CN208331333U - Pressure valve and clean robot with the pressure valve - Google Patents
Pressure valve and clean robot with the pressure valve Download PDFInfo
- Publication number
- CN208331333U CN208331333U CN201820292657.3U CN201820292657U CN208331333U CN 208331333 U CN208331333 U CN 208331333U CN 201820292657 U CN201820292657 U CN 201820292657U CN 208331333 U CN208331333 U CN 208331333U
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- crawler belt
- sealing ring
- pressure valve
- piston rod
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- 238000007789 sealing Methods 0.000 claims abstract description 114
- 241000252254 Catostomidae Species 0.000 claims description 24
- 238000005096 rolling process Methods 0.000 claims description 20
- 239000007787 solid Substances 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 238000000034 method Methods 0.000 description 23
- 230000007246 mechanism Effects 0.000 description 17
- 230000008569 process Effects 0.000 description 17
- 238000001179 sorption measurement Methods 0.000 description 17
- 238000004140 cleaning Methods 0.000 description 11
- 230000006872 improvement Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 9
- 230000001360 synchronised effect Effects 0.000 description 9
- 239000011521 glass Substances 0.000 description 6
- 239000000428 dust Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 239000002594 sorbent Substances 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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Abstract
The utility model provides a kind of pressure valve and the clean robot with the pressure valve, pressure valve includes valve body that is hollow and being provided with opening, is inserted into the valve body from the opening and can be cooperated by the drivingly piston rod of inside and outside pull, the sealing ring being sheathed on the intracorporal partial piston bar of valve, the sealing ring and valve interior wall sealing；The first through hole through the valve body, the second through-hole and third through-hole are offered on the valve body, along the second through-hole described in the piston rod moving direction between the first through hole and the third through-hole；The pressure valve has first state and the second state, when the pressure valve is in first state, the sealing ring at least partly structure is between the first through hole and the second through-hole, second through-hole is connected to the third through-hole, when the pressure valve is in the second state, between second through-hole and third through-hole, the first through hole is connected to the sealing ring at least partly structure with second through-hole.
Description
Technical field
The utility model relates to machinery field more particularly to a kind of slow pressure valve of pressure leak process and there is the pressure valve
Clean robot.
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.
Clean robot generally uses sucker suction on wall surface, provides negative pressure by negative pressure component, is let out by pressure valve
Pressure.However existing pressure valve, air can neither utilize temporary negative pressure well, also be easy too quickly into sucker
Cause to shake, it is unstable.
In view of this, it is necessary to existing pressure valve 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 slow pressure valve of pressure leak process and with the cleaning of the pressure valve
Robot.
To achieve the above object, the utility model provides a kind of pressure valve, and the pressure valve includes hollow and is arranged
Have the valve body of opening, the valve body be inserted into from the opening and can by the drivingly piston rod of inside and outside pull, be sheathed in valve body
Partial piston bar on sealing ring, the sealing ring and the valve interior wall sealing cooperate；It offers and runs through on the valve body
The first through hole of the valve body, the second through-hole and third through-hole are located at institute along the second through-hole described in the piston rod moving direction
It states between first through hole and the third through-hole；The pressure valve has first state and the second state, and the pressure valve is in
When first state, the sealing ring at least partly structure is between the first through hole and the second through-hole, second through-hole
It is connected to the third through-hole, when the pressure valve is in the second state, the sealing ring at least partly structure is located at described the
Between two through-holes and third through-hole, the first through hole is connected to second through-hole, and the pressure valve is in first state, second
When switching between state and first state and the second state, the sealing ring blocks first through hole and third through-hole always.
Second state is pressure release state as a further improvement of the utility model, and the sealing ring is in the work
Fixation position on stopper rod is designed to: when the pressure valve is in pressure release state, the sealing ring is located at second through-hole
Between third through-hole.
The sealing ring includes along the piston rod to being spaced apart in position as a further improvement of the utility model,
The first sealing ring and the second sealing ring on the intracorporal partial piston bar of valve, first sealing ring are located at second sealing
Between circle and the opening, first sealing ring and second sealing ring are located remotely from each other the distance between two sides not less than institute
State height of second through-hole on piston rod moving direction, and first sealing ring and second sealing ring with the valve
Body sealing cooperation.
Second state is pressure release state as a further improvement of the utility model, and the pressure valve is in pressure release
When state, second sealing ring and first sealing ring are respectively positioned between second through-hole and third through-hole.
The piston rod is equipped with the radially-inwardly recess along the piston rod as a further improvement of the utility model,
The second positioning region, the sealing ring is arranged in second positioning region.
The pressure valve further includes the lid to cover the opening, institute as a further improvement of the utility model,
It states lid and is equipped with the aperture passed through for the piston rod.
The pressure valve includes ordinatedly being set to the valve body and/or institute as a further improvement of the utility model,
State the resetting-mechanism between lid and the piston rod.
The pressure valve further includes being sheathed on the intracorporal partial piston bar of valve as a further improvement of the utility model,
Sealing element, the sealing element and valve interior wall sealing cooperate, and the sealing element is arranged close to the opening.
The piston rod is equipped with the radially-inwardly recess along the piston rod as a further improvement of the utility model,
The first positioning region, the sealing element is arranged in first positioning region.
Fixation position of the sealing element on the piston rod is designed as a further improvement of the utility model,
Are as follows: during the piston rod is by pull, the sealing element is always positioned between the third through-hole and the opening.
The utility model also provides a kind of clean robot, and a pair of of crawler belt, the driving crawler belt including being oppositely arranged turn
Dynamic first driving device, multiple crawler belt suckers that track outer surface is arranged in provide the negative pressure component of negative pressure to crawler belt sucker；
The clean robot further includes such as above-mentioned pressure valve, and the pressure valve is fixed on the crawler belt to the crawler belt sucker
Negative pressure is provided and pressure release, the first through hole are communicated with the atmosphere, second through-hole is connected to the crawler belt sucker, the third
Through-hole is connected to the negative pressure component.
The clean robot further includes being set on the inside of the crawler belt and along it as a further improvement of the utility model,
Move linearly direction extend guide rail, the guide rail have positioned at its bottom horizontal plane, from the horizontal plane front end upwards and
The inclined-plane that leans forward that extends forward, from the horizontal surface rear end upwards and the hypsokinesis inclined-plane that extends back；The pressure valve further includes
The rolling bearing being fixed on the part that the piston rod is located on the outside of the valve body, the pressure valve are fixed on the crawler belt
When, the rolling bearing is protruded out towards inside, and when the rolling bearing is protruded out towards the guide rail, the rolling bearing along
The inclined-plane that leans forward, horizontal plane, hypsokinesis inclined-plane roll, when the rolling bearing is rolled by horizontal plane to hypsokinesis inclined-plane, the pressure
Power valve is changed into the second state by first state, when the rolling bearing is rolled by the inclined-plane that leans forward to horizontal plane, the pressure valve
First state is changed by the second state.
The clean robot further includes driving assembly, the driving component as a further improvement of the utility model,
It offsets with the piston rod, to drive pull inside and outside the piston rod.
The beneficial effects of the utility model are: setting of the pressure valve of the utility model by the seal, in pressure release
In the process, temporary negative pressure existing for sucker is effectively utilized, pressure leak process is slow, shakes small.
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 pressure valve of clean robot shown in 1.
Figure 12 be pressure 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 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 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, can mainly comprising vacuum source 41 and the main sucker 42 positioned at 100 bottom of clean robot
So that clean robot 100 is adsorbed on wall surface, such as glass curtain wall, window, solar panel etc..The main sucker 42 has
There are adsorbed state and non-adsorbed state, wherein " the main sucker is in adsorbed state ", under the different location of this paper or scene
It is optional using mode is described below: the main work of the sucker 42 or main sucker 42 is in running order or the master
Sucker 42 is adsorbed in surface to be cleaned etc.；" the main sucker is in non-adsorbed state ", under the different location of this paper or scene
Mode is described below in optional use: the main sucker 42 does not work or the main sucker 42 is in off working state or described
Main 42 pressure release of sucker 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, institute
Driving mechanism 32 is stated for adjusting 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-
Working 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 ρ 1 be equal to the crawler belt 31 length and the second driving wheel 343 perimeter ratio ρ 2 namely the out splice going splice 342 and
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 ρ 1, and the nebenkern is connect with second driving wheel 343 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
The runing rest 348 and the runing rest 348 that bearing 347 is rotatably sleeved on 346 outside of fixed bracket are far from institute
It states the side of fixed bracket 346 and mutually fixes the second driving wheel 343 to drive the runing rest 348 to rotate.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 fixation hole 3431 of the fixing piece 3481.The linear velocity of first driving wheel 321 and second driving wheel 343
Ratio ρ 1 be equal to the crawler belt 31 length and the second driving wheel 343 perimeter ratio ρ 2 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 when the negative pressure source 341 is located in the runing rest 348 and the fixed bracket 346
Out splice going splice 342 is 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 so that second driving wheel 343 and the runing rest 348 rotate 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 synchronization
Rotation.
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
And the tracheae 34h, along the rotating body 34c radial that with the out splice going splice 342 is connected to axially extending along its inside body 34c
It is connected 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 with the negative pressure source 341
Delivery outlet docks one by one.When the rotating body 34c is rotated relative to the sleeve 34a, the blow vent 34e always with the ring
Shape air drain 34f connection, in order to guarantee air-tightness, the rotary joint 340 further include be located at the rotating body 34c with it is described
For sealing the sealing shroud 34i of the annular gas tank 34f between sleeve 34a.The blow vent 34e and the negative pressure source 341 connect
It connects, the negative pressure source 341 is connected to by gas circuit 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
Linear velocity ratio ρ 1 be equal to the crawler belt 31 length and the second driving wheel 343 perimeter ratio ρ 2 so that described
Out splice going splice 342 and 33 synchronous rotary of crawler belt sucker.When the driving mechanism 32 drives the crawler belt 31 to rotate, nebenkern
Second driving wheel and the housing 34d is driven to rotate synchronously by the transmission of synchronous belt 344, the housing 34d band
Move 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 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, the arrangement mode that can refer to are as follows:
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 mentioned
345 tunnel of connecting tube design for negative pressure is relatively simple.Certainly, each group of crawler belt sucker 33 can also be 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 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 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, arrangement mode are as follows: 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, 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 ....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 neighboring circulation 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 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 its
He still can be adsorbed on wall surface crawler belt sucker 33, so as to advance from the first wall surface across gap to the second wall surface.I.e.
The walking module 3 can cross over the gap of two neighboring wall surface side by side, such as the clean robot 100 can cross over phase
The gap of adjacent 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 simultaneously can be by the sealing ring on the drivingly piston rod 353 of inside and outside pull, the partial piston bar 353 being sheathed in valve body 351
354, sealing element 358 and the lid 352 to cover the opening.The lid 352 is equipped with to be worn for the piston rod 353
The aperture crossed, 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.
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 be communicated with the atmosphere, with need to provide
The work package connection of negative 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 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 atmosphere being communicated with the atmosphere according to its purposes respectively and lead to
Hole 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.
Certainly, in other embodiments, the first through hole 3511 can be connected to negative pressure component 34, and third through-hole 3513 can be with
Atmosphere.
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
Corresponding non-pressure release state.The pressure valve 35 switches between first state, the second state and first state and the second state
When, the sealing ring 354 blocks first through hole 3511 and third through-hole 3513 always；It also will be understood that are as follows: along the piston rod
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 353 moving directions
Height on dynamic 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 connections, the pressure valve 35 are in non-pressure release state.The piston rod 353 is outside by the pushing mechanism 355 or external force
When pulling out the valve body 351, the sealing ring 354 is mobile to the direction far from the big vent hole 3511, the sealing ring 354
The completely obscured sucker connector 3512, the sucker connector 3512 and the negative pressure connector 3513, the big vent hole 3511
Disconnect so that the crawler belt sucker 33 keeps temporary negative pressure.The piston rod 353 is drivingly continued to exit the valve body
351, at least partly structure of the sealing ring 354 is described big between the sucker connector 3512 and negative pressure connector 3513
Vent hole 3511 is connected to the sucker connector 3512 realizes pressure release, and the pressure valve 35 is in pressure release state, the work at this time
Stopper rod 353 by outer power drive, is not in free state.The pressure valve 35 is by the setting of the sealing ring 354, in pressure release
In the process, it ensure that and keep blocking between big vent hole 3512 and negative pressure connector 3513, simultaneously effective using existing for sucker
Temporary 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 with it is described big
When between vent hole 3511, the sucker connector 3512 and the negative pressure connector 3513, the big vent hole 3511 is disconnected makes
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 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 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 is right
When the pressure of the piston rod 353 is eliminated, the spring 359 resets while pushing the piston rod 353 to outside the valve body 351
It is mobile.
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, the sealing element 358 position always
Between the third through-hole 3513 and the opening, even if pressure valve 35 is in non-pressure release state, the sealing element 358
It is in communication with the outside caused gas leakage prevented also from the third through-hole 3513.Certainly, if third through-hole 3513 is to be connected to atmosphere,
The sealing element 358 can also then be omitted.
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 passes through crawler belt suckers 33 multiple on crawler belt 31
Alternating sorbent is in working surface；When clean robot 100 turns to, crawler belt sucker 33 does not work, and main sucker 42 is adsorbed in work
Surface, 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 are as follows: 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
It states clean robot 100 to be adsorbed on wall surface, crawler belt sucker 33 stops working, and a pair of of crawler belt 31 respectively forwardly, first moves back
It is dynamic, so that fuselage 2 is rotated towards 31 side of crawler belt of back rotation.This walking manner, without additional setting turning machine
Structure, 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,
The fuselage 2 does not break away around main 42 stable rotation of sucker；In addition, stopping providing to the crawler belt sucker 33 when rotation negative
Pressure, friction when reducing rotation between crawler belt sucker 33 and wall surface reduce loss, increase 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:
Control module 6 described in S10 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 (13)
1. a kind of pressure valve, it is characterised in that: including hollow and be provided with the valve body of opening, be inserted into the valve from the opening
Body simultaneously can be by the drivingly piston rod of inside and outside pull, the sealing ring being sheathed on the intracorporal partial piston bar of valve, the sealing ring
It seals and cooperates with the valve interior wall；The first through hole through the valve body, the second through-hole and third are offered on the valve body
Through-hole, along the second through-hole described in the piston rod moving direction between the first through hole and the third through-hole；It is described
Pressure valve has first state and the second state, when the pressure valve is in first state, the sealing ring at least partly structure
Between the first through hole and the second through-hole, second through-hole is connected to the third through-hole, and the pressure valve is in
When the second state, the sealing ring at least partly structure is between second through-hole and third through-hole, the first through hole
It is connected to second through-hole, the pressure valve is cut between first state, the second state and first state and the second state
When changing, the sealing ring blocks first through hole and third through-hole always.
2. pressure valve according to claim 1, it is characterised in that: second state is pressure release state, the sealing ring
Be designed in the fixation position on the piston rod: when the pressure valve is in pressure release state, the sealing ring is located at described
Between second through-hole and third through-hole.
3. pressure valve according to claim 1, it is characterised in that: the sealing ring includes along the piston rod axially spaced-apart
It is distributed in the first sealing ring and the second sealing ring being located on the intracorporal partial piston bar of valve, first sealing ring is located at described
Between second sealing ring and the opening, first sealing ring and second sealing ring are located remotely from each other the distance between two sides
Not less than height of second through-hole on piston rod moving direction, and first sealing ring and second sealing ring are equal
Cooperate with the valve seal.
4. pressure valve according to claim 3, it is characterised in that: second state is pressure release state, the pressure valve
When in pressure release state, second sealing ring and first sealing ring be respectively positioned on second through-hole and third through-hole it
Between.
5. pressure valve according to claim 1, it is characterised in that: the piston rod is equipped with the radial direction along the piston rod
The second positioning region being recessed inwardly, the sealing ring are arranged in second positioning region.
6. pressure valve according to claim 1, it is characterised in that: the pressure valve further includes to cover the opening
Lid, the lid are equipped with the aperture passed through for the piston rod.
7. pressure valve according to claim 6, it is characterised in that: the pressure valve includes ordinatedly being set to the valve body
And/or the resetting-mechanism between the lid and the piston rod.
8. pressure valve according to claim 1, it is characterised in that: the pressure valve further includes being sheathed on the intracorporal part of valve
Sealing element on piston rod, the sealing element and valve interior wall sealing cooperate, and the sealing element is arranged close to the opening.
9. pressure valve according to claim 8, it is characterised in that: the piston rod is equipped with the radial direction along the piston rod
The first positioning region being recessed inwardly, the sealing element are arranged in first positioning region.
10. pressure valve according to claim 8, it is characterised in that: fixed bit of the sealing element on the piston rod
Set and be designed to: during the piston rod is by pull, the sealing element is always positioned at the third through-hole and opens with described
Between mouthful.
11. a kind of clean robot, first driving device including a pair of of the crawler belt, the driving crawler belt rotation that are oppositely arranged,
Multiple crawler belt suckers of track outer surface are set, provide the negative pressure component of negative pressure to crawler belt sucker；It is characterized by: described clear
Clean robot further includes the pressure valve as described in any one of claim 1~10, and the pressure valve is fixed on the crawler belt
On be communicated with the atmosphere with providing negative pressure and pressure release, the first through hole to the crawler belt sucker, second through-hole and the shoe
Band sucker is connected to, and the third through-hole is connected to the negative pressure component.
12. clean robot according to claim 11, it is characterised in that: the clean robot further includes set on described
On the inside of crawler belt and along the guide rail that its direction that moves linearly extends, the guide rail has the horizontal plane positioned at its bottom, from the water
Flat front end upwards and extend forward the inclined-plane that leans forward, from the horizontal surface rear end upwards and the hypsokinesis inclined-plane that extends back；Institute
Stating pressure valve further includes the rolling bearing being fixed on the part that the piston rod is located on the outside of the valve body, and the pressure valve is solid
When on the crawler belt, the rolling bearing is protruded out towards inside, and when the rolling bearing is protruded out towards the guide rail, institute
It states rolling bearing to roll along the inclined-plane that leans forward, horizontal plane, hypsokinesis inclined-plane, the rolling bearing is by horizontal plane to hypsokinesis inclined-plane
When rolling, the pressure valve is changed into the second state by first state, and the rolling bearing is rolled by the inclined-plane that leans forward to horizontal plane
When, the pressure valve is changed into first state by the second state.
13. clean robot according to claim 11, it is characterised in that: the clean robot further includes driving group
Part, the driving component offset with the piston rod, to drive pull inside and outside the piston rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820292657.3U CN208331333U (en) | 2018-03-02 | 2018-03-02 | Pressure valve and clean robot with the pressure valve |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820292657.3U CN208331333U (en) | 2018-03-02 | 2018-03-02 | Pressure valve and clean robot with the pressure valve |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208331333U true CN208331333U (en) | 2019-01-04 |
Family
ID=64782909
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820292657.3U Withdrawn - After Issue CN208331333U (en) | 2018-03-02 | 2018-03-02 | Pressure valve and clean robot with the pressure valve |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208331333U (en) |
Cited By (4)
| 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 |
| CN110220011A (en) * | 2018-03-02 | 2019-09-10 | 科沃斯机器人股份有限公司 | Pressure valve and clean robot with the pressure valve |
| CN110613403A (en) * | 2019-09-17 | 2019-12-27 | 洪鹤庭 | Self-water-supply type dehumidification and purification integrated cleaning device |
| CN113274563A (en) * | 2021-04-25 | 2021-08-20 | 深圳市先健呼吸科技有限公司 | Lavage catheter and lavage catheter system |
-
2018
- 2018-03-02 CN CN201820292657.3U patent/CN208331333U/en not_active Withdrawn - After Issue
Cited By (7)
| 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 |
| CN110220011A (en) * | 2018-03-02 | 2019-09-10 | 科沃斯机器人股份有限公司 | Pressure valve and clean robot with the pressure valve |
| CN110220011B (en) * | 2018-03-02 | 2024-06-04 | 科沃斯机器人股份有限公司 | Pressure valve and cleaning robot with same |
| CN110613403A (en) * | 2019-09-17 | 2019-12-27 | 洪鹤庭 | Self-water-supply type dehumidification and purification integrated cleaning device |
| CN110613403B (en) * | 2019-09-17 | 2021-04-06 | 洪鹤庭 | Self-water-supply type dehumidification and purification integrated cleaning device |
| CN113274563A (en) * | 2021-04-25 | 2021-08-20 | 深圳市先健呼吸科技有限公司 | Lavage catheter and lavage catheter system |
| CN113274563B (en) * | 2021-04-25 | 2024-04-16 | 深圳市先健呼吸科技有限公司 | Lavage catheter and lavage catheter system |
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