CN208007132U - Walking module and clean robot - Google Patents
Walking module and clean robot Download PDFInfo
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- CN208007132U CN208007132U CN201820292626.8U CN201820292626U CN208007132U CN 208007132 U CN208007132 U CN 208007132U CN 201820292626 U CN201820292626 U CN 201820292626U CN 208007132 U CN208007132 U CN 208007132U
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- crawler belt
- sucker
- negative pressure
- walking module
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Abstract
The utility model provides a kind of walking module and clean robot, and the walking module includes a pair of of the crawler belt being oppositely arranged, the driving mechanism of the driving crawler belt rotation, multiple crawler belt suckers in track outer surface is arranged, the negative pressure source that is connected to the crawler belt sucker；The crawler belt includes working region parallel with walkway surface and towards walkway surface, and in the walking module walking process, while the crawler belt sucker in crawler belt working region is no less than M, M >=2；The crawler belt sucker includes N groups, M >=N >=2；Independent gas circuit is equipped between every group of crawler belt sucker and the negative pressure source, the negative pressure source provides independent negative pressure by the independent gas circuit for every group of crawler belt sucker；One group of crawler belt sucker can not normal sorption in wall general work when, nor affect on the operation of entire walking module.
Description
Technical field
The utility model is related to robot field more particularly to a kind of walking module may span across gap walking and with this
The clean robot of walking module.
Background technology
Currently, clean robot is increasingly entering in daily life, it is not only able to liberation both hands, additionally it is possible to instead of
Manually carry out some dangerous cleanings.By taking robot for cleaning wall surfaces as an example, can clean higher glass curtain wall, window,
The wall surfaces such as the severe solar panel of working environment.However these wall surfaces and non-horizontal surface, angle of inclination is larger, therefore how
Ensure robot for cleaning wall surfaces in the process of walking, cleaning whether be effectively adsorbed on wall surface do not fall in the process, need to examine
Consider various factors.
In addition, there are gaps between glass curtain wall, window, solar panel, existing robot for cleaning wall surfaces can not
It walks across gap or window frame, needs manually to carry, make troubles to cleaning.
In view of this, it is necessary to existing walking module and clean robot be improved, to solve the above problems.
Utility model content
The purpose of this utility model is to provide a kind of walking module may span across gap walking and there is the walking module
Clean robot.
To achieve the above object, the utility model provides a kind of walking module, including be oppositely arranged a pair of of crawler belt, drive
The driving mechanism of the dynamic crawler belt rotation is arranged in multiple crawler belt suckers of track outer surface, is connected to the crawler belt sucker
Negative pressure source；The crawler belt includes working region parallel with walkway surface and towards walkway surface, is walked in the walking module
In the process, while the crawler belt sucker in crawler belt working region is no less than M, M >=2；The crawler belt sucker includes N groups, M
≥N≥2；Independent gas circuit is equipped between every group of crawler belt sucker and the negative pressure source, the negative pressure source is institute by the independent gas circuit
It states every group of crawler belt sucker and independent negative pressure is provided.
As a further improvement of the utility model, simultaneously in the working region the crawler belt sucker belong to
Few two different groups.
The number for belonging to same group of the crawler belt sucker arranged adjacent as a further improvement of the utility model, is small
In the total number of the crawler belt sucker simultaneously in the working region.
Belong to other groups between same group of the adjacent crawler belt sucker as a further improvement of the utility model,
The arrangement number of crawler belt sucker is less than while being in the total number of the crawler belt sucker of the working region.
The total number of each group of crawler belt sucker is less than while being in working region as a further improvement of the utility model,
Crawler belt sucker number when, each group of crawler belt sucker whole arranged adjacent.
Two crawler belt suckers of arbitrary neighborhood belong to different groups as a further improvement of the utility model,.
As a further improvement of the utility model, when N >=3, two crawler belt suckers before and after each crawler belt sucker adhere to separately
In different groups.
The walking module includes multiple negative pressure sources as a further improvement of the utility model, every group of shoe
Band sucker is connected to different negative pressure sources.
To realize that above-mentioned purpose of utility model, the utility model additionally provide a kind of clean robot, including cleaning unit
With above-mentioned walking module.
The clean robot also includes the main suction positioned at robot bottom as a further improvement of the utility model,
Disk, the main sucker have adsorbed state and non-adsorbed state, and when clean robot turns to, the main sucker is in adsorption-like
State.
The utility model has the beneficial effects that：In the walking module of the utility model, the crawler belt sucker includes N groups；Often
Independent gas circuit is equipped between group crawler belt sucker and the negative pressure source, the negative pressure source is every group of crawler belt by the independent gas circuit
Sucker provides independent negative pressure, and further, while the crawler belt sucker in working region belongs at least two different groups,
To, one group of crawler belt sucker can not normal sorption when walking surface/wall general work, nor affect on entire walking module
Operation.
Description of the drawings
Fig. 1 is the overall structure diagram of the clean robot of the utility model.
Fig. 2 is that the clean robot of the utility model removes the part-structure schematic diagram after shell.
Fig. 3 is the walking module schematic diagram of clean robot shown in FIG. 1.
Fig. 4 is the structural schematic diagram of the negative pressure component of clean robot shown in FIG. 1.
Fig. 5 is the exploded view of Fig. 4.
Fig. 6 is sectional views of the Fig. 4 along the directions A-A.
Fig. 7 is structural schematic diagram of the negative pressure component of clean robot shown in FIG. 1 in another embodiment.
Fig. 8 is the exploded view of Fig. 7.
Fig. 9 is the part walking module schematic diagram of the clean robot of the utility model.
Figure 10 is the views of Fig. 9 in X direction.
Figure 11 is the stereogram of the pressure valve of clean robot shown in 1.
Figure 12 be pressure valve shown in Figure 11 in pressure release state along the sectional view in the directions B-B.
Figure 13 is structural schematic diagram of the pressure valve shown in Figure 12 in the transient process of piston pull.
Figure 14 is structural schematic diagram of the pressure valve shown in Figure 12 in non-pressure release state.
Status diagram of the clean robot of the utility model when turning to when Figure 15.
Specific implementation mode
In order to keep the purpose of this utility model, technical solution and advantage clearer, below in conjunction with the accompanying drawings and it is embodied
The utility model is described in detail in example.
It is the clean robot 100 of the utility model as shown in Fig. 1 to Figure 15, to clean glass curtain wall, window, too
The wall surfaces such as positive energy solar panel.Clean robot 100 mainly include shell 1, fuselage 2, the walking module 3 for walking in wall surface,
Adsorption module 4 for being fixed on wall surface, the cleaning module 5 for cleaning wall surface, for detecting wall surface edge, barrier etc.
Sensor assembly (not shown) and control module 6；The control module 6 can be communicated with other modules and be connect.In order to describe
It is convenient, " wall surface " is known as " working surface " or " walkway surface " or " table to be cleaned again when describing different modules below
Face ".
Adsorption module 4 includes mainly vacuum source 41 and the main sucker 42 positioned at 100 bottom of the clean robot, can be made
It obtains clean robot 100 to be adsorbed on wall surface, such as glass curtain wall, window, solar panel etc..The main sucker 42 has
Adsorbed state and non-adsorbed state, wherein " the main sucker is in adsorbed state ", it can under the different location of this paper or scene
Selection uses and mode is described below：The main sucker 42 work or main sucker 42 is in running order or the main sucker
42 are adsorbed in surface to be cleaned etc.；" the main sucker is in non-adsorbed state ", it is optional under the different location of this paper or scene
It selects to use and mode is described below：The main sucker 42 does not work or the main sucker 42 is in off working state or the main suction
42 pressure release of disk etc..
Cleaning module 5 includes for storing the dirt box of dust, cleaning head, being used to dust being swept into dirt box on cleaning head
The automatic-lifting type round brush of storage, the efficient brushless motor for dust suction, the cleaning module 5 blows, sweeps, inhales and synchronously completes, energy
Glass curtain wall, window, 99% surface dust accumulation of solar panel are removed, the photoelectric conversion efficiency of solar panel is promoted, is saved
About water and human resources, improve the benefit of photovoltaic generation.
Sensor assembly can be used for detecting wall surface edge, gap, barrier etc., be convenient for automatic planning action route.
Walking module 3 is moved for clean robot 100 on wall surface, it is main comprising a pair of of the crawler belt 31 being oppositely arranged,
It drives the driving mechanism 32 of the rotation of the crawler belt 31, be arranged in multiple crawler belt suckers 33 of 31 outer surface of crawler belt and the crawler belt
The negative pressure component 34 that sucker 33 is connected to.
The driving mechanism 32 include motor-driven gearbox, the first driving wheel 321 for being connect with the gearbox and
Driven wheel 322, first driving wheel 321 and the driven wheel 322 are distributed in the both sides of 31 length direction of the crawler belt, described
Driving mechanism 32 is used to adjust the rotation direction and velocity of rotation of the crawler belt 31.
The crawler belt 31 includes working region parallel with walkway surface and towards walkway surface；Walking module normal operation
When, the part crawler belt sucker 33 for being located at the working region is adsorbable in walkway surface, is located at other crawler belts of non-active area
Sucker 33 then leaves walkway surface.The crawler belt sucker 33 is as the rotation of the crawler belt 31 is alternately in working region and non-work
Make region switching.
It, can be by external force directly by the crawler belt when crawler belt sucker 33 is converted from working region to non-active area
Sucker 33 and wall surface separate；It can also be by the way that the reversely inflation pressure release of the negative pressure component 34 be arranged；In addition pressure release can also be set
Component gives 33 pressure release of crawler belt sucker, the pressure release component that can select the structures such as pressure valve 35.
The negative pressure component 34 includes negative pressure source 341, the out splice going splice 342 being connected to the negative pressure source 341, driving institute
State the second driving wheel 343 of the rotation of out splice going splice 342；The linear velocity of first driving wheel 321 and second driving wheel 343
Ratio ρ1Equal to the ratio ρ of the perimeter of the length and the second driving wheel 343 of the crawler belt 312Namely the out splice going splice 342
With 33 synchronous rotary of crawler belt sucker.So as to avoid connecting tube 345 phase of the connecting band track sucker 33 with negative pressure component 34
Mutually winding, ensures no matter the crawler belt sucker 33 turns to any position and can ensure the supply gas circuit connection of negative pressure.Specifically
Ground, the walking module 3 further include the nebenkern (not labeled) coaxial with the first driving wheel 321, first driving wheel 321 with
The nebenkern radius ratio is ρ1, the nebenkern connect with second driving wheel 343 by synchronous belt 344.
In order to realize that the rotation of the out splice going splice 342, the utility model provide two kinds of specific embodiments.
Embodiment one, with reference to shown in figure 7 and Fig. 8, the out splice going splice 342 is fixedly connected with the negative pressure source 341, institute
It is indirectly solid directly or by other structures with the out splice going splice 342 and/or 341 phase of the negative pressure source to state the second driving wheel 343
It is fixed；So that the negative pressure source 341, the out splice going splice 342 with 33 synchronous rotary of crawler belt sucker.Wherein, " fixation " can
To be interpreted as directly or indirectly being integrally formed, the two will not relatively move.
The negative pressure component 34 further includes the relatively described 100 fixed fixing bracket 346 of clean robot, passes through
Bearing 347 is rotatably sleeved on the runing rest 348 in the outside of the fixing bracket 346, with the runing rest 348 far from institute
The side for stating fixing bracket 346 is mutually fixed to drive the second driving wheel 343 of the rotation of the runing rest 348.The rotation branch
There is the fixing piece 3481 protruded into second driving wheel 343 on frame 348, have on second driving wheel 343 and be used for
Accommodate the mounting hole 3431 of the fixing piece 3481.The linear velocity of first driving wheel 321 and second driving wheel 343
Ratio ρ1Equal to the ratio ρ of the perimeter of the length and the second driving wheel 343 of the crawler belt 312, so that the out splice going splice
342 with 33 synchronous rotary of crawler belt sucker.
Specifically, there is the fixing bracket 346 hollow portion, the negative pressure source 341 to be located in the hollow portion and can phase
The fixing bracket is rotated.It is equipped on the runing rest 348 and second driving wheel 343 for the out splice going splice
342 perforation 349 passed through, it is described defeated when the negative pressure source 341 is located in the runing rest 348 and the fixing bracket 346
Go out connector 342 to be located in the perforation 349.When first driving wheel 321 drives the crawler belt 31 to rotate, the nebenkern
By the transmission of synchronous belt 344 second driving wheel 343 and the runing rest 348 are rotated synchronously, while with second
Driving wheel 343 and/or the relatively-stationary out splice going splice 342 of runing rest 348 and the negative pressure source 341 also realize synchronous rotation
Turn.
The negative pressure component 34 may include multiple out splice going splices 342, at this time the runing rest 348 and described
The perforation 349 correspondingly of the multiple and out splice going splice 342 is equipped on two driving wheels 343,349 interval of each perforation is set
It sets, it is preferably symmetrical.
In the present embodiment, the negative pressure source 341 obtains power supply by wireless power mode；Or by being equipped in institute
The brush stated on negative pressure source 341 and the fixing bracket 346 obtains power supply with slip ring.The out splice going splice 342 and the negative pressure
Source 341 is directly fixed, is connected without other gas circuits, can avoid the problem of poor air-tightness occur and reduce power consumption.
Embodiment two, the negative pressure component 34 further include for being rotatablely connected the out splice going splice 342 and the negative pressure source
341 rotary joint 340, the negative pressure source 341 is fixed, the rotation synchronous with the crawler belt sucker 33 of the out splice going splice 342
Turn.
The rotary joint 340 includes hollow sleeve 34a for being connect with the negative pressure source 341, by bearing 34b
It is connected to the gas circuit of rotating body 34c in the sleeve 34a, the connection out splice going splice 342 and the negative pressure source 341.Institute
It is indirectly solid directly or by other structures part with the rotating body 34c phases to state out splice going splice and second driving wheel 343
It is fixed；" fixation " can be understood as directly or indirectly being integrally formed, and the two will not relatively move.
Specifically, the rotary joint 340 further includes with the fixed case 34d of the rotating body 34c phases, positioned at described
Bearing 34j and the case 34d between case 34d and the sleeve 34a is mutually solid away from the side of the rotating body 34c
Fixed the second driving wheel (not shown).
The gas circuit include be opened on the sleeve 34a and radially run through the sleeve 34a blow vent 34e,
Set on the rotating body 34c peripheral surface and with the matched annular gas tank 34f of the blow vent 34e, in the rotation lead
The pipeline of the annular gas tank 34f and the out splice going splice 342 are connected to inside body 34c.The pipeline is included in the rotation master
Inside body 34c it is axially extending along its and be connected to the out splice going splice 342 tracheae 34h, radially connect along the rotating body 34c
The communicating pipe 34g of logical the annular gas tank 34f and the tracheae 34h.
The relatively described negative pressure sources 341 of the sleeve 34a are fixed, and the blow vent 34e is multiple defeated with the negative pressure source 341
It docks one by one outlet.When the rotating body 34c is rotated relative to the sleeve 34a, the blow vent 34e always with the annular
Air drain 34f connections, in order to ensure that air-tightness, the rotary joint 340 further include being located at the rotating body 34c and the sleeve
Sealing shroud 34i between 34a for sealing the annular gas tank 34f.The blow vent 34e is connect with the negative pressure source 341, gas
The negative pressure source 341 is connected to by road with the out splice going splice 342.
The rotating body 34c is fixed towards the side of the case 34d and 342 phase of the out splice going splice, and the cover
There is the perforation passed through for the out splice going splice 342 on shell 34d.First driving wheel 321 and second driving wheel 343
Linear velocity ratio ρ1Equal to the ratio ρ of the perimeter of the length and the second driving wheel 343 of the crawler belt 312, so that described defeated
Go out connector 342 and 33 synchronous rotary of crawler belt sucker.When the driving mechanism 32 drives the crawler belt 31 to rotate, nebenkern is logical
It crosses the transmission of synchronous belt 344 and then second driving wheel and the case 34d is driven to rotate synchronously, the case 34d drives
The out splice going splice 342 and the rotating body 34c with 33 synchronous rotary of crawler belt sucker.
Further, the negative pressure component 34 may include multiple out splice going splices 342, at this point, the rotary joint 340
In be equipped with it is multiple with 342 one-to-one gas circuit of the out splice going splice.The blow vent 34e of different gas circuits is along the sleeve 34a axis
To being spaced apart, the annular gas tank 34f of different gas circuits is distributed along the axially spaced-apart of the rotating body 34c and adjacent annular air drain
Spaced walls between 34f are sealed with the sleeve 34a by sealing shroud 34i, and the tracheae 34h of different gas circuits is located side by side at described
It is in rotating body 34c and corresponding with arrangement of the out splice going splice 342 on the rotating body 34c.
The negative pressure component 34 is provided to multiple crawler belt suckers 33 there are many forms of negative pressure：When using a negative pressure
When source 341 provides the mode of negative pressure to whole crawler belt suckers 33 simultaneously, when one of 33 pressure release of crawler belt sucker, it can influence entire
The vacuum degree of crawler belt sucker 33 and cause clean robot 100 that can not be adsorbed on wall surface, the walking module 3 can not work.
When each crawler belt sucker 33 provides negative pressure using independent negative pressure source 341, cost is higher.
In the utility model, the crawler belt sucker 33 is grouped, every group of crawler belt sucker 33 and the negative pressure source 341 it
Between be equipped with independent gas circuit, the negative pressure source 341 by the independent gas circuit be every group of crawler belt sucker 33 independent negative pressure is provided.
It is as follows that the crawler belt sucker 33 is grouped situation：The clean robot 100 in the process of walking, is in simultaneously
The crawler belt sucker 33 of working region is no less than M, M >=2；The crawler belt sucker 33 is divided into N groups, M >=N >=2.
When crawler belt 31 turns to any position, multiple crawler belt suckers 33 in working region belong at least two
Different groups；Alternatively, being in simultaneously in the crawler belt sucker 33 of working region, at least there are two belong to different groups.Therefore, exist
One group of crawler belt sucker 33 can not normal sorption when the heart walks table general work, nor affect on the operation of entire walking module 3.
The arrangement mode of N group crawler belts sucker 33 is more, and the number for belonging to same group of 33 arranged adjacent of crawler belt sucker is small
In the total number of the crawler belt sucker 33 simultaneously in working region, other crawler belt suckers 33 for being now in working region belong to
The operation of walking module 3 is not influenced when one group of crawler belt sucker 33 can not work in other groups.
The arrangement number for belonging to the crawler belt sucker 33 between same group of the adjacent crawler belt sucker 33 is less than together
When the crawler belt sucker 33 in the working region total number.
When the total number of each group of crawler belt sucker 33 is less than while being in the number of the crawler belt sucker 33 of working region, often
One group of crawler belt sucker 33 can whole arranged adjacents, at this time multigroup crawler belt sucker 33 be intervally arranged, the arrangement mode that can refer to is：
All first group of crawler belt sucker 33 ..., whole N group crawler belts suckers 33.In this case, same group of crawler belt sucker 33 is provided
345 tunnel of the connecting tube design of negative pressure is relatively simple.Certainly, each group of crawler belt sucker 33 can also be divided by other group of crawler belt sucker 33
Arrangement is separated, arrangement mode is no longer exhaustive.
When the total number of each group of crawler belt sucker 33 is more than while being in the number of the crawler belt sucker 33 of working region, together
The number of one group of 33 arranged end of crawler belt sucker is less than the number of the crawler belt sucker 33 in working region；It just can guarantee same
When multiple crawler belt suckers 33 in working region belong at least two groups.
Preferably, two crawler belt suckers 33 of arbitrary neighborhood belong to different groups, have compared two neighboring crawler belt sucker 33
Belong to same group of embodiment, even if one of which crawler belt sucker 33 is when something goes wrong, before and after two crawler belt suckers 33 still
It is so in working region, can ensure adsorption effect well.
Further, in the embodiment with N >=3, two crawler belt suckers preferably before and after each crawler belt sucker 33
33 belong to different groups, therefore when any one crawler belt sucker 33 can not work before and after the crawler belt sucker 33, another
A adjacent crawler belt sucker 33 is worked at the same time with the crawler belt sucker 33, can avoid due to total adsorption capacity of local walkway surface reduces
Adsorb unstable problem.
If in addition, regarding several crawler belt suckers 33 of the arranged end on crawler belt 31 as a cycle group, each cycle
The selection of crawler belt sucker 33 in group and arrangement mode are selected from any one of the above arrangement mode, or meet above-mentioned arrangement limit
It is fixed, it is repeated no more in this.The arrangement mode of crawler belt sucker 33 in two neighboring cycle group is identical or different.
Such as Fig. 3, for the present embodiment by taking 4 groups of crawler belt suckers 33 as an example, the negative pressure component 34 has 4 out splice going splices
342, each out splice going splice 342 is connected to by independent connecting tube 345 with one of which crawler belt sucker 33.Also, with
In the embodiment of rotary joint 340, the rotary joint has 4 independent gas circuits, passes through 4 blow vent 34e and negative pressure source
341 connections.
Number 1,2,3,4 close to the crawler belt sucker 33 represents grouping, and arrangement mode is：1st group of crawler belt sucker
33, the 2nd group of crawler belt sucker 33, the 3rd group of crawler belt sucker 33, the 4th group of crawler belt sucker 33, the 1st group of crawler belt sucker 33, the 2nd group of crawler belt
Sucker 33, the 3rd group of crawler belt sucker 33, the 4th group of crawler belt sucker 33 ....It is a cycle group with adjacent 4 crawler belt suckers 33,
The arrangement mode of 4 groups of crawler belt suckers 33 is identical in two neighboring cycle group.
Multiple crawler belt suckers 33 are in working region simultaneously, even if one of crawler belt sucker 33 loses adsorption function, clearly
Clean robot 100 will not fall down；Therefore it is defined for convenience there are gap either crack or when protrusion on wall surface
The wall surface of gap both sides is respectively the first wall surface, the second wall surface, and the crawler belt sucker 33 positioned at gap location can not be adsorbed,
But other crawler belt suckers 33 adjacent thereto still can be adsorbed on wall surface, so as to from the first wall surface across gap to
Second wall surface is advanced.I.e. the walking module 3 can cross over the gap of two neighboring wall surface side by side, such as the cleaning machine
People 100 can run to another sun across the gap of two neighboring solar panel from a solar panel
It can solar panel.
Specifically, the clean robot 100 is to be in working region from the first wall surface to the second wall surface traveling process
Pressure release when forward crawler belt sucker 33 is in gap location in multiple crawler belt suckers 33, therefore do not play suction-operated；Positioned at rear side
Other group crawler belt suckers 33 clean robot 100 is adsorbed on the first wall surface；Advance to the crawler belt of front side
Sucker 33 is located on the second wall surface and is adsorbed on the second wall surface, and 33 pressure release of crawler belt sucker positioned at gap location does not play absorption and makees
With, and other crawler belt suckers 33 organized still are adsorbed on the first wall surface positioned at rear side；It advances in working region
Whole crawler belt suckers 33 are located on the second wall surface, and clean robot 100 completes the leap from the first wall surface to the second wall surface.
In 100 walking process of clean robot, multiple 33 alternating sorbents of crawler belt sucker above crawler belt 31 are in working surface；
When the crawler belt sucker 33 is converted by working region to non-active area, it could be detached with wall surface by pressure release.
In the present embodiment, the walking module 3 further includes being connected between the negative pressure source 341 and the crawler belt sucker 33
Pressure valve 35, the pressure valve 35 is fixed on the crawler belt 31, can be connected to the crawler belt sucker 33 and the negative pressure
Source 341 provides negative pressure to the crawler belt sucker 33 and can be connected to the crawler belt sucker 33 with air to realize pressure release.
The pressure valve 35 of the utility model includes valve body 351 that is hollow and having opening, from described in opening insertion
Valve body and can by the drivingly piston rod 353 of inside and outside pull, be sheathed on the partial piston bar 353 being always positioned in valve body 351
Sealing ring 354, sealing element 358 and to cover the lid 352 of the opening.The lid 352, which is equipped with, supplies the work
The trepanning that stopper rod 353 passes through, the sealing ring 354 and sealing element 358 coordinate with 351 inner wall sealing of the valve body.
The piston rod 353 is equipped with fixed along the first positioning region of the piston rod 353 being radially-inwardly recessed and second
Position portion, the sealing element 358 are arranged in first positioning region, and the sealing ring 354 is arranged in the second positioning region.
The first through hole 3511 through the valve body 351, the second through-hole 3512 and third are offered on the valve body 351
Through-hole 3513.First through hole 3511, the second through-hole 3512 and third through-hole 3513 be respectively used to atmosphere, with need to provide
The work package connection of negative pressure is connected to the negative pressure component of offer negative pressure, with to needing the work package of negative pressure to release stress.For side
Just it describes, is described in detail below with reference to the applying in clean robot 100 of pressure valve 35 of the utility model.Wherein,
One through-hole 3511, the second through-hole 3512 and third through-hole 3513 are referred to as the big vent hole with atmosphere according to its purposes respectively
3511, the sucker connector 3512 for being connected to crawler belt sucker 33, the negative pressure connector 3513 for being connected to negative pressure component 34.When
So, in other embodiments, the first through hole 3511 can be connected to negative pressure component 34, and third through-hole 3513 can with it is big
Gas is connected to.
The pressure valve 35 has first state and the second state, described close when the pressure valve 35 is in first state
At least partly structure of seal 354 between the first through hole 3511 and the second through-hole 3512, second through-hole 3512 with
The third through-hole 3513 is connected to, and when the pressure valve 35 is in the second state, at least partly structure of the sealing ring 354 is located at
Between second through-hole 3512 and third through-hole 3513, the first through hole 3511 is connected to second through-hole 3512.This
In embodiment, first state corresponds to non-pressure release state, and the second state corresponds to pressure release state；If the first through hole 3511 can be with
Negative pressure component 34 is connected to, and third through-hole 3513 can be with atmosphere, then first state corresponds to pressure release state, the second state pair
Answer non-pressure release state.When the pressure valve 35 switches between first state, the second state and first state and the second state,
The sealing ring 354 blocks first through hole 3511 and third through-hole 3513 always；It can be appreciated that：Along the piston rod 353
The height of the sealing ring 354 is moved not less than the width of second through-hole 3512 in the piston rod 353 on moving direction
Height on direction.
In the present embodiment, the big vent hole 3511 is set to opposite with the lid 352 one on the valve body 351
Side, the sucker connector 3512 are set to the valve body with the negative pressure connector 3513 along the moving direction of the piston rod 353
351 middle position.In addition, the valve body 351 is fixed with the lid 352 by screw；Also have in the pressure valve 35
Be useful for the screw hole valve body 351 being fixed on the crawler belt 31.
In the present embodiment, the pressure valve 35 may include driving the pushing mechanism 355 of 353 pull of piston rod.In
In other embodiment, when the pressure valve 35 does not include pushing mechanism 355, then need that drive component is arranged, with by the drive
Pull inside and outside piston rod 353 described in the outer power drive of dynamic component.
After the piston rod 353 is pushed by the pushing mechanism 355 or external force in the valve body 351, the sealing ring 354
Between the big vent hole 3511 and the sucker connector 3512, the sucker connector 3512 and the negative pressure connector 3513
Connection, the pressure valve 35 are in non-pressure release state.The piston rod 353 is pulled out by the pushing mechanism 355 or external force
When the valve body 351, the sealing ring 354 is moved to the direction far from the big vent hole 3511, and the sealing ring 354 is complete
The sucker connector 3512 is covered, the sucker connector 3512 is disconnected with the negative pressure connector 3513, the big vent hole 3511
It opens so that the crawler belt sucker 33 keeps temporary negative pressure.The piston rod 353 is drivingly continued to exit the valve body 351,
For at least partly structure of the sealing ring 354 between the sucker connector 3512 and negative pressure connector 3513, the air is logical
Hole 3511 is connected to the sucker connector 3512 realizes that pressure release, the pressure valve 35 are in pressure release state, at this time the piston rod
353, not by outer power drive, are in free state.The pressure valve 35 is by the setting of the sealing ring 354, in the process of pressure release
In, it ensure that and keep blocking between big vent hole 3512 and negative pressure connector 3513, simultaneously effective utilize existing for sucker temporarily
Negative pressure, pressure leak process is slow, and vibrations are small.
Preferably, when the sealing ring 354 loses driving force reinstatement state, the sealing ring 354 is entirely located in described
Between sucker connector 3512 and negative pressure connector 3513, the sealing effect between the negative pressure connector 3513 and the big vent hole 3511
More preferably, the negative pressure connector 3513 can ensure effective negative pressure to fruit；To be again at work in corresponding crawler belt sucker 33
When region, negative pressure component 34 is not necessarily to compensate the negative pressure in connecting tube 345, reduces energy consumption to a certain extent.
The sealing ring 354 includes the partial piston being distributed in along 353 axially spaced-apart of the piston rod in valve body 351
The first sealing ring 3541 on bar 353 and the second sealing ring 3542, first sealing ring 3541 are located at second sealing ring
Between 3542 and the opening.The height of the sealing ring 354 along 353 moving direction of the piston rod being mentioned above is being set
It sets in the embodiment of the first sealing ring 3541 and the second sealing ring 3542 and refers to：First sealing ring 3541 and described second
The distance between both sides that sealing ring 3542 is located remotely from each other are not less than the sucker connector 3512 and the negative pressure connector 3513
The distance between, and first sealing ring 3541 and second sealing ring 3542 seal with the valve body 351 and coordinate.
In addition, the setting of the sealing ring 354 of the utility model is not limited thereto, in other embodiments, such as sealing ring 354 can
To be a single monoblock sealing ring 354, as long as can ensure between the first state and a second state to switch in pressure valve 35
During, the sealing ring 354 stops that first through hole 3511 and second leads to 3512 holes always, so effectively ensures
It is blocked between vent hole 3512 and negative pressure connector 3513 greatly, and utilizes temporary negative pressure, pressure release existing for the crawler belt sucker 33
Process is slow, and vibrations are small；And the negative pressure source 341 will not be made to be connected to air and influence and provided to other crawler belt suckers 33
Negative pressure.
When the piston rod 353 is pushed by the pushing mechanism 355 or external force in the valve body 351, first sealing
Circle 3541 and second sealing ring 3542 are between the big vent hole 3511 and the sucker connector 3512, the sucker
Connector 3512 is connected to the negative pressure connector 3513.When the outside force of the piston rod 353 is eliminated, 353 quilt of the piston rod
During the pushing mechanism 355 or external force pull out the valve body 351, first sealing ring 3541 and described second
Sealing ring 3542 is moved to the direction far from the big vent hole 3511, and first sealing ring 3541 is located at the sucker
Between connector 3512 and the negative pressure connector 3513, second sealing ring 3542 be located at the sucker connector 3512 with it is described big
When between vent hole 3511, the sucker connector 3512 is disconnected with the negative pressure connector 3513, the big vent hole 3511 to be made
It obtains the crawler belt sucker 33 and keeps temporary negative pressure.The piston rod 353 is drivingly continued to exit the valve body 351, described
Second sealing ring 3542 is between the sucker connector 3512 and negative pressure connector 3513, the big vent hole 3511 and the suction
Pressure release is realized in the connection of disk connector 3512.The pressure valve 35 passes through the first sealing ring 3541 and second sealing ring 3542
Setting, during pressure release, ensures to block between big vent hole 3512 and negative pressure connector 3513, and effectively utilizes described
Temporary negative pressure existing for crawler belt sucker 33, pressure leak process is slow, and vibrations are small.
Preferably, when second sealing ring 3542 is between the sucker connector 3512 and negative pressure connector 3513, institute
The first sealing ring 3541 is stated also to be located between the sucker connector 3512 and negative pressure connector 3513, the negative pressure connector 3513 with
Sealing effect between the big vent hole 3511 more preferably, can ensure effective negative pressure at the negative pressure connector 3513；To
When corresponding crawler belt sucker 33 is again positioned at working region, negative pressure component 34 is not necessarily to compensate the negative pressure in connecting tube 345, one
Determine to reduce energy consumption in degree.
In the present embodiment, the pressure valve 35 further includes being fixed on the piston rod 353 by modes such as screws to be located at institute
The rolling bearing 356 on the part in 351 outside of valve body is stated, the rolling bearing 356 is solid by screw with the piston rod 353
It is fixed.The walking module 3 further includes the guide rail for being set to 31 inside of the crawler belt and extending along the front-rear direction of its linear movement
357, the guide rail 357 have positioned at its bottom horizontal plane 3571, from 3571 front end of the horizontal plane upwards and extend forward
The inclined-plane 3572 that leans forward, from 3571 rear end of the horizontal plane upwards and the hypsokinesis inclined-plane 3573 that extends back.The pressure valve 35
It is fixed on the crawler belt 31, and the rolling bearing 356 is protruded out towards inside, in 31 rotation process of crawler belt, when the crawler belt
When sucker 33 is moved to the downside of the walking module 3, the rolling bearing 356 is along inclined-plane 3572, the horizontal plane of leaning forward
3571, hypsokinesis inclined-plane 3573 rolls simultaneously its pressure.The pushing mechanism 355 includes the guide rail 357, it is described to be ordinatedly set to
Resetting-mechanism 359 between valve body 351 and/or the lid 352 and the piston rod 353.
By taking forward movement as an example, the crawler belt sucker 33 in non-active area is moved to and the inclined-plane 3572 that leans forward
When at corresponding position, the inclined-plane 3572 that leans forward gradually push the rolling bearing 356 into valve body 351 gradually push-in described in
Piston rod 353, when the rolling bearing 356 is contacted with the horizontal plane 3571, the piston rod 353 is pushed into the valve body
Degree in 351 reaches maximum, and the valve body 351 is in non-pressure release state, the negative pressure connector 3513 and the sucker at this time
Connector 3512 is connected to, which is in working region.Crawler belt 31 is rotated further, and the rolling bearing 356 is moved to
With the hypsokinesis inclined-plane 3573 to it is corresponding when the pressure that receives of the piston rod 353 be gradually reduced, the piston rod 353 is multiple
It is gradually backed out the valve body 351 to the pressure valve 35 under the action of the mechanism 359 of position and is in pressure release state, it is corresponding at this time
Crawler belt sucker 33 is also converted by working region to non-active area.
The resetting-mechanism 359 is the spring 359 being set between the valve body 351 and the piston rod 353, specifically
The ground spring 359 is set between the valve body 351 and the opposite side and the piston rod 353 of lid 352.The piston
When the pressure that bar 353 receives the guide rail 357 is pushed into the valve body 351, the spring 359 is compressed；And the guide rail 357
When being eliminated to the pressure of the piston rod 353, the spring 359 resets while pushing the piston rod 353 to the valve body 351
Outer movement.
If pushing mechanism 355 is not arranged and drive component is arranged, the driving component offsets with the piston rod, to
Drive pull inside and outside the piston rod.The driving component can be motor, and the pull that the piston rod 353 is controlled by motor can
To realize the speed that automatically resets.
The sealing element 358 is arranged close to the opening.In the present embodiment, the sealing element 358 is sheathed on the piston
On bar 353, the sealing element 358 is arranged in the draw process of the piston rod 353, is let out even if pressure valve 35 is in non-
When pressure condition, the sealing element 358 is in communication with the outside caused gas leakage prevented also from the third through-hole 3513.Certainly, if
Three through-holes 3513 then can also omit the sealing element 358 to be connected to air.
It cooperates between the modules of the clean robot 100, can also independently split work to be applied to
Other products.The especially described walking module 3 is particularly important with the cooperation of the adsorption module 4.In the present embodiment, machine is cleaned
When 100 straight line moving of people, the main sucker 42 does not work, and walking module 3 works, and is handed over by multiple crawler belt suckers 33 on crawler belt 31
For being adsorbed in working surface；When clean robot 100 turns to, crawler belt sucker 33 does not work, and main sucker 42 is adsorbed in worksheet
Face, crawler belt 31 provide steering power, and entire clean robot 100 is driven to be rotated relative to main sucker 42 to turn to.
Structure in above-mentioned adsorption module 4 and walking module 3 optionally uses, to reach the clean robot
The requirement of 100 work.When it is only necessary to realize steering, the walking module 3 includes a pair of of the crawler belt 31 being oppositely arranged, drives
The driving mechanism 32 that the dynamic crawler belt 31 rotates；The adsorption module 4 includes the main suction for being connected to the clean robot bottom
Disk 42, the vacuum source 41 that negative pressure is provided to the main sucker 42；The clean robot 100 connects with the main sucker 42 rotation
It connects；When clean robot 100 need to be turned to side, the control module 6 starts the adsorption module 4 to the main sucker 42
Negative pressure is provided；The control module 6 starts the walking module 3, make its close to side to be diverted the crawler belt 31 backward
Mobile, the crawler belt 31 far from side to be diverted moves forward；It is not necessary that steering mechanism is additionally arranged, only pass through driving mechanism
32 driving a pair of crawler belts 31, which move backward forward, can be realized steering, and control mode is simple.Preferably, the movement of a pair of of crawler belt 31
Speed is identical, and it is safer to turn to.It should be noted that due in steering procedure, the relatively main sucker 42 of clean robot 100 revolves
Turn, thus crawler belt 31 move forward or move backward and non-rectilinear forward or backward.
Further, the adsorption module 4 further includes driving the main sucker 42 far from the clean robot 100 to inhale
Invest wall surface or close to the clean robot 100 to be detached from the up-down drive device 7 of the wall surface.Clean robot 100 needs
When steering, the control module 6 starts the adsorption module 4 so that the main sucker 42 is far from 100 bottom of the clean robot
Portion and compress wall surface, afterwards give main sucker 42 provide negative pressure；When clean robot 100 is kept straight on, the control module 6 controls up and down
So that the main sucker 42 close to 100 bottom of the clean robot, is detached with wall surface, reduction is rubbed or is prevented driving device 7
Main sucker 42 is worn.
In addition, when the adsorption module 4 further includes the relief valve to 42 pressure release of main sucker, clean robot 100 needs
When straight trip, the control module 6 controls the adsorption module 4 to 42 pressure release of main sucker, reduces friction.
When the walking module includes being arranged in multiple crawler belt suckers of track outer surface, to crawler belt sucker to provide negative pressure
Negative pressure component and to the crawler belt sucker pressure release pressure valve 35 when, operating mode is：Clean robot 100 needs to turn to
When, the control module 6 drives the adsorption module 4, and the up-down drive device 7 drives main sucker 42 to move down and by institute
Clean robot 100 to be stated to be adsorbed on wall surface, crawler belt sucker 33 is stopped, and a pair of of crawler belt 31 respectively forwardly, successively moves,
So that fuselage 2 is rotated towards 31 side of crawler belt of back rotation.Steering mechanism is arranged without additional in this walking manner,
It only drives a pair of of crawler belt 31 to move backward forward by driving mechanism 32 and steering can be realized, control mode is simple.Also, it is described
Fuselage 2 does not break away around 42 stable rotation of main sucker；In addition, stopping providing negative pressure to the crawler belt sucker 33 when rotation, subtract
Friction when small rotation between crawler belt sucker 33 and wall surface, reduces loss, increases the service life.
Such as it is shown in Fig. 2 the crawler belt 31 in left side rotates backward when needing to turn to the left, the crawler belt 31 of right shoe is to forward
It is dynamic, so that fuselage 2 is rotated around sucker module, on the work surface due to the absorption of sucker module, makes 2 stable rotation of fuselage, Bu Huifa
It is raw to break away.It is opposite when the moving direction of a pair of of crawler belt 31 is with left-hand rotation when needing to turn right, you can to complete right turn movements.
Specifically, the rotating direction control method of the clean robot 100 of the utility model, includes the following steps：
Control module 6 described in S10 starts the up-down drive device 7 so that the main sucker 42 is far from the cleaning machine
The bottom of people 100 and compress surface to be cleaned；
S1：Control module 6 starts the adsorption module 4 and provides negative pressure to the main sucker 42, and the main sucker 42 provides
Adsorption capacity makes clean robot 100 be adsorbed in surface to be cleaned；
S20：The control module 6 starts the pressure release component to 33 pressure release of crawler belt sucker；
S2：The control module 6 starts the walking module 3, and the crawler belt 31 close to side to be diverted moves back
Dynamic, the crawler belt 31 far from side to be diverted moves forward；
S3：The control module 6 controls the negative pressure component 34 and provides negative pressure to the crawler belt sucker 33, and described in control
Relief valve 35 gives 42 pressure release of main sucker.At this point, crawler belt sucker 33 has been adsorbed in working surface, clean robot can subsequently be cut
Shift to straight trip motion state.
The utility model also provides a kind of progress control method of clean robot 100, includes the following steps：
It is adsorbed in surface to be cleaned using main sucker 42, crawler belt sucker 33 is in non-adsorbed state, and walking module 3 drives institute
The body for stating clean robot 100 is rotated relative to main sucker 42, completes the steering of the clean robot 100；It completes to turn to
Specific method refer to clean robot 100 rotating direction control method, repeated no more in this；
It is adsorbed in clean surface using crawler belt sucker 33, main sucker 42 is in non-adsorbed state, passes through crawler belt sucker 33
Alternating sorbent completes the straight trip of the clean robot 100.
In conclusion the clean robot 100 of the utility model can be used for cleaning various wall surfaces, even be intervally arranged
Solar panel, or glass/curtain wall with frame, the clean robot 100 can also be in two adjacent solar energy
It is crossed between solar panel, glass, curtain wall, without artificial mobile.
Above example is merely intended for describing the technical solutions of the present application, but not for limiting the present application, although with reference to preferred embodiment pair
The utility model is described in detail, it will be understood by those of ordinary skill in the art that, it can be to the technology of the utility model
Scheme is modified or replaced equivalently, without departing from the spirit and scope of technical solutions of the utility model.
Claims (10)
1. a kind of walking module, including a pair of of crawler belt for being oppositely arranged, the driving mechanism of the driving crawler belt rotation, setting are being carried out
Multiple crawler belt suckers with outer surface, the negative pressure source being connected to the crawler belt sucker；It is characterized in that：The crawler belt includes and row
It walks that surface is parallel and working region towards walkway surface, works in the walking module walking process, while in crawler belt
The crawler belt sucker in region is no less than M, M >=2；The crawler belt sucker includes N groups, M >=N >=2；Every group of crawler belt sucker and institute
It states and is equipped with independent gas circuit between negative pressure source, the negative pressure source is that every group of crawler belt sucker provides independent bear by the independent gas circuit
Pressure.
2. walking module according to claim 1, it is characterised in that：The crawler belt in the working region is inhaled simultaneously
Disk belongs at least two different groups.
3. walking module according to claim 1, it is characterised in that：Belong to same group of the crawler belt sucker adjacent row
The number of row is less than while being in the total number of the crawler belt sucker of the working region.
4. walking module according to claim 1, it is characterised in that：Belong to same group the adjacent crawler belt sucker it
Between other group of crawler belt sucker arrangement number be less than simultaneously be in the working region the crawler belt sucker total number.
5. walking module according to claim 1, it is characterised in that：The total number of each group of crawler belt sucker is less than while locating
When the number of the crawler belt sucker of working region, each group of crawler belt sucker whole arranged adjacent.
6. walking module according to claim 1, it is characterised in that：Two crawler belt suckers of arbitrary neighborhood belong to different
Group.
7. walking module according to claim 6, it is characterised in that：When N >=3, two shoes before and after each crawler belt sucker
Belong to different groups with sucker.
8. walking module according to claim 1, it is characterised in that：The walking module includes multiple negative pressure sources,
Every group of crawler belt sucker is connected to different negative pressure sources.
9. a kind of clean robot has cleaning unit, it is characterised in that：The clean robot includes such as claim 1~8
Walking module described in any one.
10. clean robot as claimed in claim 9, which is characterized in that the clean robot also includes to be located at robot
The main sucker of bottom, the main sucker have adsorbed state and non-adsorbed state, when clean robot turns to, the main sucker
In adsorbed state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820292626.8U CN208007132U (en) | 2018-03-02 | 2018-03-02 | Walking module and clean robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820292626.8U CN208007132U (en) | 2018-03-02 | 2018-03-02 | Walking module and clean robot |
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| Publication Number | Publication Date |
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| CN208007132U true CN208007132U (en) | 2018-10-26 |
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ID=63887019
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109605398A (en) * | 2019-01-14 | 2019-04-12 | 中国长江电力股份有限公司 | A kind of multi-sucker crawler-type wall climbing robot and application method |
| WO2019165859A1 (en) * | 2018-03-02 | 2019-09-06 | 科沃斯机器人股份有限公司 | Cleaning robot |
-
2018
- 2018-03-02 CN CN201820292626.8U patent/CN208007132U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019165859A1 (en) * | 2018-03-02 | 2019-09-06 | 科沃斯机器人股份有限公司 | Cleaning robot |
| CN109605398A (en) * | 2019-01-14 | 2019-04-12 | 中国长江电力股份有限公司 | A kind of multi-sucker crawler-type wall climbing robot and application method |
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