CN216797513U - Self-walking device - Google Patents

Abstract

The utility model relates to a self-walking device which is used for walking on the surface of a plate body and comprises a body, a walking module and an air exhaust module. The body defines a first space. The walking module is adjacent to the body. The air exhaust module is arranged on the body and communicated with the first space. The body further comprises a support plate and a sucker. The carrier plate comprises a carrier plate wall portion surrounding the first carrier plate through hole. A suction cup is further from the upper portion of the body than the carrier plate and is connected to the carrier plate, the suction cup including a first suction cup wall surrounding a first suction cup through hole, the carrier plate wall and the first suction cup wall engaging with each other such that the carrier plate wall is movable relative to the first suction cup wall. The first sucker through hole corresponds to the first carrier through hole and forms the first space with the first carrier through hole, and the first sucker wall part comprises a first outer wall, a second inner wall and a concave space between the first outer wall and the second inner wall.

Description

Self-walking device

Technical Field

The present invention relates to a self-propelled device.

Background

The existing cleaning method for home doors and windows is to open or remove windows and clean the doors and windows of a building, and the doors and windows of the building are arranged outside the building by a suspension frame of a cleaning company, and the suspension frame is controlled by a motor to lift and lower, and the doors and windows outside the building are cleaned by brushes or water columns. However, the suspended frame is often susceptible to wind-induced rocking due to unstable center of gravity. In order to avoid dangerous accidents such as slipping of people or falling of cleaning devices to hurt people due to excessive force brushing on doors and windows, only a few water is used for washing the doors and windows, so that the doors and windows cannot be completely cleaned.

When the cleaning robot disclosed by the prior art runs and exceeds the edge of the door or window, the cleaning robot cannot be stably adsorbed on the surface of the door or window and falls to the ground due to air leakage of the sucking disc. Therefore, there is a need for an improved cleaning robot, which can determine whether the cleaning robot is about to drop beyond the edge of the door window, and stop moving to the outside of the edge of the door window.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a self-walking device.

The embodiment of the utility model relates to a self-walking device which is used for walking on the surface of a plate body and comprises a body, a walking module and an air exhaust module. The body defines a first space. The walking module is adjacent to the body. The air exhaust module is arranged on the body and communicated with the first space. The body further comprises a support plate and a sucker. The carrier plate comprises a carrier plate wall portion surrounding the first carrier plate through hole. A suction cup is further from the upper portion of the body than the carrier plate and is connected with the carrier plate, the suction cup comprising a first suction cup wall surrounding a first suction cup through hole, the carrier plate wall and the first suction cup wall engaging with each other, the carrier plate wall being movable relative to the first suction cup wall. The first sucker through hole corresponds to the first carrier through hole, a space is formed between the first sucker through hole and the first carrier through hole, and the first sucker wall comprises a first outer wall, a second inner wall and a concave space positioned between the first outer wall and the second inner wall.

In one embodiment, the surface of the carrier plate facing the suction cup has a groove portion, and the groove portion has a groove allowing the first outer wall or the second inner wall of the first suction cup wall portion to be inserted into the groove.

In one embodiment, the groove further includes a first groove wall and a second groove wall, and the groove is located between the first groove wall and the second groove wall.

In one embodiment, the first outer wall is located within the recess in a state where the recess portion of the carrier plate wall and the first chuck wall are engaged with each other; and the second groove wall is located in the recessed space.

In one embodiment, the second slot wall is located between the first outer wall and the second inner wall, and the second slot wall moves up and down along the first outer wall and the second inner wall, and the first outer wall is located between the first slot wall and the second slot wall, and the first outer wall moves up and down along the first slot wall and the second slot wall.

Compared with the prior art, the utility model has the following advantages:

the self-walking device provided by the utility model can be adsorbed on a slope or an upright plane and can freely move on the slope or the upright plane without falling due to gravity attraction.

Drawings

Aspects of the utility model are better understood from the following embodiments when read in conjunction with the appended drawings. It should be noted that the various structures are not drawn to scale in accordance with standard practice in the industry. In fact, the dimensions of the various features may be arbitrarily increased or reduced for clarity of discussion.

Fig. 1 illustrates an exploded view of a self-propelled device according to an embodiment of the present invention.

Fig. 2A illustrates a perspective view of a suction cup according to some embodiments of the present invention to show the upper side, i.e., the first surface, near the suction cup.

Fig. 2B illustrates a perspective view of a suction cup according to some embodiments of the present invention to show the underside, i.e., the second surface, near the suction cup.

Fig. 3A illustrates a perspective view of a suction cup and carrier plate according to some embodiments of the present invention.

Fig. 3B illustrates a cross-sectional view of a portion along line AA of the embodiment of fig. 3A after the chuck and carrier plate are assembled.

The reference numbers illustrate:

11. a body;

12. a walking module;

121. a walking assembly;

122. a walking assembly;

13. an air extraction module;

14. an air pressure sensor;

15. a housing;

20. a suction cup;

202. a recessed area;

203. a convex rib;

20A, a first surface;

20B, a second surface;

21. a first suction cup wall portion;

211. a first outer wall;

212. a second inner wall;

213. a recessed space;

22. a second suction cup wall portion;

30. a carrier plate;

31. a carrier plate wall portion;

310. a first carrier plate through hole;

210A, 210B, a first suction cup through hole;

311. a boss portion;

312. a groove part;

411. a first slot wall;

412. a second slot wall;

413. a groove;

60. a cleaning cloth;

601. a first cleaning cloth opening;

602. a second cleaning cloth opening.

Detailed Description

The following disclosure provides many different embodiments, or examples, for implementing different components of the provided subject matter. Specific examples of components and arrangements are described below to simplify the present disclosure. Of course, such are merely examples and are not intended to be limiting. For example, in the following description, the formation of a first means over or on a second means may include embodiments in which the first and second means are formed in direct contact, and may also include embodiments in which additional means may be formed between the first and second means such that the first and second means may not be in direct contact. In addition, the present disclosure may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed.

Furthermore, spatially relative terms, such as "below … …," "below … …," "below," "above … …," "on," "… …," and the like, may be used herein for ease of description to describe one element or component's relationship to another element or component as illustrated in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

As used herein, terms such as "first," "second," and "third" describe various elements, components, regions, layers, and/or sections, but such elements, components, regions, layers, and/or sections should not be limited by such terms. Such terms may be used only to distinguish one element, component, region, layer or section from another. Terms such as "first," "second," and "third," when used herein, do not imply a sequence or order unless clearly indicated by the context.

The utility model relates to a self-walking device which can be adsorbed on an inclined plane or a vertical plane and can freely move on the inclined plane or the vertical plane without falling off due to gravity attraction. In some embodiments, the self-propelled device may be a toy, a remote-controlled vehicle, a cleaning machine, a window washer, or the like; the cleaning machine or the window washer has a cleaning function, and can clean the adsorbed surface while moving, and the purpose of cleaning the surface is achieved by moving back and forth on a plane. Hereinafter, a cleaning machine or a window washer will be described as an example, but the present invention is not limited to the cleaning machine or the window washer.

Fig. 1 shows an exploded view of a self-propelled device according to an embodiment of the present invention. As shown in fig. 1, in some embodiments, the self-walking device includes a body 11, a walking module 12, a pumping module 13, and a plurality of air pressure sensors 14. The walking modules 12 are disposed on two corresponding sides of the main body 11, and the air-extracting module 13 and the air pressure sensor 14 are disposed on the main body 11.

In some embodiments, the self-propelled device is adapted to be attached to a board (not shown) and moved across the surface of the board using the travel module 12 to clean the surface of the board of dirt or stains. In some embodiments, the panel may be an upright window. As illustrated in fig. 1, the walking module 12 may include a walking assembly 121 and a walking assembly 122, which may be a pulley, a roller, or the like capable of moving to drive the self-walking device to move forward, backward or turn on the surface of the board. In the embodiment shown, the running assemblies 121 and 122 are pulleys, including a track and two drive wheels driving the track.

In order to realize that the self-walking device can move on a plate body which is not horizontally arranged without falling off, the utility model utilizes the combination of the body 11 and the air extraction module 13 to achieve the purpose of adsorbing the surface of the plate body. Specifically, in some embodiments, the body 11 includes the suction cup 20 and the carrier plate 30, and the body 11 can be constructed by stacking the suction cup 20 and the carrier plate 30 on top of each other, such that the carrier plate 30 is close to the upper portion of the body 11 and the suction cup 20 is close to the lower portion of the body 11. In some embodiments, the walking module 12 may be connected to the body 11, and more specifically, the walking module 12 may be disposed inside the body 11 or directly against the body 11. In some embodiments, the walking module 12 may be adjacent to both sides of the suction cup 20. The air pumping module 13 is disposed on the carrier plate 30, and pumps air from the carrier plate 30 to the air pumping module 13, so that air near the surface of the board can be pumped out from the surface of the board through the suction cup 20 and the carrier plate and the air pumping module, and negative pressure exists between the self-walking device and the surface of the board, thereby generating an acting force through atmospheric pressure on the self-walking device, and enabling the self-walking device to be adsorbed on the surface of the board. In one embodiment, the pumping module 13 comprises a pump.

In detail, the present invention can form a negative pressure space between the surface of the plate body, the body 11 and the air extraction module 13, so that the self-walking device can move on the plate body which is not horizontally arranged without falling. In some embodiments, the space for generating the negative pressure may be further divided into a first space and a second space defined by the body 11, and the first space is communicated with the second space. Specifically, the first space and the second space are divided by the structures of the suction cup 20 and the carrier plate 30.

In one embodiment, the plurality of air pressure sensors 14 are used for measuring the air pressure in the self-propelled device, and in one embodiment, the air pressure in the first space and the air pressure in the second space are respectively measured, and the air pressure can measure the state of the negative pressure generated by the air suction through the air suction module 13, so that when the state of the negative pressure changes, whether the sealing performance of the first space and the second space has changed or not can be judged.

In some embodiments, the self-walking device includes a housing 15 having a receiving space therein for receiving the body 11, the walking module 12, the air-extracting module 13 and the plurality of air pressure sensors 14. In some embodiments, the self-propelled device includes a spraying module (not shown) that can be embedded in the housing 15, or can be attached or adhered to the housing 15, for spraying a cleaning liquid such as water or detergent.

In some embodiments, the self-propelled device includes a cleaning cloth 60 that is adhered to the second surface 20B (see FIG. 2B later) of the suction cup 20 and is configured to contact the surface of the board body. In some embodiments, the cleaning cloth 60 has wool fibers for cleaning on its outer surface and an elastic plastic sheet as its inner liner structure on its inside, thus having a shielding effect of blocking the passage of air in addition to the first cleaning cloth openings 601 and the plurality of second cleaning cloth openings 602 it has.

Reference is also made to the exploded perspective view of fig. 1 and the perspective views of the suction cup shown in fig. 2A and 2B, wherein fig. 2A and 2B are views of the suction cup 20 from the upper side and the lower side, respectively, near the suction cup. In some embodiments, the suction cup 20 has a first surface (upper surface) 20A and a corresponding second surface (lower surface) 20B, and the suction cup 20 includes a sealing structure on the first surface 20A for forming a first space and a sidewall of a second space portion. In some embodiments, the suction cup 20 includes a first suction cup wall 21 protruding from the first surface 20A and a plurality of second suction cup walls 22 on the first surface 20A, wherein the first suction cup wall 21 is located at the center of the suction cup 20 and serves as a portion of the first space therein; the second suction cup wall portions 22 are respectively adjacent to the edges of the suction cups 20, and the interior thereof serves as a portion of the second space. In some embodiments, the suction cup 20 has an appearance similar to an English letter H-shaped structure, so that the four second suction cup wall portions 22 are respectively located at the four branches of the structure from which the suction cup 20 extends. In some embodiments, the volume of the second space is less than the volume of the first space. In some embodiments, the second surface 20B of the suction cup 20 includes a recessed area 202 near the center of the second surface 20B of the suction cup 20. In some embodiments, the recessed area 202 has a plurality of ribs 203 therein to enhance the structural rigidity of the suction cup 20.

Referring again to fig. 1, in some embodiments, the carrier plate 30 disposed on the suction cup 20 has a carrier plate wall 31 located at the center of the carrier plate 30 for engaging with the first suction cup wall 21 to form a closed structure, and the carrier plate wall 31 can still move relative to the first suction cup wall 21. In some embodiments, the carrier plate 30 has a first carrier plate through hole 310. In some embodiments, the first carrier plate through hole 310 is defined by a carrier plate wall 31, for example, the carrier plate wall 31 surrounds the first carrier plate through hole 310. In some embodiments, the first suction cup through hole 210A is defined by the first suction cup wall 21, for example, the first suction cup wall 21 surrounds the first suction cup through hole 210A. In some embodiments, the area defined by the first suction cup wall portion 21 is the first suction cup through hole 210A before being sealed, and is the first space or at least a portion thereof after being sealed. The first suction cup through hole 210A may have an arc-shaped opening (as shown in FIG. 1) or a circular opening (as shown in the first suction cup through hole 210B of FIG. 2B). For example, the carrier plate wall 31 may have a protrusion 311 on a surface facing away from the suction cup 20, and a corresponding groove 312 (as shown in fig. 3A or 3B) on a surface facing the suction cup 20 of the carrier plate 30, allowing the first suction cup wall 21 to be inserted into the groove 312. In some embodiments, the body 11 may include at least one pivot shaft (not shown) for limiting the vertical movement direction of the carrier 30 and the suction cup 20 after being engaged, so that the thickness variation of the self-walking device can be maintained to a certain extent in the vertical direction without separating the carrier 30 and the suction cup 20. For example, the pivot shaft may be located near the corner of the suction cup 20 and fixed to the suction cup to extend toward the carrier 30. The carrier plate 30 is movably connected to the suction cup 20 by a pivot shaft. During the above-mentioned thickness increase or decrease process of the self-walking device, the volume of the first space is increased or decreased correspondingly.

More specifically, in some embodiments, the carrier 30 has a plurality of through holes, and the pivot shaft passes through the through holes. The length of the pivot shaft is greater than the length of the corresponding through hole, so that the suction cup 20 can be pivoted to the support plate 30 by the pivot shaft, and the suction cup 20 can move along the long axis of the pivot shaft. Thus, the suction cup 20 can move relative to the carrier 30 through the pivot shaft and can be driven by the carrier 30. Preferably, the long axis of the pivot shaft is substantially parallel to the normal direction perpendicular to the bottom surface of the suction cup 20, so that the suction cup 20 can move in the normal direction.

The protrusion 311 of the carrier plate wall 31 forms a receiving space for receiving the pumping module 13, and the groove 312 of the carrier plate wall 31 and the first suction cup wall 21 are connected to each other. Fig. 3A illustrates a perspective view of the suction cup 20 and carrier plate 30 according to some embodiments of the present invention. Fig. 3B illustrates a cross-sectional view of a portion along line AA of the combination of the chuck 20 and the carrier plate 30 of the embodiment of fig. 3A. Referring to fig. 3A and 3B, the groove portion 312 includes a first groove wall 411, a second groove wall 412, and a groove 413 located between the first groove wall 411 and the second groove wall 412. The first suction cup wall 21 includes a first outer wall 211, a second inner wall 212, and a concave space 213 between the first outer wall 211 and the second inner wall 212. When the groove portion 312 of the carrier plate wall portion 31 and the first suction cup wall portion 21 are engaged with each other, the first outer wall 211 is located in the groove 413, such that the first outer wall 211 is located between the first groove wall 411 and the second groove wall 412, and moves up and down along the first groove wall 411 and the second groove wall 412; and the second groove wall 412 is located in the recessed space 213, such that the second groove wall 412 is located between the first outer wall 211 and the second inner wall 212, and moves up and down along the first outer wall 211 and the second inner wall 212.

According to this embodiment, the gas air needs to enter the groove 413, then enter the recess space 213, and finally enter the first chamber. More specifically, the path of the gas air enters the groove 413 and then flows out of the groove 413, the path of the gas air is U-shaped, the path of the gas air enters the concave space 213 and then flows out of the concave space 213, the path of the gas air is inverted U-shaped, and the path of the gas air makes at least one turn, preferably a 180-degree turn, so that the air is less likely to flow into the first space. In addition, since the first outer wall 211 and the first groove wall 411; and the first outer wall 211 and the second groove wall 412 are close to each other, and the second groove wall 412 and the first outer wall 211; and the second groove wall 412 and the second inner wall 212 are close to each other, so that the air is not easy to flow into the first space, and the air leakage of the first space can be further prevented. In one embodiment, the path of the gas air makes only one turn. For example, the surface of the carrier 30 facing the chuck 20 may have a groove 312, and the groove 312 has a groove 413, allowing the first outer wall 211 or the second inner wall 212 to be inserted into the groove 413, so that the path of the gas air is U-shaped or inverted U-shaped.

The foregoing outlines structures of several embodiments so that those skilled in the art may better understand the aspects of the present disclosure. Those skilled in the art should appreciate that they may readily use the present disclosure as a basis for designing or modifying other manufacturing processes and structures for carrying out the same purposes and/or achieving the same advantages of the embodiments introduced herein. Those skilled in the art should also realize that such equivalent constructions do not depart from the spirit and scope of the present disclosure, and that they may make various changes, substitutions, and alterations herein without departing from the spirit and scope of the present disclosure.

Claims (5)

1. A self-propelled device, the device being adapted to travel on a board surface, the device comprising:

a body defining a first space;

a walking module adjacent to the body; and

an air extraction module disposed on the body and in communication with the first space, wherein,

the body further comprises:

the carrier plate comprises a carrier plate wall part surrounding the first carrier plate through hole; and

a suction cup farther from an upper portion of the body than the carrier plate and connected with the carrier plate, the suction cup including a first suction cup wall surrounding a first suction cup through hole, the carrier plate wall and the first suction cup wall being engaged with each other, the carrier plate wall being movable relative to the first suction cup wall,

wherein,

the first sucking disc through hole corresponds to the first carrier plate through hole, and the first sucking disc through hole and the first carrier plate through hole form the first space,

the first sucker wall part comprises a first outer wall, a second inner wall and a concave space positioned between the first outer wall and the second inner wall.

2. The self-propelled device of claim 1,

the surface of the carrier plate facing the sucker is provided with a groove part,

the groove portion has a groove allowing the first outer wall or the second inner wall of the first suction cup wall portion to be inserted into the groove.

3. The self-propelled device of claim 2,

the groove portion further includes a first groove wall and a second groove wall, and

the groove is located between the first groove wall and the second groove wall.

4. Self-propelled device according to claim 3,

the first outer wall is located in the groove in a state where the groove portion of the carrier plate wall and the first suction cup wall are engaged with each other; the second groove wall is located in the recessed space.

5. A self-propelled device according to claim 4,

the second slot wall is located between the first outer wall and the second inner wall, and the second slot wall moves up and down along the first outer wall and the second inner wall, and

the first outer wall is located between the first slot wall and the second slot wall, and the first outer wall moves up and down along the first slot wall and the second slot wall.

Images