged by stream pressure difference
It stretches, can work independently, not interfere with each other between each swing arm 14, main air blower 11 is arranged between adjacent wantonly two swing arm 14, main
11 one end of blower is connected with disposal box 30, can collect dust, and disposal box 30 can flexibly remove replacement, and use is more convenient.
In other words, substrate 10 is made for flexible material, makes 10 using flexible of substrate, flexible higher, each swing arm 14
It works independently, complementation interference makes each swing arm 14 freedom degree with higher and flexibility ratio, and air-flow flowing is that intermittent tremor formula is transported
It is dynamic, swing arm 14 can be made to realize by the air-flow to tremble and moved back and forth, same with swing phase when manually being swept the floor, cleaning is compared
Completely, 14 free end of swing arm is equipped at least one movable brush 15, and dust can be gathered in main air blower 11 by movable brush 15
Near heart line direction, main air blower 11 is air-introduced machine, is collected the dust that movable brush 15 is assembled to disposal box 30 by air-introduced machine
Portion, efficiency of dust collection are higher.
According to an embodiment of the present invention, 10 material of substrate is synthesis paper material.
Optionally, 10 material of substrate is fabric.
Optionally, 10 material metal silk of substrate.
Optionally, 10 material of substrate is rubber material.
According to an embodiment of the present invention, air-flow passes through air compressor machine 20 to the first cavity 16, the second cavity 17 and third chamber
18 internal suction air of body.
Optionally, air-flow passes through air syringe pump to the first cavity 16, the second cavity 17 and 18 internal suction of third cavity
Air can also make soft robot realize reciprocal fortune by air syringe pump to carrying out inside substrate 10 alternately aspirating air
It is higher to clean flexibility for row.
Optionally, air-flow passes through cylinder to the first cavity 16, the second cavity 17,18 internal suction air of third cavity.
The flexible higher material of 10 material selection of substrate is made, and makes soft robot flexibility with higher, uses model
Enclose relatively wide, encountering narrow space can stretch fluctuating body as snake, and it can advance or deform by way of wriggling, energy
The work under specific environment or space is enough completed, using flexible is very high.
According to one embodiment of present invention, the soft robot for capableing of removing dust and clearing ash further includes air compressor machine 20, the second wind
Machine 12 and third blower 13.
Specifically, air compressor machine 20 is that the first cavity 16 provides air, pass through pipeline 21 between air compressor machine 20 and substrate 10
Connection, can be external by air compressor machine 20 or places air compressor machine 20 outdoors, not will cause noise, the second blower 12 and third blower
13 are arranged symmetrically along 10 center line of substrate, and main air blower 11 and the second blower 12, third blower 13 are the air-introduced machine for generating negative pressure,
It prevents from causing dust to splash during dedusting, to cause environmental pollution, passes through main air blower 11 and the second blower 12, third
Blower 13 cooperates, while the movable brush 15 of 14 free end of swing arm setting gathers together dust, can be realized without dead
Angle cleans, and under to artificial dead angle hard to cleaning or hazardous environment, can carry out replacing work, safety by soft robot
Property is higher.
As shown in figure 3, according to one embodiment of present invention, inside swing arm 14 including the second cavity 17 and third cavity
18, the second cavity 17 with filled with air, the stream pressure inside the second cavity 17 is greater than third cavity 18 inside third cavity 18
When the stream pressure of inside, swing arm 14 can flexibly control the swaying direction and pendulum of swing arm 14 towards 18 curving of third cavity
Dynamic radian, makes the freedom degree with higher of swing arm 14, use is more flexible.
Based on the above description of the preferred embodiments of the present invention, through the above description, related personnel completely can be with
Without departing from the scope of the technological thought of the present invention', various changes and amendments are carried out.The technical scope of this invention
It is not limited to the contents of the specification, it is necessary to determine the technical scope according to the scope of the claims.
Claims (9)
1. capableing of the soft robot of removing dust and clearing ash, which is characterized in that including：
At least one substrate, the substrate are flexible piece, are equipped with the first cavity inside the substrate, first inside cavity is filled
There is air, extends the substrate and extend along air motion direction；
A plurality of swing arms, a plurality of swing arms can be realized bending by the stream pressure difference and/or extended, Ge Gesuo
Stating can work independently between swing arm, not interfere with each other；
At least one main air blower, the main air blower are arranged between adjacent wantonly two swing arm, and described main air blower one end is connected with
Disposal box can collect dust.
2. the soft robot according to claim 1 for capableing of removing dust and clearing ash, it is characterised in that：Further include the second blower with
Third blower, second blower are arranged symmetrically with the third blower along the substrate center line.
3. the soft robot according to claim 1 for capableing of removing dust and clearing ash, it is characterised in that：The swing arm free end is set
There is at least one movable brush.
4. the soft robot according to claim 3 for capableing of removing dust and clearing ash, it is characterised in that：The movable brush can incite somebody to action
Dust is gathered near the main air blower centerline direction.
5. the soft robot according to claim 2 for capableing of removing dust and clearing ash, it is characterised in that：The main air blower with it is described
Second blower, the third blower are the air-introduced machine for generating negative pressure.
6. the soft robot according to claim 5 for capableing of removing dust and clearing ash, it is characterised in that：It further include air compressor machine, institute
It states air compressor machine and provides air for first cavity.
7. the soft robot according to claim 1 for capableing of removing dust and clearing ash, it is characterised in that：Include inside the swing arm
Second cavity and third cavity, second cavity and the third inside cavity are filled with air.
8. the soft robot according to claim 7 for capableing of removing dust and clearing ash, it is characterised in that：Second inside cavity
Stream pressure when being greater than the stream pressure of the third inside cavity, the swing arm is towards the third cavity curving.
9. the soft robot according to claim 1 for capableing of removing dust and clearing ash, it is characterised in that：The air-flow passes through pneumatics
Machine or air syringe pump or cylinder aspirate air to first cavity, the second cavity and third inside cavity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810860747.2A CN108903821B (en) | 2018-08-01 | 2018-08-01 | Soft robot capable of removing dust and ash |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810860747.2A CN108903821B (en) | 2018-08-01 | 2018-08-01 | Soft robot capable of removing dust and ash |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108903821A true CN108903821A (en) | 2018-11-30 |
| CN108903821B CN108903821B (en) | 2021-07-09 |
Family
ID=64393521
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810860747.2A Active CN108903821B (en) | 2018-08-01 | 2018-08-01 | Soft robot capable of removing dust and ash |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108903821B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101728788A (en) * | 2009-11-13 | 2010-06-09 | 山东电力集团公司泰安供电公司 | Portable porcelain bottle cleaning and spraying dual-purpose machine |
| CA2686015A1 (en) * | 2009-01-06 | 2010-07-06 | Emerson Electric Co. | Flexible crevice tool attachment for vacuum appliances |
| WO2016061432A1 (en) * | 2014-10-17 | 2016-04-21 | Porex Corporation | Disposable porous cleaning devices and methods |
| CN205671759U (en) * | 2016-05-24 | 2016-11-09 | 西安石油大学 | A kind of double brush electric shoe brush |
| CN106584507A (en) * | 2016-05-19 | 2017-04-26 | 北京卫星环境工程研究所 | Fully compliant pneumatic mechanical arm structure |
| CN206238735U (en) * | 2016-11-23 | 2017-06-13 | 宝鸡文理学院 | Instruments used for education cleaning brush |
| CN107280582A (en) * | 2016-12-30 | 2017-10-24 | 胡振华 | Patting type domestic vacuum cleaners |
| CN207169253U (en) * | 2017-07-03 | 2018-04-03 | 四川维肯科技有限公司 | A kind of Environmental-protecting dust-removing equipment of automation engineering workshop |
| CN108297089A (en) * | 2018-04-02 | 2018-07-20 | 佛山伊贝尔科技有限公司 | A kind of software telecontrol equipment and soft robot |
-
2018
- 2018-08-01 CN CN201810860747.2A patent/CN108903821B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2686015A1 (en) * | 2009-01-06 | 2010-07-06 | Emerson Electric Co. | Flexible crevice tool attachment for vacuum appliances |
| CN101728788A (en) * | 2009-11-13 | 2010-06-09 | 山东电力集团公司泰安供电公司 | Portable porcelain bottle cleaning and spraying dual-purpose machine |
| WO2016061432A1 (en) * | 2014-10-17 | 2016-04-21 | Porex Corporation | Disposable porous cleaning devices and methods |
| CN106584507A (en) * | 2016-05-19 | 2017-04-26 | 北京卫星环境工程研究所 | Fully compliant pneumatic mechanical arm structure |
| CN205671759U (en) * | 2016-05-24 | 2016-11-09 | 西安石油大学 | A kind of double brush electric shoe brush |
| CN206238735U (en) * | 2016-11-23 | 2017-06-13 | 宝鸡文理学院 | Instruments used for education cleaning brush |
| CN107280582A (en) * | 2016-12-30 | 2017-10-24 | 胡振华 | Patting type domestic vacuum cleaners |
| CN207169253U (en) * | 2017-07-03 | 2018-04-03 | 四川维肯科技有限公司 | A kind of Environmental-protecting dust-removing equipment of automation engineering workshop |
| CN108297089A (en) * | 2018-04-02 | 2018-07-20 | 佛山伊贝尔科技有限公司 | A kind of software telecontrol equipment and soft robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108903821B (en) | 2021-07-09 |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210420 Address after: 311800 3rd floor, block B, Jinyu Green Island Plaza, 150 Gen TA Xi Lu, Taozhu street, Zhuji City, Shaoxing City, Zhejiang Province Applicant after: ZHEJIANG TIANXIANG ENVIRONMENTAL PROTECTION EQUIPMENT Co.,Ltd. Address before: Room 502, No. 1, 5th floor, Real Estate Development Building, 38 Nanguidong Road, Guicheng, Nanhai District, Foshan City, Guangdong Province Applicant before: FOSHAN BRANCH OF WUXI SHENGYA BITECHNOLOGY Co.,Ltd. |
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| GR01 | Patent grant | ||
| GR01 | Patent grant |