CN203766926U - Suction cup capable of increasing friction force and adsorption type self-moving device - Google Patents
Suction cup capable of increasing friction force and adsorption type self-moving device Download PDFInfo
- Publication number
- CN203766926U CN203766926U CN201320740977.8U CN201320740977U CN203766926U CN 203766926 U CN203766926 U CN 203766926U CN 201320740977 U CN201320740977 U CN 201320740977U CN 203766926 U CN203766926 U CN 203766926U
- Authority
- CN
- China
- Prior art keywords
- sucker
- friction pad
- friction force
- type self
- absorption type
- 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 abstract description 4
- 238000010521 absorption reaction Methods 0.000 claims description 24
- 239000000463 material Substances 0.000 claims description 12
- 229920001084 poly(chloroprene) Polymers 0.000 claims description 8
- 229920001971 elastomer Polymers 0.000 claims description 7
- 230000013011 mating Effects 0.000 claims description 7
- 238000013022 venting Methods 0.000 claims description 7
- 238000004049 embossing Methods 0.000 claims description 6
- 238000000605 extraction Methods 0.000 claims description 3
- 238000004140 cleaning Methods 0.000 description 11
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000003082 abrasive agent Substances 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a suction cup capable of increasing friction force and an adsorption type self-moving device. The suction cup comprises a suction cup body (3) and further comprises friction pads (301 and 302). The friction pads can compress an operation face along with deflation of the suction cup, and consequently the friction force between the suction cup and the operation face is increased. The suction cup has the advantages that when a robot needs large friction force, the friction pads (301 and 302) compress the operation face, and the friction force between the suction cup and the operation face is increased. When the robot does not need too large friction force, the friction pads (301 and 302) are separated from the operation face, and the friction force between the suction cup and the operation face is lowered. In addition, the suction cup has the advantages of being simple in structure and convenient to implement.
Description
Technical field
The utility model relates to Robotics field, particularly a kind of sucker and absorption type self-moving device that can increasing friction force.
Background technology
Mainly that adsorption affinity and the friction force that relies on sucker to produce maintains its work at the robot of the upper work of the scope of operation (being also called driving surface) upright or that tilt.In the hypodynamic situation of friction producing at sucker, robot cannot normally be worked, and in the situation that friction force is excessive, is also unfavorable for the walking of robot, and can increase substantially the energy consumption of robot.Therefore, the size of the friction force that robot produces sucker has quite high requirement, and split type robot for cleaning wall surfaces is all the more so.
Conventionally, split type robot for cleaning wall surfaces is that the sucker by arranging on mmi machine and rear machine replaces air-breathing and exits and realize the walking of whole robot in the scope of operation, in the time that the sucker of its front machine is air-breathing, need the sucker of machine thereafter to provide enough adsorption affinity and friction force to ensure whole machine human needs, equally, in the time that the sucker of machine is thereafter air-breathing, also need the sucker of its front machine to provide enough friction force to meet whole machine human needs.And in the situation that the scope of operation is comparatively smooth, the friction force that only relies on the sucker on half fuselage to produce is difficult to meet whole machine human needs, easily cause machine skid and cannot advance.Especially, for the better gluing, sealing wall of sucker, sucker bottom is typically provided with partially flexible material.There is deformation and rock and flexible material itself is easy, being difficult to friction force to pass to whole body.
In order to solve the not enough problem that causes robot normally to work of the friction force producing because of sucker, prior art has adopted the weight that alleviates robot or the technical scheme that increases sucker quantity.Can address the above problem to a certain extent though alleviate the weight of robot or increase sucker quantity, but alleviating of robot weight is often also accompanied by increase substantially (equivalent material as lightweight in adopted, intensity is large, price is high) of the forfeiture (as omitted some parts) of some function or productive costs, and the increase of sucker quantity, can cause the structure of robot to be tending towards complicated, even likely affect the walking of robot, the energy consumption of raising robot because friction force is excessive.
Utility model content
In view of the existing defect of above-mentioned prior art, the purpose of this utility model aims to provide sucker and absorption type self-moving device that can increasing friction force, at robot, particularly split type robot for cleaning wall surfaces, need in the situation of larger friction force, described sucker that can increasing friction force can provide enough friction force for it, thereby overcomes the existing defect of above-mentioned prior art.
The purpose of this utility model is achieved through the following technical solutions:
Sucker that can increasing friction force, comprises sucker body, and it also comprises friction pad, and described friction pad can and press with the scope of operation along with sucker venting, thereby increases the friction force between sucker and the scope of operation.
On the basis of technique scheme, the utility model can further add following technical characterictic, to solve better or more targetedly technical problem to be solved in the utility model:
Described friction pad is fixedly installed on the inner cavity top of described sucker body, or the outside of sucker body.
Further, the material of described friction pad is rubber, is preferably neoprene.
Further, the shape of described friction pad is preferably circular.
Further, in the time that robot does not need friction pad that friction force is provided, friction pad separates with the scope of operation, and now, preferably the height of friction pad is set to exceed sucker bottom surface 5mm left and right.
Further, on the mating surfaces of described friction pad, embossing is set, its effect is the friction force further improving between friction pad and the scope of operation.The mating surfaces of so-called friction pad, refers in the two sides of friction pad to the scope of operation and the side that can contact with the scope of operation.
Friction pad in the utility model adopts rubber type of material to make, preferably neoprene.
What need to further illustrate is, the utility model is introduced " sucker body " this concept, it is the convenience in order to explain problem, the contribution that the utility model is done sucker of the prior art is to have adopted increase friction pad, therefore, " sucker body " in the utility model can be interpreted as to sucker of the prior art, but, " sucker body " in the utility model is not limited to sucker of the prior art, this is because the technical solution of the utility model can combine with other technical schemes of improving sucker, so that better, more fully improve the performance of sucker.
The utility model also provides a kind of absorption type self-moving device, comprise body, driver element and control unit, organism bottom is provided with sucker, described sucker is connected with vacuum source by extraction pipe, control unit control drive unit drives body moves, organism bottom is provided with friction pad, and described friction pad can press with the scope of operation along with sucker venting, thereby increases the friction force between body and the scope of operation.
As required, friction pad can be arranged on different positions, and described friction pad can be fixedly installed on the top of described sucker inner chamber; Or described friction pad is fixedly installed on sucker outside, and fixes with body.
As required, described absorption type self-moving device also has turning function, comprise that being arranged on organism bottom realizes the rotating mechanism that absorption type self-moving device turns to, described rotating mechanism comprises: big gear wheel, the miniature gears engaging with described big gear wheel and the driver train that drives described miniature gears, described miniature gears is fixedly connected with described body, and described big gear wheel is fixedly connected with described sucker, described friction pad is arranged on inner cavity top and/or the outside of sucker, and fixes with big gear wheel.Now, friction pad not only can provide enough friction force for the movement of self-moving device, can also rotate the friction moment that provides enough around sucker for self-moving device.
The material of described friction pad is rubber, is preferably neoprene.
For increasing friction force, on the mating surfaces of described friction pad, embossing is set.
For convenient walking, described absorption type self-moving device also comprises the travel wheel that is arranged on organism bottom, and travel wheel is subject to drive unit drives that clean robot is walked.
As required, the body of described absorption type self-moving device can be that integrated machine can be also split air conditioner, described body is split-type structural, comprise: front body and rear body, between front body and rear body, connect by driven unit, driven unit is connected with driver element, drives the front body scope of operation relative to rear body to be movably walking.
Described driven unit is: leading screw or screw pair, rack-and-pinion or cylinder piston pair.
The utlity model has following beneficial effect:
1, in the time that robot needs larger friction force, the friction pad in the utility model presses the scope of operation, thereby increases the friction force between sucker and the scope of operation; In the time that robot does not need too large friction force, friction pad leaves the scope of operation, thereby reduces the friction force between sucker and the scope of operation.
2, simple in structure, be convenient to implement.
Brief description of the drawings
Fig. 1 is the walking schematic diagram of split type robot for cleaning wall surfaces in the scope of operation;
The structural representation that Fig. 2 is embodiment 1 of the present utility model under adsorbed state not;
Fig. 3 is the structural representation of embodiment 1 of the present utility model under adsorbed state;
The structural representation that Fig. 4 is embodiment 2 of the present utility model under adsorbed state not;
Fig. 5 is the structural representation of embodiment 2 of the present utility model under adsorbed state.
Detailed description of the invention
Embodiment 1
As shown in Figure 2, a kind of sucker that can increasing friction force, comprises sucker body 3 and friction pad 301, and described friction pad 301 is fixedly installed on the inner cavity top of described sucker body 3.
Use the sucker that the utility model can increasing friction force on robot time, sucker body 3 can be arranged on the machine base 5 of robot bottom.
What Fig. 2 showed is the present embodiment structure under adsorbed state not, now, sucker body 3 is in air-breathing state, and friction pad 301 separates with the scope of operation 4.
As shown in Figure 3, in the time that robot needs sucker that the utility model can increasing friction force that larger friction force is provided, sucker body 3 exit (that is give sucker body 3 vacuumize), the pressure decreased of its inner chamber, inner and outer air pressure official post obtains friction pad 301 and presses together with the scope of operation 4, thereby produces larger friction force.
In the present embodiment, described friction pad 301 can adopt rubber type of material to make, preferably neoprene; The shape of friction pad 301 is preferably circular, in addition, also can on the mating surfaces of friction pad 301, embossing be set, and its effect is the friction force further improving between friction pad 301 and the scope of operation 4.Above, introduced in conjunction with Fig. 1, Fig. 2 the basic structure of sucker and the groundwork of increasing friction force thereof that the utility model can increasing friction force.
Embodiment 2
As shown in Figure 4, it is a kind of robot with turning function, be provided with rotating mechanism in robot bottom, rotating mechanism comprises big gear wheel 303, the miniature gears (not shown) engaging with big gear wheel 303 and the driver train (not shown) of Drive pinion, miniature gears is fixedly connected with body, big gear wheel 303 is fixedly connected with sucker, big gear wheel 303 is connected by bearing with body and realizes and relatively rotating, big gear wheel 303 is fixed with outside race, miniature gears and bearing inner ring are fixed, in the time that body rotates, big gear wheel 303 and sucker are adsorbed in the scope of operation, driver train Drive pinion rotates around big gear wheel 303, realized the rotation of body.Owing to needing when rotated larger friction force, the friction force that only has sucker negative pressure to produce can not guarantee to allow robot rotate in absorption, therefore, in the inner cavity top of sucker and the big gear wheel in outside, be equipped with friction pad, press with the scope of operation along with the venting of sucker, thereby increase friction force, certainly, also can in the inner cavity top of sucker or the big gear wheel in sucker outside, friction pad be set separately as required.
The shape of friction pad 302 is preferably circular, so-called circular, refers to that friction pad 302 is looped around the periphery of sucker body 3, forms complete annulus; In addition, make the preferred neoprene of material of friction pad 302.
What Fig. 4 showed is the present embodiment structure under adsorbed state not, now, sucker body 3 is in air-breathing state, and friction pad 302 separates with the scope of operation 4.
What Fig. 5 showed is the structure of the present embodiment under adsorbed state, now, the state of sucker body 3 in venting, friction pad 302 presses together with the scope of operation 4.
In the present embodiment, in the time that friction pad 302 separates with the scope of operation 4, preferably the height of friction pad 302 is set to exceed sucker bottom surface 5mm left and right.
For assembled in embodiment 2 can increasing friction force the split type robot for cleaning wall surfaces of sucker, its walking principle with assembled in embodiment 1 can increasing friction force the split type robot for cleaning wall surfaces of sucker identical, do not repeat them here.
Fig. 1 is the walking schematic diagram of split type robot for cleaning wall surfaces in the scope of operation.As shown in Figure 1, the utility model also provides a kind of absorption type self-moving device, comprise body, driver element and control unit, organism bottom is provided with sucker, described sucker is connected with vacuum source by extraction pipe, and control unit control drive unit drives body moves, and organism bottom is provided with friction pad, described friction pad can press with the scope of operation along with sucker venting, thereby increases the friction force between body and the scope of operation.As required, friction pad can be arranged on different positions, and described friction pad can be 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.For increasing friction force, on the mating surfaces of described friction pad, embossing is set.For convenient walking, described absorption type self-moving device also comprises the travel wheel that is arranged on organism bottom, and travel wheel is subject to drive unit drives that clean robot is walked.
As required, the body of described absorption type self-moving device can be that integrated machine can be also split air conditioner.The body of absorption type self-moving device is as shown in Figure 1 split-type structural, comprise: front body and rear body, between front body and rear body, connect by driven unit, driven unit is connected with driver element, drives the front body scope of operation relative to rear body to be movably walking.Described driven unit is: leading screw or screw pair, rack-and-pinion or cylinder piston pair.
Specifically, further introduce the walking principle of the split type robot for cleaning wall surfaces that has assembled the sucker that the utility model can increasing friction force in the scope of operation in conjunction with Fig. 1.As shown in Figure 1, a kind of split type robot for cleaning wall surfaces, it comprises front body 1 and rear body 2, is all equipped with the sucker that the utility model can increasing friction force, wherein in the big gear wheel (not shown) of the machine base 5 of mmi machine body 1 and the rotating mechanism of rear body 2.When sucker body 3 in current machine 1 is air-breathing, friction pad 301 separates with the scope of operation 4, and now, the friction force between front body 1 and the scope of operation is less, and before driver train drives, body 1 moves forward; Meanwhile, the sucker body 3 in rear body 2 is exitted, and friction pad 301 and the scope of operation 4 close contacts, make rear body 2 have enough friction force and be fixed in the scope of operation 4.Front body 1 arrives behind the position of setting, sucker body 3 in front body 1 is exitted, friction pad 301 and the scope of operation 4 close contacts, make front body 1 have enough friction force and be fixed in the scope of operation 4, meanwhile, the sucker body 3 in rear body 2 is air-breathing, friction pad 301 separates with the scope of operation 4, friction force between rear body 2 and the scope of operation is reduced, and under the driving of driver train, rear body 2 runs to forward the position of setting.By the alternately walking of front body 1 and rear body 2, split type robot for cleaning wall surfaces is able to the task of finishing the work in the scope of operation.
Above, by two can the sucker of increasing friction force and the embodiment of split type robot for cleaning wall surfaces, introduced respectively detailed description of the invention of the present utility model.It is emphasized that protection domain of the present utility model is not restricted to the described embodiments.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, the size of the friction pad that the utility model adopts, thickness can, according to the specification adjustment of robot, and for example, be made the material of friction pad and also can select other flexibilities, high-abrasive material.In a word, any deduction of doing on the basis of the claimed technical scheme of the utility model, all enters protection domain of the present utility model.
Claims (16)
1. a sucker that can increasing friction force, comprises sucker body (3), it is characterized in that: also comprise friction pad (301,302), described friction pad can and press with the scope of operation along with sucker venting, thereby increases the friction force between sucker and the scope of operation.
2. sucker that can increasing friction force as claimed in claim 1, is characterized in that: described friction pad (301) is fixedly installed on the inner cavity top of described sucker body (3).
3. sucker that can increasing friction force as claimed in claim 1, is characterized in that: described friction pad (301) is fixedly installed on the outside of described sucker body (3).
4. sucker that as claimed in claim 2 or claim 3 can increasing friction force, is characterized in that: being shaped as of described friction pad (302) is circular.
5. sucker that as claimed in claim 2 or claim 3 can increasing friction force, is characterized in that: in the time that described friction pad (302) separates with the scope of operation, the height of described friction pad is set to exceed sucker bottom surface 5mm.
As described in claims 1 to 3 any one can increasing friction force sucker, it is characterized in that: on the mating surfaces of described friction pad (301,302), embossing is set.
As described in claims 1 to 3 any one can increasing friction force sucker, it is characterized in that: the material of described friction pad (301,302) is rubber, is preferably neoprene.
8. an absorption type self-moving device, comprise body, driver element and control unit, organism bottom is provided with sucker, described sucker is connected with vacuum source by extraction pipe, control unit control drive unit drives body moves, and it is characterized in that, organism bottom is provided with friction pad, described friction pad can press with the scope of operation along with sucker venting, thereby increases the friction force between body and the scope of operation.
9. absorption type self-moving device as claimed in claim 8, is characterized in that, described friction pad is fixedly installed on the inner cavity top of described sucker.
10. absorption type self-moving device as claimed in claim 8, is characterized in that, described friction pad is fixedly installed on sucker outside, and fixes with body.
11. absorption type self-moving devices as claimed in claim 8, it is characterized in that, also comprise that being arranged on organism bottom realizes the rotating mechanism that absorption type self-moving device turns to, described rotating mechanism comprises: big gear wheel, the miniature gears engaging with described big gear wheel and the driver train that drives described miniature gears, described miniature gears is fixedly connected with described body, and described big gear wheel is fixedly connected with described sucker, described friction pad is arranged on inner cavity top and/or the outside of sucker, and fixes with big gear wheel.
12. absorption type self-moving devices as described in claim 8 to 11 any one, is characterized in that, the material of described friction pad is rubber, is preferably neoprene.
13. absorption type self-moving devices as described in claim 8 to 11 any one, is characterized in that, on the mating surfaces of described friction pad, embossing are set.
14. absorption type self-moving devices as described in claim 8 to 11 any one, is characterized in that, described absorption type self-moving device also comprises the travel wheel that is arranged on organism bottom, and travel wheel is subject to drive unit drives that clean robot is walked.
15. absorption type self-moving devices as described in claim 8 to 11 any one, it is characterized in that, described body is split-type structural, comprise: front body and rear body, between front body and rear body, connect by driven unit, driven unit is connected with driver element, drives the front body scope of operation relative to rear body to be movably walking.
16. absorption type self-moving devices as claimed in claim 15, is characterized in that, described driven unit is: leading screw or screw pair, rack-and-pinion or cylinder piston pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320740977.8U CN203766926U (en) | 2013-11-20 | 2013-11-20 | Suction cup capable of increasing friction force and adsorption type self-moving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320740977.8U CN203766926U (en) | 2013-11-20 | 2013-11-20 | Suction cup capable of increasing friction force and adsorption type self-moving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203766926U true CN203766926U (en) | 2014-08-13 |
Family
ID=51284150
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320740977.8U Expired - Lifetime CN203766926U (en) | 2013-11-20 | 2013-11-20 | Suction cup capable of increasing friction force and adsorption type self-moving device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203766926U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104648510A (en) * | 2013-11-20 | 2015-05-27 | 苏州科沃斯商用机器人有限公司 | Sucking disk capable of enhancing frictional force and adsorption type self-moving device |
| WO2015074541A1 (en) * | 2013-11-20 | 2015-05-28 | 苏州科沃斯商用机器人有限公司 | Suction robot and steering control method thereof |
| CN112220392A (en) * | 2020-09-29 | 2021-01-15 | 陕西科技大学 | Window wiper |
-
2013
- 2013-11-20 CN CN201320740977.8U patent/CN203766926U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104648510A (en) * | 2013-11-20 | 2015-05-27 | 苏州科沃斯商用机器人有限公司 | Sucking disk capable of enhancing frictional force and adsorption type self-moving device |
| 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 |
| WO2015074541A1 (en) * | 2013-11-20 | 2015-05-28 | 苏州科沃斯商用机器人有限公司 | Suction robot and steering control method thereof |
| CN104648510B (en) * | 2013-11-20 | 2018-11-06 | 科沃斯商用机器人有限公司 | Can increasing friction force sucker and absorption type self-moving device |
| CN112220392A (en) * | 2020-09-29 | 2021-01-15 | 陕西科技大学 | Window wiper |
| CN112220392B (en) * | 2020-09-29 | 2021-11-02 | 陕西科技大学 | Window wiper |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104648510A (en) | Sucking disk capable of enhancing frictional force and adsorption type self-moving device | |
| CN103448826B (en) | A kind of two-legged type climbing robot | |
| CN203766926U (en) | Suction cup capable of increasing friction force and adsorption type self-moving device | |
| CN205574093U (en) | Negative pressure wall climbing robot | |
| CN203662680U (en) | Self-moving adsorption robot | |
| CN104443102A (en) | Simple robot achieving special surface movement | |
| CN203693503U (en) | Adsorption self-moving device | |
| CN106889957A (en) | One kind climbs wall sweeping robot | |
| CN103523105A (en) | Caterpillar band and sucker combined type traveling device for wall-climbing robot | |
| CN104644066A (en) | Absorptive self-moving device | |
| CN201929671U (en) | Supercharged vacuum mark-free hook | |
| CN203609365U (en) | Suction robot | |
| CN206780166U (en) | A kind of glass turnover mechanism for glass production | |
| CN105063903A (en) | Adhesive tape type fabric sucker for industrial sewing machine | |
| JP2015504738A5 (en) | ||
| CN204416559U (en) | Work transfer apparatus | |
| CN106041878A (en) | All-terrain robot universal walking mechanism | |
| CN104773222A (en) | Negative-pressure adsorption foot suitable for non-horizontal smooth wall surface wall-climbing robot | |
| CN204750344U (en) | Wall climbing robot | |
| CN206140235U (en) | Be used for glass intelligence beveler | |
| CN204264312U (en) | A kind of climbing robot compound foot | |
| CN106859474A (en) | A kind of intelligent glass-cleaning robot active surface of magnetic suck | |
| CN203264284U (en) | Remote control toy ball | |
| CN105398822A (en) | Finished glass suction loading device | |
| CN203612097U (en) | Rotating seal suction device and suction type self-moving device comprising same |
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: 20140813 |