CN204071930U - Absorption robot - Google Patents
Absorption robot Download PDFInfo
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- CN204071930U CN204071930U CN201420118838.6U CN201420118838U CN204071930U CN 204071930 U CN204071930 U CN 204071930U CN 201420118838 U CN201420118838 U CN 201420118838U CN 204071930 U CN204071930 U CN 204071930U
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- sucker
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Abstract
The utility model discloses a kind of absorption robot, comprise body (1), control unit and sensor, described organism bottom is provided with main sucker (2), described main sucker (2) periphery is also provided with attached sucker (3), described sensor detects the vacuum of described attached sucker (3), and the information detected is sent to described control unit, and control unit receives the information that described sensor sends and carries out analyzing and processing, and send control instruction, control described body (1) action.Absorption robot of the present utility model utilizes attached sucker to detect more comprehensively for main sucker early warning, improves reliability.
Description
Technical field
The utility model relates to robotics, particularly one absorption robot.
Background technology
Absorption robot can be adsorbed in vertical or inclined wall, and can perform a class specialized robot of certain function, as glass-cleaning robot, and wall surface cleaner device people.Absorbing unit is an absorption robot very important part, and it provides absorption affinity for robot, robot is adsorbed on wall and works accordingly.Therefore, the reliability of absorbing unit directly has influence on machine human efficiency, performance and wall adaptability etc.Absorption robot utilizes sucker suction at working surface, but due to the uncertainty of working environment, probably there is slight crack, projection in working surface, without the factor such as edge circle or small stair, sucker very easily leaks gas through out-of-date, and absorption robot exists the danger fallen.
There is a kind of glass-cleaning robot with glass edge measuring ability in the prior art, this glass-cleaning robot is provided with haptic element sensor, when arriving glass edge when walking, the haptic element of haptic element sensor departs from glass surface and produces induced signal, judge arrive at glass edge and perform go to action from glass robot, avoid falling from glass edge.But this angle sensor cannot detect the factor that some pasters, coating, gap etc. affect adsorbent equipment vacuum.
One can detect glass projection or glass edge can be detected again in crack, and robot has the testing agency that time enough does corresponding avoiding action and urgently occurs after abnormal signal being detected.
Utility model content
Technical problem to be solved in the utility model, for the step of prior art, provides a kind of absorption robot, utilizes attached sucker to detect more comprehensively for main sucker early warning, improve reliability.
Technical problem to be solved in the utility model is achieved by the following technical solution:
A kind of absorption robot, comprise body, control unit, sensor and cleaning unit, described organism bottom is provided with main sucker, described main sucker periphery is also provided with attached sucker, described sensor detects the vacuum of described attached sucker, and the information detected is sent to described control unit, and control unit receives the information that described sensor sends and carries out analyzing and processing, and send control instruction, control described body action.
When described sensor detects that the vacuum of described attached sucker declines, described control unit controls described body to be stopped or turning to.
In order to better detect main sucker, between described attached sucker and described main sucker, there is gap.
Better, the area of described attached sucker is less than 1/2nd of the area of described main sucker.
Preferably, described main sucker is arranged on the central region of organism bottom.
Preferably, described attached sucker is arranged on the edge of organism bottom.
In order to adsorb clean surface more firmly, described main sucker is two circle sucker, multi-turn sucker or multi-sucker structures, makes main sucker cross over small embossment class barrier.
In an embodiment, the quantity of described attached sucker is 1, and be front with the direct of travel of body, the front side of described main sucker is located at by described attached sucker.
In another embodiment, the quantity at least two of described attached sucker, be front with the direct of travel of body, sucker attached described at least one is located at the front side of described main sucker, all the other attached suckers that removing is arranged on beyond the attached sucker on front side of described main sucker are arranged on the described main sucker left and right sides and/or rear side.
Preferably, the quantity of described attached sucker is 4, respectively arranges one in the side all around of described main sucker.
Particularly, be front with the direct of travel of body, when on front side of described main sucker is only located at by described attached sucker, if described control unit receives the signal that described attached sucker vacuum declines, described control unit controls walking unit and drives described body to retreat;
When on front side of described main sucker is located at by described attached sucker, the left and right sides and rear side time, if described control unit receives the signal that on front side of described main sucker, attached sucker vacuum declines, described control unit controls walking unit and drives described body to retreat, the signal that if described control unit receives on the left of described main sucker or the attached sucker vacuum on right side declines, described control unit controls walking unit and drives described body to turn right or turn left; Otherwise described control unit controls walking unit and drives described body to move on.
The utility model has the advantage of: 1, attached sucker is identical with main sucker structure principle, all external factors that main sucker can be caused to leak gas all can affect attached sucker vacuum, and use attached sucker to detect more comprehensively for main sucker early warning, reliability is higher; What 2, attached sucker volume can be arranged is less, saves machinery bed space; 3, attached sucker can be arranged on organism bottom edge, increase attached sucker and main sucker distance, there is time enough carry out corresponding avoiding action when attached sucker detects robot when vacuum reduces, and this attached sucker is had detect the protruding or crack of glass simultaneously and detect the function of glass edge.
Accompanying drawing explanation
Fig. 1 is the utility model absorption machine human organism polycrystalline substance schematic diagram;
Fig. 2 is the absorption machine human organism polycrystalline substance schematic diagram of the utility model embodiment two;
Fig. 3 is the absorption machine human organism polycrystalline substance schematic diagram of the utility model embodiment three;
Fig. 4 is the absorption machine human organism polycrystalline substance schematic diagram of the utility model embodiment four;
Fig. 5 is that the absorption machine of the utility model embodiment four manually makes schematic diagram.
Detailed description of the invention
Fig. 1 is the utility model one absorption machine human organism polycrystalline substance schematic diagram, as shown in Figure 1, absorption robot in the present embodiment, comprise body 1, control unit (not shown), sensor (not shown), cleaning unit 4 and walking unit 5, main sucker 2, cleaning unit 4 and walking unit 5 is provided with bottom body 1, main sucker 2 periphery is also provided with attached sucker 3, has gap between attached sucker 3 and main sucker 2.Preferably, as shown in Figure 1, main sucker is arranged on the central region of body drain pan, and attached sucker 3 is arranged on the periphery of main sucker 2.
Sensor detects the vacuum of attached sucker 3, when sensor detect the vacuum of attached sucker 3 drop to be less than or equal to preset value time, the information detected is sent to control unit, the information that control unit receiving sensor sends carries out analyzing and processing, and send control instruction, control body 1 and operate.Attached sucker is set and is mainly main sucker early warning.In order to save organism bottom space and improve the sensitivity of attached sucker, preferably, the area of attached sucker is less than or equal to 1/2 of main sucking disc area.The area of the sucker in the utility model refers to the sealing area of sucker and working surface.When attached sucker vacuum declines, in order to reserve enough obstacle avoidance spaces to robot, between attached sucker 3 and main sucker 2, be provided with gap.Below, be located on front side of main sucker for the attached sucker of the present embodiment and be described.If robot acceleration is a, v is the speed of robot when normally walking, attached sucker leading edge and main sucker leading edge distance be s, and when attached sucker vacuum declines, control unit control body is decelerated to stopping, travel distance s '=v
2/ (2a), if s > is s ', robot stopped before main sucker arrives obstacle, successful obstacle avoidance; If s < is s ', before robot stops, main sucker moves to the gas leakage of obstacle place; If s=s ', when robot stops, main sucker is in the edge of obstacle, and therefore, for improving the safety coefficient of robot, under the prerequisite of other conditions permit, the distance s of attached sucker and main sucker is the bigger the better.Preferably, attached sucker is arranged on the edge of organism bottom.
Embodiment one
As shown in Figure 1, in the present embodiment, the quantity of attached sucker 3 is 1, if the direct of travel A of body 1 is front, the front side of main sucker 2 is located at by attached sucker 3.
Operation principle:
When control unit receives the signal of attached sucker 3 vacuum decline, control unit controls walking unit 5 and drives body 1 stop or turning to, and wherein turns to and comprises retrogressing, left-hand rotation or turn right.
Embodiment two
Fig. 2 is the absorption machine human organism polycrystalline substance schematic diagram of the utility model embodiment two, as shown in Figure 2, the absorption robot in the present embodiment and the structure in embodiment one basically identical, difference is:
The quantity at least two of the attached sucker 3 in the present embodiment, be front with the direct of travel A of body, at least one attached sucker 3 is located at the front side of main sucker 2, all the other attached suckers 3 that removing is arranged on beyond the attached sucker 3 on front side of main sucker 2 are arranged on main sucker 2 left and right sides and/or rear side.
Operation principle:
If control unit receives the signal that on front side of main sucker 2, attached sucker 3 vacuum declines, control unit controls walking unit 5 and drives body 1 stop or retreating, the signal that if control unit receives on the left of main sucker 2 or attached sucker 3 vacuum on right side declines, control unit controls walking unit 5 and drives body 1 turn right or turn left; Otherwise control unit controls walking unit 5 and drives body 1 to move on.
Embodiment three
Fig. 3 is the absorption machine human organism polycrystalline substance schematic diagram of the utility model embodiment three, as shown in Figure 3, the absorption robot in the present embodiment and the absorption robot architecture in embodiment two basically identical, difference is:
The quantity of the attached sucker 3 in the present embodiment is 4, respectively arranges one in the side all around of main sucker 2.
Its operation principle is consistent with embodiment two, does not repeat them here.
Please refer again to shown in Fig. 3, in the present embodiment, the main sucker 2 of absorption robot adopts two circle sucker, it comprises interior sucker 21 and outer sucker 22, interior sucker 21 is arranged at inside outer sucker 22, cavity wherein inside interior sucker 21 forms interior negative pressure chamber 23 by vacuum draw, and the cavity of inside and outside interambulacrum forms outer negative pressure chamber 24 by vacuum draw.It is pointed out that main sucker 2 of the present utility model is not limited to two circle sucker, the one in multi-turn sucker, the single sucking disc or multi-sucker or combination can also be adopted.Preferably, the area of main sucker, much larger than the area of attached sucker, adsorbs robot essentially by main sucker suction in working surface.Please refer again to shown in Fig. 3, when normally running, absorption robot is adsorbed in glass surface by interior negative pressure chamber 23 and outer negative pressure chamber 24; When the small lugs class barrier that attached sucker 3 fails to detect walk around attached sucker 3 arrive main sucker 2 position time, first outer sucker 22 runs into small lugs, outer sucker 22 is by jack-up, outer negative pressure chamber 24 lost efficacy, now only have interior sucker 21 to seal with clean surface, absorption robot is adsorbed in clean surface by interior negative pressure chamber 23; Absorption robot continues to run, when interior sucker 21 runs into this small lugs, now this small lugs crossed by outer sucker 22, outer sucker 22 re-starts absorption work, that is now outer negative pressure chamber 24 reseals with clean surface, and interior sucker 21 is by jack-up, and interior negative pressure chamber 23 is connected with outer negative pressure chamber 24 and forms large negative pressure chamber, absorption robot is adsorbed in clean surface by large negative pressure chamber, successfully clears the jumps.
Embodiment four
Fig. 4 is the absorption machine human organism polycrystalline substance schematic diagram of the utility model embodiment four, and as shown in Figure 4, the set-up mode adsorbing the attached sucker of robot 3 in the present embodiment and embodiment three is basically identical, and difference is:
For improving the cleaning effect of absorption robot, it is peripheral that the present embodiment cleaning unit 4 is rotatably located at body 1.
Operation principle:
As shown in Figure 5, when absorption robot is for direction of travel A, on wall 6 to be cleaned, welt runs to corner when needing to turn to, cleaning unit 4 wall relatively to be cleaned keeps inactive state, body 1 relative clean unit 4 rotates 90 ° and walks on, completely avoid the existence at clean dead angle, certain clean robot of the present utility model can also have other direction of travel, and those skilled in the art can as required from the direction of travel of Row sum-equal matrix adsorption machine device people.
The present embodiment respectively establishes an attached sucker 3 all around at the edge of body 1, basically identical with the set-up mode of sucker 3 attached in embodiment three, certainly, the present embodiment can adopt the set-up mode of attached sucker 3 in embodiment one or embodiment two to reach identical technique effect equally.
The utility model adopts the main sucker 2 and attached sucker 3 structure that match and arrange, main sucker 2 adopts one in two circle suckers, multi-turn sucker or the multi-sucker can crossing over small embossment class obstacle or combination, for the obstacle that the main suckers such as crack, border or small stair cannot be crossed over, attached sucker 3 can detect and in advance to robot early warning, main sucker is evaded, for the small embossment class obstacle that attached sucker is undetected, main sucker is directly crossed over, while guarantee robot security performance, improve machine task efficiency.
Claims (8)
1. an absorption robot, comprise body (1), control unit and sensor, described organism bottom is provided with main sucker (2), it is characterized in that, described main sucker (2) periphery is also provided with attached sucker (3), described sensor detects the vacuum of described attached sucker (3), and the information detected is sent to described control unit, control unit receives the information that described sensor sends and carries out analyzing and processing, and send control instruction, control described body (1) action.
2. adsorb robot as claimed in claim 1, it is characterized in that, between described attached sucker (3) and described main sucker (2), there is gap.
3. adsorb robot as claimed in claim 2, it is characterized in that, the area of described attached sucker (3) is less than 1/2nd of the area of described main sucker (2).
4. adsorb robot as claimed in claim 2, it is characterized in that, described attached sucker (3) is arranged on the edge of body (1) bottom.
5. adsorb robot as claimed in claim 1, it is characterized in that, described main sucker (2) is two circle sucker, multi-turn sucker or multi-sucker structures, makes main sucker (2) cross over small embossment class barrier.
6. adsorb robot as claimed in claim 1, it is characterized in that, the quantity of described attached sucker (3) is 1, is front with the direct of travel of body (1), and described attached sucker (3) is located at the front side of described main sucker (2).
7. adsorb robot as claimed in claim 1, it is characterized in that, the quantity at least two of described attached sucker (3), be front with the direct of travel of body (1), sucker (3) attached described at least one is located at the front side of described main sucker (2), all the other attached suckers (3) that removing is arranged on beyond the attached sucker (3) on front side of described main sucker (2) are arranged on described main sucker (2) left and right sides and/or rear side.
8. adsorb robot as claimed in claim 7, it is characterized in that, the quantity of described attached sucker (3) is 4, respectively arranges one in the side all around of described main sucker (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420118838.6U CN204071930U (en) | 2014-03-17 | 2014-03-17 | Absorption robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420118838.6U CN204071930U (en) | 2014-03-17 | 2014-03-17 | Absorption robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204071930U true CN204071930U (en) | 2015-01-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420118838.6U Expired - Fee Related CN204071930U (en) | 2014-03-17 | 2014-03-17 | Absorption robot |
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| CN (1) | CN204071930U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015074530A1 (en) * | 2013-11-20 | 2015-05-28 | 苏州科沃斯商用机器人有限公司 | Suction-type automatically cleaning machine |
| CN104921654A (en) * | 2014-03-17 | 2015-09-23 | 科沃斯机器人科技(苏州)有限公司 | Suction robot |
| CN105193342A (en) * | 2015-10-09 | 2015-12-30 | 深圳市宝乐机器人技术有限公司 | Window cleaning robot |
| CN105212822A (en) * | 2015-10-08 | 2016-01-06 | 深圳市宝乐机器人技术有限公司 | A kind of window wiping robot |
| CN105231950A (en) * | 2015-10-08 | 2016-01-13 | 深圳市宝乐机器人技术有限公司 | Window cleaning robot and cleaning mode thereof |
| CN106214055A (en) * | 2016-09-29 | 2016-12-14 | 深圳市宇辰智能科技有限公司 | A kind of robot for cleaning wall surfaces |
| CN106264301A (en) * | 2015-06-04 | 2017-01-04 | 赵志谋 | Robot |
| US20170202412A1 (en) * | 2016-01-19 | 2017-07-20 | Jiangsu Midea Cleaning Appliances Co., Ltd. | Window-cleaning robot and method for controlling the same |
| CN107320010A (en) * | 2017-09-05 | 2017-11-07 | 界首市民强农业发展有限公司 | The robot that a kind of remote control work high above the ground cleans the windows |
-
2014
- 2014-03-17 CN CN201420118838.6U patent/CN204071930U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015074530A1 (en) * | 2013-11-20 | 2015-05-28 | 苏州科沃斯商用机器人有限公司 | Suction-type automatically cleaning machine |
| CN104921654A (en) * | 2014-03-17 | 2015-09-23 | 科沃斯机器人科技(苏州)有限公司 | Suction robot |
| WO2015139607A1 (en) * | 2014-03-17 | 2015-09-24 | 科沃斯机器人有限公司 | Suction robot |
| CN106264301A (en) * | 2015-06-04 | 2017-01-04 | 赵志谋 | Robot |
| CN106264301B (en) * | 2015-06-04 | 2018-10-23 | 赵志谋 | Robot |
| CN105212822A (en) * | 2015-10-08 | 2016-01-06 | 深圳市宝乐机器人技术有限公司 | A kind of window wiping robot |
| CN105231950A (en) * | 2015-10-08 | 2016-01-13 | 深圳市宝乐机器人技术有限公司 | Window cleaning robot and cleaning mode thereof |
| CN105193342A (en) * | 2015-10-09 | 2015-12-30 | 深圳市宝乐机器人技术有限公司 | Window cleaning robot |
| US20170202412A1 (en) * | 2016-01-19 | 2017-07-20 | Jiangsu Midea Cleaning Appliances Co., Ltd. | Window-cleaning robot and method for controlling the same |
| CN106214055A (en) * | 2016-09-29 | 2016-12-14 | 深圳市宇辰智能科技有限公司 | A kind of robot for cleaning wall surfaces |
| CN107320010A (en) * | 2017-09-05 | 2017-11-07 | 界首市民强农业发展有限公司 | The robot that a kind of remote control work high above the ground cleans the windows |
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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 | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS Co.,Ltd. Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150107 Termination date: 20210317 |