CN203693503U - Adsorption self-moving device - Google Patents
Adsorption self-moving device Download PDFInfo
- Publication number
- CN203693503U CN203693503U CN201320740170.4U CN201320740170U CN203693503U CN 203693503 U CN203693503 U CN 203693503U CN 201320740170 U CN201320740170 U CN 201320740170U CN 203693503 U CN203693503 U CN 203693503U
- Authority
- CN
- China
- Prior art keywords
- moving device
- sucker
- wheel assembly
- absorption type
- type self
- 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.)
- Expired - Lifetime
Links
- 238000001179 sorption measurement Methods 0.000 title claims abstract description 9
- 238000010521 absorption reaction Methods 0.000 claims description 40
- 239000000463 material Substances 0.000 claims description 4
- 229920001971 elastomer Polymers 0.000 claims description 3
- 238000004049 embossing Methods 0.000 claims description 3
- 229920001084 poly(chloroprene) Polymers 0.000 claims description 3
- 238000013022 venting Methods 0.000 claims description 2
- 238000005265 energy consumption Methods 0.000 abstract description 4
- 230000002035 prolonged effect Effects 0.000 abstract 1
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Abstract
An adsorption self-moving device comprises a machine body (1), wherein a sucking disc (2), a drive unit and a control unit are arranged on the machine body; the sucking disc is arranged at the bottom of the machine body; the drive unit drives the machine body to move on a working surface under the control of the control unit. The adsorption self-moving device further comprises an elastic supporting wheel assembly (3) and a friction pad (4), wherein the elastic supporting wheel assembly (3) is arranged at the bottom of the machine body; the friction pad (4) can be tightly pressed on the working surface when the sucking disc is deflated, so as to enlarge the friction between the machine body and the working surface. When the sucking disc is in a negative-pressure adsorption state, the elastic supporting wheel assembly is pressed and contracted to be at a first working position; when the sucking disc is in a relaxed state, the elastic supporting wheel assembly is stretched to be at a second working position, and the friction pad is separated from the working surface. According to the adsorption self-moving device, the elastic supporting wheel assembly can reduce the friction between the sucking disc and the working surface, so that energy consumption of a robot during operation is reduced, and the service lives of the sucking disc and the drive system of the robot are prolonged.
Description
Technical field
The utility model relates to Robotics field, particularly a kind of absorption type self-moving device.
Background technology
Normally rely on the absorption affinity that sucker produces and guarantee its walking in the scope of operation with the closely-related frictional force of absorption affinity in the robot of the upper work of the scope of operation (being also called working face) upright or that tilt.Take split type robot for cleaning wall surfaces as example, when its front split air conditioner is advanced, split air conditioner is fixed in the scope of operation thereafter, and when split air conditioner is advanced thereafter, its front split air conditioner is fixed in the scope of operation; By alternately advancing of forward and backward split air conditioner, realize the walking of whole robot in the scope of operation.In the time that split air conditioner advances, need to reduce frictional force between sucker and the scope of operation, otherwise not only can improve the energy consumption of robot, and the service life that can reduce the drive system of sucker and robot.In the time that split air conditioner is fixed in the scope of operation, need to increase the frictional force between sucker and the scope of operation, otherwise robot can skid, and even likely falls from the scope of operation.As can be seen here, the absorption affinity between sucker and the scope of operation and frictional force are maintained in appropriate scope, for guarantee robot normal work time very important.
Prior art is that the vacuum by regulating sucker changes the draught head inside and outside sucker, thereby realizes the adjusting to the absorption affinity between sucker and the scope of operation and frictional force.Specifically, by dwindling the draught head inside and outside sucker, can reduce the absorption affinity between sucker and the scope of operation, and the reduction of absorption affinity also can cause the reduction of frictional force; In like manner, by expanding the draught head inside and outside sucker, can increase absorption affinity and frictional force between sucker and the scope of operation.
Although by dwindling the draught head inside and outside sucker, can reduce the frictional force between sucker and the scope of operation, but, owing to there being draught head inside and outside sucker, it is one of essential condition of guaranteeing sucker steady operation, therefore the method that, reduces the frictional force between sucker and the scope of operation by dwindling draught head inside and outside sucker is not very good in effect.
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 absorption type self-moving device, can reduce the frictional force between its sucker and the scope of operation, thereby overcomes the defect of above-mentioned prior art.
The purpose of this utility model is achieved through the following technical solutions:
A kind of absorption type self-moving device, comprise body, body is provided with sucker, driver element and control module, sucker is arranged on organism bottom, driver element drives body to move in the scope of operation under control module control, described absorption type self-moving device comprises resiliency supported wheel assembly, and this assembly is arranged on organism bottom; Described absorption type self-moving device also comprises friction pad, and described friction pad can press with the scope of operation along with sucker venting, thereby increases the frictional force between body and the scope of operation; When sucker is during in negative-pressure adsorption state, described resiliency supported wheel assembly is in compressing first operating position of shrinking; When sucker is during in air deflating state, second operating position of described resiliency supported wheel assembly in stretching, friction pad separating operation face.
Particularly, described resiliency supported wheel assembly comprises bracing frame, elastomeric element and roller, and described elastomeric element is set on bracing frame, and roller is arranged on the roller bearing of support frame as described above bottom; Described support wheel assembly also comprises the position-limit mechanism that restriction support wheel assembly moves downward.
Position-limit mechanism in one of them embodiment comprises fixed screw, support frame as described above top is provided with opening, Open Side Down extends to form a hollow bulb, described fixed screw is fixedly connected on described opening part, at sucker during in adsorbed state not, described fixed screw engages with body base and limits support wheel assembly and moves downward.
Another embodiment, described resiliency supported wheel assembly also comprises support wheel fixed cap, and bracing frame is arranged in support wheel fixed cap, and support wheel fixed cap is fixedly connected with body base; Described position-limit mechanism comprises the boss being arranged on support frame as described above, and at sucker during in adsorbed state not, described boss engages with body base and limits support wheel assembly and moves downward.
Described elastomeric element is back-moving spring or spring leaf.
Described friction pad is fixedly installed on the top of described sucker inner chamber; Or described friction pad is fixedly installed on sucker outside, and fixes with body.
The material of described friction pad is rubber, is preferably neoprene.
On the contact surface of described friction pad, embossing is set.
Another embodiment of the utility model, described body is split-type structural, comprising: front body and rear body, connect by driven unit between front body and rear body, driven unit is connected with driver element, drives the front body scope of operation relative to rear body to be movably walking.
Better, described driven unit is: leading screw or screw pair, rack-and-pinion or cylinder piston pair.
The utlity model has following beneficial effect:
1, reduce the frictional force between sucker and the scope of operation, thereby reduce the energy consumption of machine man-hour, and extend the service life of the drive system of sucker and robot.
2, simple in structure, be convenient to implement.
Below in conjunction with the drawings and specific embodiments, the technical solution of the utility model is described in detail.
Accompanying drawing explanation
Figure 1A is not structural representation when adsorbed state of the utility model embodiment mono-absorption type self-moving device;
Structural representation when Figure 1B is the utility model embodiment mono-absorption type self-moving device adsorbed state;
Fig. 2 A is not structural representations when adsorbed state of the utility model embodiment bis-absorption type self-moving devices;
Structural representation when Fig. 2 B is the utility model embodiment bis-absorption type self-moving device adsorbed state;
Fig. 3 is the utility model embodiment tri-friction pad positional structure schematic diagrames;
Fig. 4 is the utility model embodiment tetra-absorption type self-moving device structural representations.
The specific embodiment
Embodiment mono-
Figure 1A is not structural representation when adsorbed state of the utility model embodiment mono-absorption type self-moving device, structural representation when Figure 1B is the utility model embodiment mono-absorption type self-moving device adsorbed state, as Figure 1A and with reference to as shown in Figure 1B, the absorption type self-moving device that the present embodiment provides, comprise body 1, body is provided with sucker 2, resiliency supported wheel assembly 3, friction pad 4, driver element (not shown) and control module (not shown), sucker 2 is arranged on body 1 bottom, driver element drives body 1 to move in the scope of operation under control module control, resiliency supported wheel assembly 3 is arranged on body 1 bottom, described friction pad 4 is fixedly installed on the top of described sucker 2 inner chambers, this friction pad 4 can be exitted and press with the scope of operation along with sucker 2, thereby increase the frictional force between body 1 and the scope of operation, the material of described friction pad 4 is rubber, be preferably neoprene and its contact surface is provided with embossing, when sucker 2 is during in negative-pressure adsorption state, described resiliency supported wheel assembly 3 is in compressing first operating position of shrinking, when sucker 2 is during in air deflating state, second operating position of described resiliency supported wheel assembly 3 in stretching, friction pad separating operation face.
Described resiliency supported wheel assembly 3 comprises the position-limit mechanism that bracing frame 31, elastomeric element 32, roller 33 and restriction support wheel assembly 3 move downward, and described elastomeric element 32 is set on bracing frame 31, and described elastomeric element 32 is back-moving spring or spring leaf; Roller 33 is arranged on the roller bearing of support frame as described above 31 bottoms; Described position-limit mechanism comprises fixed screw 34, and support frame as described above 31 tops are provided with opening, and Open Side Down extends to form a hollow bulb, and described fixed screw 34 is fixedly connected on described opening part.
Operation principle:
When sucker 2, (please refer to shown in Figure 1B) described fixed screw 34 is by jack-up during in adsorbed state, and described elastomeric element 32 is extruded simultaneously.In the time that sucker 2 loses heart, when elastomeric element 32 is replied reset condition, jack-up body 1(is because of reasons such as the weight of robot and sucker do not lose heart completely, the friction pad of sucker be still adjacent to operation surface and can automatic trip from the scope of operation), make friction pad 4 depart from surface to reduce friction, and then reduce the pressure between sucker 2 and adsorption plane.
When sucker 2 is during in adsorbed state not (please refer to shown in Figure 1A), described fixed screw 34 engages with body 1 base and limits support wheel assembly 3 and moves downward.
Embodiment bis-
Fig. 2 A is not structural representations when adsorbed state of the utility model embodiment bis-absorption type self-moving devices, structural representation when Fig. 2 B is the utility model embodiment mono-absorption type self-moving device adsorbed state, as Fig. 2 A and with reference to as shown in figure 2B, basically identical in the absorption type self-moving device that the present embodiment provides and embodiment mono-, difference is, resiliency supported wheel assembly 3 in this enforcement is except comprising bracing frame 31, outside elastomeric element 32 and roller 33, also comprise support wheel fixed cap 35, bracing frame 31 is arranged on support wheel fixed cap interior 35, support wheel fixed cap 35 is fixedly connected with body 1 base, described position-limit mechanism comprises the boss 36 being arranged on support frame as described above 31, and at sucker 2 during in adsorbed state not, described boss 36 engages with body 1 base and limits support wheel assembly 3 and moves downward.
Embodiment tri-
Fig. 3 is the utility model embodiment tri-friction pad positional structure schematic diagrames, as shown in Figure 3, in the present embodiment, the position of friction pad 4 is different from position in embodiment mono-and embodiment bis-, and the friction pad 4 in the present embodiment is fixedly installed on sucker 2 outsides, and fixing with body 1.
Embodiment tetra-
Fig. 4 is the utility model embodiment tetra-absorption type self-moving device structural representations, as shown in Figure 4, basically identical in absorption type self-moving device in the present embodiment and above-described embodiment, difference is, described body 1 is split-type structural, comprise: front body 11 and rear body 12, between front body 11 and rear body 12, connect by driven unit 13, driven unit 13 is connected with driver element, drive front body 11 to be movably walking with the relative scope of operation of rear body 12,13 of described driving groups are: leading screw or screw pair, rack-and-pinion or cylinder piston pair.
In sum, the utility model provides a kind of absorption type self-moving device, reduces the frictional force between sucker and the scope of operation, thereby reduces the energy consumption of machine man-hour, and extends the service life of the drive system of sucker and robot; Simple in structure, be convenient to implement.
Claims (11)
1. an absorption type self-moving device, comprise body (1), body (1) is provided with sucker (2), driver element and control module, sucker (2) is arranged on body (1) bottom, driver element drives body (1) to move in the scope of operation under control module control, it is characterized in that, described absorption type self-moving device comprises resiliency supported wheel assembly (3), and this resiliency supported wheel assembly (3) is arranged on body (1) bottom; Described absorption type self-moving device also comprises friction pad (4), and described friction pad (4) can press with the scope of operation along with sucker (2) venting, thereby increases the frictional force between body (1) and the scope of operation; When sucker (2) is during in negative-pressure adsorption state, described resiliency supported wheel assembly (3) is in compressing first operating position of shrinking; When sucker (2) is during in air deflating state, second operating position of described resiliency supported wheel assembly (3) in stretching, friction pad (4) separating operation face.
2. absorption type self-moving device as claimed in claim 1, it is characterized in that, described resiliency supported wheel assembly (3) comprises bracing frame (31), elastomeric element (32) and roller (33), described elastomeric element (32) is set in (31) on bracing frame, and roller (33) is arranged on the roller bearing of support frame as described above (31) bottom;
Described support wheel assembly (3) also comprises the position-limit mechanism that restriction support wheel assembly (3) moves downward.
3. absorption type self-moving device as claimed in claim 2, it is characterized in that, described position-limit mechanism comprises fixed screw (34), support frame as described above (31) top is provided with opening, Open Side Down extends to form a hollow bulb, described fixed screw (34) is fixedly connected on described opening part, and at sucker (2) during in adsorbed state not, described fixed screw (34) engages with body (1) base and limits support wheel assembly (3) and moves downward.
4. absorption type self-moving device as claimed in claim 2, it is characterized in that, described resiliency supported wheel assembly (3) also comprises support wheel fixed cap (35), and bracing frame (31) is arranged in support wheel fixed cap (35), and support wheel fixed cap (35) is fixedly connected with body (1) base; Described position-limit mechanism comprises the boss (36) being arranged on support frame as described above, and at sucker (2) during in adsorbed state not, described boss (36) engages with body (1) base and limits support wheel assembly (3) and moves downward.
5. the absorption type self-moving device as described in claim 2-4 any one, is characterized in that, described elastomeric element (32) is back-moving spring or spring leaf.
6. absorption type self-moving device as claimed in claim 1, is characterized in that, described friction pad (4) is fixedly installed on the top of described sucker (2) inner chamber;
Or described friction pad (4) is fixedly installed on sucker (2) outside, and fixing with body (1).
7. absorption type self-moving device as claimed in claim 6, is characterized in that, the material of described friction pad (4) is rubber.
8. absorption type self-moving device as claimed in claim 7, is characterized in that, the material of described friction pad (4) is neoprene.
9. absorption type self-moving device as claimed in claim 7 or 8, is characterized in that, on the contact surface of described friction pad (4), embossing is set.
10. absorption type self-moving device as claimed in claim 1, it is characterized in that, described body (1) is split-type structural, comprise: front body (11) and rear body (12), between front body (11) and rear body (12), connect by driven unit (13), driven unit (13) is connected with driver element, drives front body (11) to be movably walking with the relative scope of operation of rear body (12).
11. absorption type self-moving devices as claimed in claim 10, is characterized in that, described driven unit (13) is: leading screw or screw pair, rack-and-pinion or cylinder piston pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320740170.4U CN203693503U (en) | 2013-11-20 | 2013-11-20 | Adsorption self-moving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320740170.4U CN203693503U (en) | 2013-11-20 | 2013-11-20 | Adsorption self-moving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203693503U true CN203693503U (en) | 2014-07-09 |
Family
ID=51044020
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320740170.4U Expired - Lifetime CN203693503U (en) | 2013-11-20 | 2013-11-20 | Adsorption self-moving device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203693503U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104644066A (en) * | 2013-11-20 | 2015-05-27 | 苏州科沃斯商用机器人有限公司 | Absorptive self-moving device |
| 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 |
| WO2015074522A1 (en) * | 2013-11-20 | 2015-05-28 | 苏州科沃斯商用机器人有限公司 | Suction cup capable of increasing friction and suction-type auto-moving apparatus |
| WO2016011985A1 (en) * | 2014-07-25 | 2016-01-28 | 科沃斯机器人有限公司 | Suction self-moving device |
| WO2017198214A1 (en) * | 2016-05-19 | 2017-11-23 | 科沃斯机器人股份有限公司 | Combined robot |
| WO2022041075A1 (en) * | 2020-08-27 | 2022-03-03 | 南京英维尔科技服务有限公司 | Mopping robot |
-
2013
- 2013-11-20 CN CN201320740170.4U patent/CN203693503U/en not_active Expired - Lifetime
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104644066B (en) * | 2013-11-20 | 2019-06-11 | 科沃斯商用机器人有限公司 | Absorption type self-moving device |
| 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 |
| WO2015074522A1 (en) * | 2013-11-20 | 2015-05-28 | 苏州科沃斯商用机器人有限公司 | Suction cup capable of increasing friction and suction-type auto-moving apparatus |
| WO2015074531A1 (en) * | 2013-11-20 | 2015-05-28 | 苏州科沃斯商用机器人有限公司 | Suction-type auto-moving apparatus |
| CN104644066A (en) * | 2013-11-20 | 2015-05-27 | 苏州科沃斯商用机器人有限公司 | Absorptive self-moving device |
| 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 |
| CN105361786A (en) * | 2014-07-25 | 2016-03-02 | 科沃斯机器人有限公司 | A suction type self-moving device |
| CN105361786B (en) * | 2014-07-25 | 2019-09-13 | 科沃斯家用机器人有限公司 | Absorption type self-moving device |
| WO2016011985A1 (en) * | 2014-07-25 | 2016-01-28 | 科沃斯机器人有限公司 | Suction 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 |
| WO2017198214A1 (en) * | 2016-05-19 | 2017-11-23 | 科沃斯机器人股份有限公司 | Combined robot |
| US11109734B2 (en) | 2016-05-19 | 2021-09-07 | Ecovacs Robotics Co., Ltd. | Combined robot |
| WO2022041075A1 (en) * | 2020-08-27 | 2022-03-03 | 南京英维尔科技服务有限公司 | Mopping robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203693503U (en) | Adsorption self-moving device | |
| CN104644066A (en) | Absorptive self-moving device | |
| CN105058400B (en) | A kind of manipulator of adjustable angle | |
| CN103129639B (en) | A kind of climbing robot of cam-type negative-pressure adsorption | |
| CN203724032U (en) | Suction cup suction type glass wiping robot | |
| CN104972348B (en) | A kind of constitutionally stable manipulator of adjustable angle | |
| CN104648510A (en) | Sucking disk capable of enhancing frictional force and adsorption type self-moving device | |
| CN107149443B (en) | Sliding sucking disc capable of passing over ridge and curtain wall cleaning robot using same | |
| CN105919505A (en) | Glass cleaning robot and glass cleaning method | |
| CN113338835B (en) | Christmas tree wellhead sealing device | |
| CN210942025U (en) | Vacuum adsorption creeping motion mechanism | |
| CN112936324B (en) | Adsorption type robot | |
| CN203766926U (en) | Suction cup capable of increasing friction force and adsorption type self-moving device | |
| CN206687659U (en) | A kind of glass cleaning machine people | |
| CN212246778U (en) | Automatic clamping and limiting device for sealing glue of hollow glass | |
| CN109515860B (en) | Polyethylene plastic bag opening device utilizing friction and double negative pressure | |
| CN204541968U (en) | Can be used for the rolling absorption type walking mechanism of exterior wall cleaning machine | |
| CN211270478U (en) | Cleaning robot with sliding type adsorption crawler belt | |
| CN210842876U (en) | Wall surface cleaning robot | |
| CN108725131B (en) | new energy automobile air conditioning system convenient to filter core is changed | |
| CN113459135A (en) | Clamping device for cylinder cover assembly line and working method | |
| CN113133618A (en) | Planar design teaching auxiliary device | |
| CN105919503B (en) | A kind of intelligence glass-cleaning robot wheel suspension assembly and method | |
| CN205994442U (en) | A kind of intelligent glass-cleaning robot wheel suspension assembly | |
| CN219669275U (en) | Rotating device and conveying equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| 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 | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140709 |