CN208163647U - Clean robot - Google Patents
Clean robot Download PDFInfo
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- CN208163647U CN208163647U CN201820292605.6U CN201820292605U CN208163647U CN 208163647 U CN208163647 U CN 208163647U CN 201820292605 U CN201820292605 U CN 201820292605U CN 208163647 U CN208163647 U CN 208163647U
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- crawler belt
- sucker
- negative pressure
- clean robot
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Abstract
The utility model provides a kind of clean robot, the clean robot includes adsorption module, walking module, the control module with the adsorption module and the equal communication connection of the walking module, and the walking module includes the driving mechanism of a pair of of the crawler belt being oppositely arranged, the driving crawler belt rotation;The adsorption module includes the main sucker for being connected to the clean robot bottom, to the vacuum source of the main sucker offer negative pressure;The clean robot and the main sucker are rotatablely connected;When the clean robot need to be turned to side, the control module starts the adsorption module and provides negative pressure to the main sucker;The control module starts the walking module, and the crawler belt close to side to be diverted moves backward, and the crawler belt far from side to be diverted moves forward.
Description
Technical field
The utility model relates to robot field more particularly to a kind of clean robots for being adsorbed in surface to be cleaned.
Background technique
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 the cleaning of some danger.By taking clean robot as an example, higher glass curtain wall, window, work can be cleaned
The wall surfaces such as the solar panel of bad environments.However these wall surfaces and non-horizontal surface, tilt angle is larger, therefore how to guarantee
Clean robot in the process of walking, cleaning whether be effectively adsorbed on wall surface do not fall in the process, need to consider various aspects
Factor.
In addition, there are gap or frame between glass curtain wall, window, solar panel, existing clean robot without
Method is walked across gap or frame, is needed manual handling, is made troubles to cleaning.
In view of this, it is necessary to existing clean robot be improved, to solve the above problems.
Utility model content
The purpose of this utility model is to provide a kind of adsorbable clean robots in surface to be cleaned.
To achieve the above object, the utility model provides a kind of clean robot, including adsorption module, walking module,
With the control module of the adsorption module and the equal communication connection of the walking module, the walking module includes one be oppositely arranged
To the driving mechanism of crawler belt, the driving crawler belt rotation;The adsorption module includes being connected to the clean robot bottom
Main sucker provides the vacuum source of negative pressure to the main sucker;The clean robot and the main sucker are rotatablely connected;It is described clear
When clean robot need to be turned to side, the control module starts the adsorption module and provides negative pressure to the main sucker;It is described
Control module starts the walking module, and the crawler belt close to side to be diverted moves backward, far from side to be diverted
The crawler belt move forward.
When the clean robot turns to as a further improvement of the utility model, the mobile speed of a pair of crawler belt
It spends identical.
As a further improvement of the utility model, the adsorption module further include with the control module communication connection with
Drive the main sucker separate or up-down drive device close to the clean robot bottom, before clean robot turns to, institute
Stating the control module starting up-down drive device makes the main sucker compress table to be cleaned far from the clean robot
Face.
The adsorption module further includes to the pressure release of the main sucker pressure release as a further improvement of the utility model,
Valve, when clean robot need to keep straight on, the control module controls the relief valve to the main sucker pressure release.
The walking module further includes multiple shoes that track outer surface is arranged in as a further improvement of the utility model,
The negative pressure component of negative pressure is provided with sucker, to crawler belt sucker and to the pressure release component of the crawler belt sucker pressure release;Clean machine
When people need to turn to, the control module starts the pressure release component to the crawler belt sucker pressure release;When clean robot need to keep straight on,
The control module controls the relief valve to the main sucker pressure release, and controls the negative pressure component and mention to the crawler belt sucker
For negative pressure.
The walking module further includes multiple shoes that track outer surface is arranged in as a further improvement of the utility model,
The negative pressure component of negative pressure is provided with sucker, to crawler belt sucker, the crawler belt has so that the crawler belt sucker is towards table to be cleaned
The working region in face and the crawler belt sucker is made to leave the non-active area on surface to be cleaned, the negative pressure component includes negative pressure
Source, the connecting tube for connecting the negative pressure source and the crawler belt sucker;In the walking module walking process, while being in work
The crawler belt sucker in region is no less than M, M >=2;The crawler belt sucker includes N group, M >=N >=2;In every group of crawler belt sucker
Crawler belt sucker is connected, and the connecting tube connecting with every group of crawler belt sucker is connected to independent negative pressure source, while being in working region
The crawler belt sucker belong at least two different groups.
The arbitrary neighborhood two crawler belt suckers belong to different groups as a further improvement of the utility model,.
The utility model has the beneficial effects that:When the clean robot of the utility model is turned to side, pass through the master
Sucker provides negative-pressure adsorption on wall surface;The crawler belt close to side to be diverted moves backward, far from side to be diverted
The crawler belt move forward;It is not necessary that steering mechanism is additionally arranged, only a pair of of crawler belt is driven to move back forward by driving mechanism
Dynamic that steering can be realized, control mode is simple.
Detailed description of the invention
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 partial structure 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 cross-sectional view of the Fig. 4 along the direction 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 view of Fig. 9 in X direction.
Figure 11 is the perspective view of the relief valve of clean robot shown in 1.
Figure 12 be relief valve shown in Figure 11 in pressure release state along the cross-sectional view in the direction B-B.
Figure 13 is structural schematic diagram of the relief valve shown in Figure 12 in the transient process of piston pull.
Figure 14 is structural schematic diagram of the relief 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 embodiment
In order to keep the purpose of this utility model, technical solution and advantage clearer, with reference to the accompanying drawing and it is embodied
The utility model is described in detail in example.
It is the clean robot 100 of the utility model, to clean glass curtain wall, window, too as shown in Fig. 1 to Figure 15
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 module (not shown) and control module 6;The control module 6 can be with the equal communication connection of other modules.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 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 power generation.
Sensor module can be used for detecting wall surface edge, gap, barrier etc., be convenient for automatic planning action route.
Walking module 3 is moved on wall surface for clean robot 100, it is main comprising be oppositely arranged a pair of of crawler belt 31,
The driving mechanism 32 for driving the crawler belt 31 to rotate, multiple crawler belt suckers 33 and the crawler belt that 31 outer surface of crawler belt is set
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 two sides of 31 length direction of 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 operates normally
When, adsorbable other crawler belts in walkway surface, positioned at non-active area of part crawler belt sucker 33 positioned at the working region
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 negative pressure component 34 be arranged;In addition pressure release can also be set
Component gives 33 pressure release of crawler belt sucker, and the pressure release component can select the structures such as pressure valve 35.
The negative pressure component 34 is including described in negative pressure source 341, the out splice going splice 342 being connected to the negative pressure source 341, driving
The second driving wheel 343 that out splice going splice 342 rotates;First driving wheel 321 and the linear velocity of 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 the connecting tube 345 of connecting band track sucker 33 and negative pressure component 34 mutual
Winding, guarantees no matter the crawler belt sucker 33 turns to any position and can guarantee the supply gas circuit connection of negative pressure.Specifically,
The walking module 3 further includes the nebenkern (not labeled) coaxial with the first driving wheel 321, first driving wheel 321 and institute
Stating nebenkern radius ratio is ρ1, the nebenkern and second driving wheel 343 are connect by synchronous belt 344.
In order to realize the rotation of the out splice going splice 342, the utility model provides two kinds of specific embodiments.
Embodiment one, with reference to shown in Fig. 7 and Fig. 8, the out splice going splice 342 is fixedly connected with the negative pressure source 341, described
Second driving wheel 343 is fixed with the out splice going splice 342 and/or 341 phase of the negative pressure source directly or by other structures indirectly;
So that the negative pressure source 341, the out splice going splice 342 with 33 synchronous rotary of crawler belt sucker.Wherein, " fixation " can be managed
To be directly or indirectly integrally formed, the two will not relatively move solution.
The negative pressure component 34 further includes the fixed fixed bracket 346 of the relatively described clean robot 100, passes through axis
Hold and 347 be rotatably sleeved on the runing rest 348 in 346 outside of the fixed bracket, with the runing rest 348 far from described
The second driving wheel 343 that the side of fixed bracket 346 is mutually fixed to drive the runing rest 348 to rotate.The runing rest
There is the fixing piece 3481 protruded into second driving wheel 343 on 348, have on second driving wheel 343 for receiving
Hold the fixation hole 3431 of the fixing piece 3481.The ratio of first driving wheel 321 and the linear velocity of second driving wheel 343
Example 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, the fixed bracket 346 has hollow portion, and the negative pressure source 341 is located in the hollow portion and can phase
For the fixation holder pivots.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 fixed bracket 346
Connector 342 is located in the perforation 349 out.When first driving wheel 321 drives the crawler belt 31 to rotate, the nebenkern is logical
The transmission of synchronous belt 344 is crossed so that second driving wheel 343 and the runing rest 348 rotate synchronously, while driving 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 second
The multiple and described perforation 349 correspondingly of out splice going splice 342 is equipped on driving wheel 343, each 349 interval of perforation is arranged,
It is preferred that 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 and slip ring stated on negative pressure source 341 and the fixed bracket 346 obtain power supply.The out splice going splice 342 and the negative pressure
Source 341 is directly fixed, is not necessarily to other air circuit connections, 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 out splice going splice 342 rotation synchronous with the crawler belt sucker 33
Turn.
The rotary joint 340 includes hollow sleeve 34a for connecting 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 phase 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 the housing 34d fixed with the rotating body 34c phase, positioned at described
Bearing 34j and the housing 34d between housing 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 through the sleeve 34a blow vent 34e,
Set on the rotating body 34c outer peripheral surface and matched with the blow vent 34e annular gas tank 34f, 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
Lead to the communicating pipe 34g of the annular gas tank 34f Yu the tracheae 34h.
The relatively described negative pressure source 341 of the sleeve 34a is 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 connection, in order to guarantee air-tightness, the rotary joint 340 further includes being located at the rotating body 34c and the sleeve
For sealing the sealing shroud 34i of the annular gas tank 34f between 34a.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 side of the rotating body 34c towards the housing 34d are fixed with 342 phase of 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
The ratio ρ of linear velocity1Equal to the ratio ρ of the perimeter of the length and the second driving wheel 343 of the crawler belt 312, so that the output
Connector 342 and 33 synchronous rotary of crawler belt sucker.When the driving mechanism 32 drives the crawler belt 31 to rotate, nebenkern passes through
The transmission of synchronous belt 344 drives second driving wheel and the housing 34d to rotate synchronously in turn, and the housing 34d drives institute
State 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 the one-to-one gas circuit of the out splice going splice 342.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 the rotation
Turn in main 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 will affect 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, higher cost.
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 group, 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, at least there are two belong to different groups in the crawler belt sucker 33 in working region simultaneously.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 belt 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, multiple groups crawler belt sucker 33 is intervally arranged at this time, and the arrangement mode that can refer to is:
All first group of crawler belt sucker 33 ..., whole N group crawler belt 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 greater 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 simultaneously
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 wherein one group of 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 guarantee adsorption effect well.
Further, in the embodiment with N >=3, two crawler belt suckers of preferably each 33 front and back of crawler belt sucker
33 belong to different groups, therefore when any one crawler belt sucker 33 of the front and back of the crawler belt sucker 33 can not work, 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.
In addition, if regarding several crawler belt suckers 33 of the arranged end on crawler belt 31 as a circulation group, each circulation
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 circulation 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 wherein one group of crawler belt sucker 33.Also, have
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,
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 adjacent with adjacent 4 crawler belt suckers 33 for a circulation group
The arrangement mode of 4 groups of crawler belt suckers 33 is identical in two circulation groups.
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 there are the wall surfaces point for when gap, defining gap two sides for convenience on wall surface
Not Wei the first wall surface, the second wall surface, the crawler belt sucker 33 positioned at gap location can not be adsorbed, but adjacent thereto other
Crawler belt sucker 33 still can be adsorbed on wall surface, so as to advance from the first wall surface across gap to the second wall surface.That is institute
State walking module 3 can cross over two neighboring wall surface side by side gap, such as the clean robot 100 can cross over it is adjacent
The gap of two solar panels and run to another solar panel from a solar panel.
Specifically, the clean robot 100 is from the first wall surface to the second wall surface traveling process, in working region
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 separated 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 and atmosphere 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 the lid 352 to cover the opening.The lid 352, which is equipped with, supplies the work
The aperture that stopper rod 353 passes through, the sealing ring 354 and sealing element 358 and 351 inner wall of valve body sealing cooperate.
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.
It is logical that the first through hole 3511 through the valve body 351, the second through-hole 3512 and third are offered on the valve body 351
Hole 3513.First through hole 3511, the second through-hole 3512 and third through-hole 3513 are respectively used to be communicated with the atmosphere, bear with offer is needed
The work package connection of pressure is connected to the negative pressure component for providing negative pressure, to be needed the work package of negative pressure to release stress.For convenience
Description is described in detail below with reference to the applying in clean robot 100 of pressure valve 35 of the utility model.Wherein, first
Through-hole 3511, the second through-hole 3512 and third through-hole 3513 are referred to as the big vent hole being communicated with the 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 connection.
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 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 communicated with the 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 mobile in the piston rod 353 not less than the width of second through-hole 3512 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 along the moving direction of the piston rod 353 with the negative pressure connector 3513
351 middle position.In addition, the valve body 351 is fixed with the lid 352 by screw;Also have in the pressure valve 35
There is the screw hole for being fixed on the valve body 351 on the crawler belt 31.
In the present embodiment, the pressure valve 35 may include the pushing mechanism 355 for driving 353 pull of piston rod.In
In other embodiments, when the pressure valve 35 does not include pushing mechanism 355, then need that driving assembly is arranged, 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 into the valve body 351 by the pushing mechanism 355 or external force, 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 mobile to the direction far from the big vent hole 3511, and the sealing ring 354 is completely
The sucker connector 3512 is covered, the sucker connector 3512 and the negative pressure connector 3513, the big vent hole 3511 are disconnected
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 atmosphere is logical
Hole 3511 is connected to the sucker connector 3512 realizes pressure release, and the pressure valve 35 is 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 using temporary existing for sucker
Negative pressure, pressure leak process is slow, shakes small.
Preferably, when the sealing ring 354 loses driving force reinstatement state, the sealing ring 354 is entirely located in described
Sealing effect between sucker connector 3512 and negative pressure connector 3513, between the negative pressure connector 3513 and the big vent hole 3511
More preferably, the negative pressure connector 3513 can guarantee 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 being distributed in the partial piston in valve body 351 along 353 axially spaced-apart of piston rod
The first sealing ring 3541 and the second sealing ring 3542 on bar 353, 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 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 two sides that sealing ring 3542 is located remotely from each other not less than the sucker connector 3512 and the negative pressure connector 3513 it
Between distance, and first sealing ring 3541 and second sealing ring 3542 with the valve body 351 seal cooperate.Separately
Outside, the setting of the sealing ring 354 of the utility model is not limited thereto, and in other embodiments, such as sealing ring 354 can be with
It is a single monolith sealing ring 354, as long as can guarantee to switch between the first state and a second state in pressure valve 35
In the process, the sealing ring 354 stops first through hole 3511 and the second logical 3512 holes always, so effectively guarantees atmosphere
It is blocked between through-hole 3512 and negative pressure connector 3513, and utilizes temporary negative pressure existing for the crawler belt sucker 33, pressure leak process
Slowly, it shakes small;And the negative pressure source 341 will not be made to be connected to atmosphere and influenced negative to the offer of other crawler belt suckers 33
Pressure.
When the piston rod 353 is pushed into the valve body 351 by the pushing mechanism 355 or external force, 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 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 mobile to the direction far from the big vent hole 3511, and first sealing ring 3541 is located at the sucker and connects
Between first 3512 and the negative pressure connector 3513, second sealing ring 3542 be located at the sucker connector 3512 and the atmosphere
When between through-hole 3511, the sucker connector 3512 disconnected with the negative pressure connector 3513, the big vent hole 3511 so that
The crawler belt sucker 33 keeps temporary negative pressure.The piston rod 353 is drivingly continued to exit the valve body 351, and described
Two sealing rings 3542 are between the sucker connector 3512 and negative pressure connector 3513, the big vent hole 3511 and the sucker
Pressure release is realized in the connection of connector 3512.The pressure valve 35 is set by the first sealing ring 3541 and second sealing ring 3542
It sets, during pressure release, guarantees to block between big vent hole 3512 and negative pressure connector 3513, and effectively utilize the shoe
Temporary negative pressure existing for band sucker 33, pressure leak process is slow, shakes small.
Preferably, when second sealing ring 3542 is between the sucker connector 3512 and negative pressure connector 3513, institute
It states the first sealing ring 3541 also to be located between the sucker connector 3512 and negative pressure connector 3513, the negative pressure connector 3513 and institute
It states sealing effect between big vent hole 3511 more preferably, can guarantee effective negative pressure at the negative pressure connector 3513;Thus
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, certain
Energy consumption is reduced 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 set on guide rail crawler belt 31 inside and extended 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 horizontal plane upwards and extend forward
The inclined-plane 3572 that leans forward, from 3571 rear end of 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 the inclined-plane 3572, horizontal plane of leaning forward
3571, hypsokinesis inclined-plane 3573 rolls simultaneously its pressure.The pushing mechanism 355 include the guide rail 357, be ordinatedly set to it is described
Resetting-mechanism 359 between valve body 351 and/or the lid 352 and the piston rod 353.
For moving forward, 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 pushes the rolling bearing 356 gradually into valve body 351 gradually described in push-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 continues to rotate, the rolling bearing 356 be moved to
The hypsokinesis inclined-plane 3573 is gradually reduced the pressure that piston rod 353 described when corresponding to receives, and the piston rod 353 is resetting
It is gradually backed out the valve body 351 to the pressure valve 35 under the action of mechanism 359 and is in pressure release state, shoe corresponding at this time
Band 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 spring 359 is set between the valve body 351 and the opposite side and the piston rod 353 of lid 352.The piston rod
When 353 pressure for receiving the guide rail 357 are pushed into the valve body 351, the spring 359 is compressed;And described 357 pairs of institutes of guide rail
When stating the pressure elimination of piston rod 353, the spring 359 resets while the piston rod 353 being pushed to move to outside the valve body 351
It is dynamic.
If not set pushing mechanism 355 and driving assembly is set, the driving component offsets with the piston rod, to
Drive pull inside and outside the piston rod.The driving component can be motor, can by the pull of piston rod 353 described in motor control
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, lets 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 can also then omit the sealing element 358 to be connected to atmosphere.
It cooperates between the modules of the clean robot 100, work can also be split independently to be applied to
Other products.The especially described walking module 3 and the cooperation of the adsorption module 4 are particularly important.In the present embodiment, machine is cleaned
When 100 straight line of people is walked, the main sucker 42 does not work, and walking module 3 works, and is handed over by crawler belt suckers 33 multiple 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
Move the driving mechanism 32 that the crawler belt 31 rotates;The adsorption module 4 includes the main suction for being connected to the clean robot bottom
Disk 42 provides the vacuum source 41 of negative pressure to the main sucker 42;The clean robot 100 connects with the main rotation of sucker 42
It connects;When clean robot 100 need to be turned to side, the control module 6 starts the adsorption module 4 and mentions to the main sucker 42
For negative pressure;The control module 6 starts the walking module 3, moves back it close to the crawler belt 31 of side to be diverted
Dynamic, 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 of crawler belt 31 to move backward forward can be realized steering, and control mode is simple.Preferably, the mobile speed of a pair of of crawler belt 31
Spend it is identical, turn to it is safer.It should be noted that clean robot 100 is rotated relative to main sucker 42 due in steering procedure,
Therefore 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
It invests wall surface or is detached from the up-down drive device 7 of the wall surface close to the clean robot 100.Clean robot 100 needs
When steering, the control module 6 starts the adsorption module 4 and makes the main sucker 42 far from 100 bottom of clean robot
Portion and compress wall surface, afterwards to main sucker 42 provide negative pressure;When clean robot 100 is kept straight on, the control module 6 controls drive up and down
Dynamic device 7 makes the main sucker 42 close to 100 bottom of clean robot, separates with wall surface, reduces friction or prevents from leading
Sucker 42 is worn.
In addition, clean robot 100 needs when the adsorption module 4 further includes the relief valve to main 42 pressure release of sucker
When straight trip, the control module 6 controls the adsorption module 4 to main 42 pressure release of sucker, reduces friction.
When the walking module includes multiple crawler belt suckers that track outer surface is arranged in, gives crawler belt sucker offer 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 stops working, 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,
Only driving a pair of of crawler belt 31 to move backward forward by driving mechanism 32 can be realized steering, and control mode is simple.Also, it is described
Fuselage 2 does not break away around main 42 stable rotation of 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, it rotates fuselage 2 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.When needing to turn right, on the contrary, right turn movements can be completed when the moving direction of a pair of of crawler belt 31 and left-hand rotation.
Specifically, the rotating direction control method of the clean robot 100 of the utility model, includes the following steps:
S10The control module 6 starts the up-down drive device 7 and makes the main sucker 42 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 gives main 42 pressure release of sucker.At this point, crawler belt sucker 33 has been adsorbed in working surface, clean robot is subsequent changeable
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
Solar panel, glass are crossed between curtain wall, without artificial mobile.
Above embodiments are merely intended for describing the technical solutions of the present application, but not for limiting the present application, although referring to preferred embodiment pair
The utility model is described in detail, those skilled in the art should understand 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 the technical scheme of the present invention.
Claims (7)
1. a kind of clean robot, including adsorption module, walking module, communicate with the adsorption module and the walking module
The control module of connection, the walking module include the driving mechanism of a pair of of the crawler belt being oppositely arranged, the driving crawler belt rotation;
The adsorption module includes the main sucker for being connected to the clean robot bottom, to the vacuum of the main sucker offer negative pressure
Source;It is characterized in that:The clean robot and the main sucker are rotatablely connected;The clean robot need to be turned to side
When, the control module starts the adsorption module and provides negative pressure to the main sucker;The control module starts the walking
Module, the crawler belt close to side to be diverted move backward, and the crawler belt far from side to be diverted moves forward.
2. clean robot according to claim 1, it is characterised in that:When the clean robot turns to, described in a pair
The movement speed of crawler belt is identical.
3. clean robot according to claim 1, it is characterised in that:The adsorption module further includes and the control mould
Block communication connection cleans machine to drive the main sucker separate or up-down drive device close to the clean robot bottom
Before people turns to, the control module starts the up-down drive device and the main sucker is pressed far from the clean robot
To surface to be cleaned.
4. clean robot according to claim 3, it is characterised in that:The adsorption module further includes to the main sucker
The relief valve of pressure release, when clean robot need to keep straight on, the control module controls the relief valve to the main sucker pressure release.
5. clean robot according to claim 4, it is characterised in that:The walking module further includes being arranged outside crawler belt
Multiple crawler belt suckers on surface provide the negative pressure component of negative pressure to crawler belt sucker and to the pressure release group of the crawler belt sucker pressure release
Part;When clean robot need to turn to, the control module starts the pressure release component to the crawler belt sucker pressure release;Clean machine
When people need to keep straight on, the control module controls the relief valve to the main sucker pressure release, and controls the negative pressure component to institute
It states crawler belt sucker and negative pressure is provided.
6. clean robot according to claim 1, it is characterised in that:The walking module further includes being arranged outside crawler belt
Multiple crawler belt suckers on surface provide the negative pressure component of negative pressure to crawler belt sucker, and the crawler belt has so that the crawler belt sucker
Working region towards surface to be cleaned and the crawler belt sucker is made to leave the non-active area on surface to be cleaned, the negative pressure
Component includes the connecting tube of negative pressure source, the connection negative pressure source and the crawler belt sucker;In the walking module walking process,
The crawler belt sucker in working region is no less than M simultaneously, M >=2;The crawler belt sucker includes N group, M >=N >=2;Every group
Crawler belt sucker in crawler belt sucker is connected, and the connecting tube connecting with every group of crawler belt sucker is connected to independent negative pressure source, simultaneously
The crawler belt sucker in working region belongs at least two different groups.
7. clean robot according to claim 6, it is characterised in that:The arbitrary neighborhood two crawler belt suckers belong to
Different groups.
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
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CN109528068A (en) * | 2019-01-31 | 2019-03-29 | 成都工业学院 | A kind of cleaning glass machine people |
WO2019165859A1 (en) * | 2018-03-02 | 2019-09-06 | 科沃斯机器人股份有限公司 | Cleaning robot |
CN110215164A (en) * | 2018-03-02 | 2019-09-10 | 科沃斯机器人股份有限公司 | The rotating direction control method and progress control method of clean robot, clean robot |
CN111319695A (en) * | 2020-03-24 | 2020-06-23 | 佛山科学技术学院 | Sucking disc mechanism of rotary wheel of crawling |
CN113245262A (en) * | 2021-05-03 | 2021-08-13 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot capable of crossing large seam |
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2018
- 2018-03-02 CN CN201820292605.6U patent/CN208163647U/en active Active
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Publication number | Priority date | Publication date | Assignee | Title |
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WO2019165859A1 (en) * | 2018-03-02 | 2019-09-06 | 科沃斯机器人股份有限公司 | Cleaning robot |
CN110215164A (en) * | 2018-03-02 | 2019-09-10 | 科沃斯机器人股份有限公司 | The rotating direction control method and progress control method of clean robot, clean robot |
CN110215164B (en) * | 2018-03-02 | 2024-08-30 | 科沃斯机器人股份有限公司 | Cleaning robot, steering control method of cleaning robot and operation control method |
CN109528068A (en) * | 2019-01-31 | 2019-03-29 | 成都工业学院 | A kind of cleaning glass machine people |
CN109528068B (en) * | 2019-01-31 | 2023-10-20 | 成都工业学院 | Glass cleaning robot |
CN111319695A (en) * | 2020-03-24 | 2020-06-23 | 佛山科学技术学院 | Sucking disc mechanism of rotary wheel of crawling |
CN113245262A (en) * | 2021-05-03 | 2021-08-13 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot capable of crossing large seam |
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