CN203609364U - Overturn-preventing sucker and suction type self-moving device using same - Google Patents
Overturn-preventing sucker and suction type self-moving device using same Download PDFInfo
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- CN203609364U CN203609364U CN201320737173.2U CN201320737173U CN203609364U CN 203609364 U CN203609364 U CN 203609364U CN 201320737173 U CN201320737173 U CN 201320737173U CN 203609364 U CN203609364 U CN 203609364U
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- sucker
- scope
- type self
- moving device
- absorption type
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- 238000010521 absorption reaction Methods 0.000 claims description 18
- 238000001179 sorption measurement Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Abstract
The utility model discloses an overturn-preventing sucker (1) and a suction type self-moving device using the same (1). The overturn-preventing sucker (1) comprises a sucker bottom (2) which is in sealed fit with a working surface. The outer side of the sucker bottom (2) is provided with an upwarp part (3) deviated from the direction of the working surface (5). The top of the upwarp part (3) can be provided with a stop part (4). The overturn-preventing sucker (1) can effectively prevent the edge of the sucker bottom (2) from being jacked to overturn or jammed by a projection or getting stuck in gaps, so that the normal work of robots provided with the overturn-preventing sucker (1) is guaranteed. The overturn-preventing sucker is simple in structure and easy to achieve.
Description
Technical field
The utility model relates to Robotics field, particularly a kind of anti-sucker and anti-absorption type self-moving device that turns over sucker of use of turning over.
Background technology
Fig. 1 is sucker schematic diagram of the prior art, as shown in Figure 1, absorption type auto-cleaner, glass-cleaning robot etc. are carried out the machine man-hour of clean up task, be rely on the absorption affinity that produces of sucker of its bottom and with the closely-related frictional force of this absorption affinity, guarantee that it walks freely in the scope of operation, thereby complete corresponding clean up task.
Existing sucker is generally revolving body, and its marginal portion is thin and soft.Machine man-hour, the marginal portion of sucker is close in the scope of operation in the mode parallel with the scope of operation.Smooth when the scope of operation, for example, not raise up frame, during also not to the gap of lower recess, existing sucker can ensure that robot walks freely in the scope of operation.But, in the time having protrusion or gap in the scope of operation, the marginal portion of sucker very likely by protrusion knock over, stuck or be absorbed in gap and be stuck, cause robot normally to work.
Utility model content
In view of the existing defect of above-mentioned prior art, the purpose of this utility model aims to provide a kind of anti-sucker that turns over, use the described anti-robot that turns over sucker can not only be in smooth operation general work, and can have protrusion or/and walk freely in the scope of operation of depression, thereby overcome the existing defect of above-mentioned prior art.
The purpose of this utility model is achieved through the following technical solutions:
One is anti-turns over sucker, comprises the sucker bottom that can seal mutually with the scope of operation, it is characterized in that: the outside of described sucker bottom is provided with the warping part of departing from scope of operation direction.
In technique scheme, the sucker bottom that what is called can seal mutually with the scope of operation, refers to and is equipped with the anti-robot that turns over sucker of the utility model in the time of operation general work, described sucker bottom contacts with scope of operation sealing.The warping part that the utility model departs from scope of operation direction in the arranged outside of sucker bottom; its effect be prevent the marginal portion of sucker by the protrusion in the scope of operation knock over, stuck; or the gap being absorbed in the scope of operation is stuck, thereby guarantee the normal work of robot.
On the basis of technique scheme, the utility model can further add following technical characterictic, to solve better technical problem to be solved in the utility model:
The surface of described warping part is set to inclined plane, and the angle between described inclined plane and the scope of operation is 20 °-50 °, preferably 30 °.
Prevent turning in sucker at the utility model, the surface of described warping part also can be set to cambered surface; Further, the angle between described cambered surface two-end-point line and the scope of operation is 30 °-60 °.
As the further improvement to above-mentioned all technical schemes, the top of described warping part is provided with stop part, and described stop part stretches upwards a segment distance from the top of warping part.
Further, described sucker bottom, warping part and stop part are integrated.
On the basis of technique scheme, the utility model also further provides a kind of absorption type self-moving device, and by the sucker adsorption operation face of its bottom, described sucker adopts the anti-sucker that turns in technique scheme.
Further, described absorption type self-moving device comprises front machine and rear machine, and front machine is connected by driven unit with rear machine, and before driven unit drives, machine or rear machine move relative to the scope of operation, and described front machine is or/and the bottom of rear machine is provided with the described anti-sucker that turns over.
Described driven unit is: leading screw or screw pair, rack-and-pinion or cylinder piston pair.
Described anti-turn over sucker be arranged on absorption type self-moving device bottom cavity in, in the time that the top of described warping part is provided with stop part, described stop part is greater than cavity side walls bottom position and arrives the distance of the scope of operation to the distance of the scope of operation at least partly.
The utlity model has following beneficial effect:
1, the marginal portion that effectively prevents sucker bottom by protrusion knock over, stuck or be absorbed in gap and be stuck, thereby guarantee the normal work of robot.
2, simple in structure, be convenient to implement.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of sucker of the prior art;
Fig. 2 is the schematic diagram of the anti-embodiment who turns over sucker of the utility model;
Fig. 3 is the schematic diagram that the anti-absorption type self-moving device that turns over sucker has been installed.
The specific embodiment
Introduce the anti-embodiment who turns over sucker of the utility model below in conjunction with accompanying drawing.
As shown in Figure 2, one is anti-turns over sucker 1, comprises the sucker bottom 2 sealing mutually with the scope of operation 5, and the outside of sucker bottom 2 is provided with the warping part 3 of departing from the scope of operation 5 directions.Better, the top of warping part 3 is also provided with stop part 4, and stop part 4 stretches upwards a segment distance from the top of warping part.
In the present embodiment, the surface of warping part 3 is set to inclined plane, and the angle between described inclined plane and the scope of operation is 20 °-50 °, preferably 30 °.When inclined plane and scope of operation angle less (as being less than 20 °), the top of sucker warping part, easily lower than the highest point of protrusion, makes sucker stuck in protrusion; And inclined plane and scope of operation angle are larger, be similar to right angle face, be also easily directly stuck on the right angle end face of crack or protrusion.
Fig. 2 also shows the anti-installation site of turning over sucker of the utility model, identical with the installation site of sucker of the prior art, and the utility model is anti-to turn on the machinery bed 6 that is also mounted in robot when sucker uses.
Below, further introduce the anti-difference of turning between sucker and existing sucker in the present embodiment in conjunction with Fig. 1: can visually see from Fig. 1 people, when existing sucker runs into the gap of certain width in the scope of operation, the edge part branch of its bottom sink---in crossing gap, sucker marginal portion has just entered gap, because sucker is in by pressure condition, (upper surface is atmospheric pressure, lower surface equals sucker chamber negative pressure substantially), enter and under the sucker edge in gap, do not support and to notch distortion under the place of gap, thereby cause sucker to be stuck.In addition, when existing sucker runs into the protrusion (not shown) in the scope of operation, its bottom also easily by protrusion knock over, stuck.
Different from existing sucker, because the outside of anti-sucker bottom 2 of turning over sucker 1 is provided with the warping part 3 of departing from the scope of operation 5 directions, in the time running into protrusion, warping part 3 offsets with protrusion, under the effect of machine driving force, sucker bottom 2 and warping part 3, gradually by protrusion jack-up, finally overcome resistance and cross protrusion, thereby can not knocked over by the protrusion in the scope of operation or stuck.In the time preventing that turn over sucker 1 runs into narrower gap in the scope of operation, although deformation also can occur downwards in sucker bottom 2, warping part 3 can be supported the other end in gap conventionally, prevents that sucker bottom 2 is absorbed in gap stuck.
In the time preventing that turn over sucker 1 runs into wider gap in the scope of operation; although also can there is deformation downwards in sucker bottom 2; in the time that warping part 3 is not enough to support the other end in gap; because sucker bottom 2 is connected as a single entity by warping part 3 and stop part 4; and stop part 4 is blocked by machinery bed 6, more specifically, the cavity side walls that stop part is mounted on the machinery bed of sucker is blocked; therefore it is stuck that sucker bottom 2 can not be absorbed in gap, thereby guarantee the normal work of robot.In the present embodiment, the top of warping part 3 is greater than machinery bed 6 to distance between the scope of operation 4 to the distance between the scope of operation 4, and this design can make machinery bed 6 more effectively stop stop part 4, thereby guarantees to prevent that turning over sucker 1 crosses wider gap smoothly.And be less than machinery bed 6 at the top of warping part 3 to distance between the scope of operation 4 to the distance between the scope of operation 4, prevent that in order to ensure turning over sucker 1 crosses wider gap smoothly, it is longer that the distance that stop part 4 can be stretched upwards arranges, to guarantee that stop part 4 can be blocked by machinery bed 6.
Still it should be noted that, described sucker bottom 2, warping part 3 and stop part 4 can be integrated.
The anti-sucker 1 that turns in the present embodiment can be widely used in robot field, Fig. 3 shows a kind of absorption type self-moving device, comprise front machine 7 and rear machine 8, front machine 7 with rear machine 8 by being connected with the feed screw nut pair that leading screw 702 forms by driven unit nut 701, before driven unit feed screw nut pair drives, machine 7 or rear machine 8 move relative to the scope of operation, driven unit is the screw pair being made up of nut 701 and leading screw 702, can be also other syndetons such as rack-and-pinion, cylinder piston pair.The bottom of rear machine 8 is provided with describedly anti-turns over sucker 1, and Fig. 3 also shows screw motor 801 and back-moving spring 703.Separately it should be noted that, according to the different characteristics of dissimilar absorption type self-moving device, the utility model prevents that turning over sucker both can be arranged on front motor spindle, also can be arranged on rear motor spindle, and the anti-sucker that turns over also can be all installed in the bottom of front and back machine.Anti-turn over sucker be arranged on absorption type self-moving device bottom cavity in, in the time that the top of warping part 3 is provided with stop part 4, described stop part is greater than cavity side walls bottom position and arrives the distance of the scope of operation to the distance of the scope of operation at least partly.
Above, introduced by reference to the accompanying drawings an embodiment of the present utility model, it is emphasized that this embodiment be the utility model one of preferred embodiment, protection domain of the present utility model is not subject to the restriction of this embodiment.Implement in process of the present utility model concrete, those skilled in the art can, according to the concrete feature of target, select suitable technical scheme.For example, described warping part 3 is made as slope, and the surface on described slope can be set to cambered surface or straight inclined-plane, and and for example, the distance that stop part 4 stretches upwards can be determined according to concrete target.In a word, any deduction of doing on the basis of the technical scheme of protecting in the utility model request, all enters protection domain of the present utility model.
Claims (11)
1. prevent turning over a sucker, comprise the sucker bottom that can seal mutually with the scope of operation, it is characterized in that: the outside of described sucker bottom (2) is provided with the warping part (3) of departing from scope of operation direction.
2. as claimed in claim 1ly anti-turn over sucker, it is characterized in that: the surface of described warping part (3) is set to inclined plane, the angle between described inclined plane and the scope of operation is 20 °-50 °.
3. as claimed in claim 2ly anti-turn over sucker, it is characterized in that: the angle between described inclined plane and the scope of operation is 30 °.
4. as claimed in claim 1ly anti-turn over sucker, it is characterized in that: the surface of described warping part (3) is set to cambered surface.
5. as claimed in claim 4ly anti-turn over sucker, it is characterized in that: the angle between described cambered surface two-end-point line and the scope of operation is 30 °-60 °.
6. as claimed in claim 1ly anti-turn over sucker, it is characterized in that: the top of described warping part (3) is provided with stop part (4), from warping part, the top of (3) stretches upwards a segment distance to described stop part (4).
7. as claimed in claim 6ly anti-turn over sucker, it is characterized in that: described sucker bottom (2), warping part (3) and stop part (4) are integrated.
8. an absorption type self-moving device, by the sucker adsorption operation face of its bottom, is characterized in that: described sucker adopts the anti-sucker (1) that turns over as described in claim 1-7 any one.
9. absorption type self-moving device as claimed in claim 8, it is characterized in that: described absorption type self-moving device comprises front machine (7) and rear machine (8), front machine (7) is connected by driven unit with rear machine (8), before driven unit drives, machine (7) or rear machine (8) move relative to the scope of operation, and described front machine (7) is or/and the bottom of rear machine (8) is provided with the described anti-sucker (1) that turns over.
10. absorption type self-moving device as claimed in claim 8, is characterized in that: described driven unit is leading screw or screw pair, rack-and-pinion or cylinder piston pair.
11. absorption type self-moving devices as claimed in claim 8, it is characterized in that: described anti-turn over sucker be arranged on absorption type self-moving device bottom cavity in, in the time that the top of described warping part (3) is provided with stop part (4), described stop part is greater than the distance of cavity side walls bottom position to the scope of operation to the distance of the scope of operation at least partly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320737173.2U CN203609364U (en) | 2013-11-20 | 2013-11-20 | Overturn-preventing sucker and suction type self-moving device using same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320737173.2U CN203609364U (en) | 2013-11-20 | 2013-11-20 | Overturn-preventing sucker and suction type self-moving device using same |
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| Publication Number | Publication Date |
|---|---|
| CN203609364U true CN203609364U (en) | 2014-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320737173.2U Expired - Lifetime CN203609364U (en) | 2013-11-20 | 2013-11-20 | Overturn-preventing sucker and suction type self-moving device using same |
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| Country | Link |
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| CN (1) | CN203609364U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104644049A (en) * | 2013-11-20 | 2015-05-27 | 苏州科沃斯商用机器人有限公司 | Anti-overturning chuck and absorbing type self-moving device using anti-overturning chuck |
| CN110432816A (en) * | 2014-07-25 | 2019-11-12 | 科沃斯家用机器人有限公司 | Absorption type self-moving device |
-
2013
- 2013-11-20 CN CN201320737173.2U patent/CN203609364U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104644049A (en) * | 2013-11-20 | 2015-05-27 | 苏州科沃斯商用机器人有限公司 | Anti-overturning chuck and absorbing type self-moving device using anti-overturning chuck |
| WO2015074523A1 (en) * | 2013-11-20 | 2015-05-28 | 苏州科沃斯商用机器人有限公司 | Anti-tip suction cup and suction-type auto-moving apparatus using anti-tip suction cup |
| CN110432816A (en) * | 2014-07-25 | 2019-11-12 | 科沃斯家用机器人有限公司 | Absorption type self-moving device |
| CN110432816B (en) * | 2014-07-25 | 2022-01-18 | 科沃斯家用机器人有限公司 | Adsorption type self-moving device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: Wuzhong Economic Development Zone in Suzhou City, Jiangsu Province, the River Street 215104 Youxiang Road No. 18 building 3 Patentee after: ECOVACS COMMERCIAL ROBOTICS Co.,Ltd. Address before: Wuzhong District Wuzhong Economic Development Zone Suzhou city Jiangsu province 215104 the River Street Youxiang Road No. 18 building 3 Patentee before: SUZHOU ECOVACS COMMERCIAL ROBOT Co.,Ltd. |
|
| CX01 | Expiry of patent term |
Granted publication date: 20140528 |
|
| CX01 | Expiry of patent term |