CN219770039U - Sliding sucker, negative pressure adsorption system and mobile robot - Google Patents

Abstract

The utility model provides a sliding sucker, a negative pressure adsorption system and a mobile robot, and belongs to the technical field of mobile robots. The sliding sucker comprises: the fixing piece is provided with an exhaust port; the movable piece is provided with an air inlet, is connected with the fixed piece and can move relative to the fixed piece; the sealing sleeve is respectively connected with the fixed piece and the movable piece and encloses a first negative pressure cavity, and the air inlet and the air outlet are both communicated with the first negative pressure cavity; the elastic sealing gasket is arranged on one side of the movable part, which is opposite to the fixed part, and is annularly arranged around the air inlet, and the elastic sealing gasket is used for being bonded with the surface to be attached and can slide relative to the surface; and the air filtering component is arranged at the air inlet and/or the air outlet. Through setting up air filter assembly at the air inlet that slides the sucking disc, can adsorb the pollutant such as dust, sand, water and its mixture on the contact surface and filter, avoid the pollutant to get into the sucking disc, effectively protected the sucking disc.

Description

Sliding sucker, negative pressure adsorption system and mobile robot

Technical Field

The utility model relates to the technical field of mobile robots, in particular to a sliding sucker, a negative pressure adsorption system and a mobile robot.

Background

The sliding sucker is suitable for being combined with vacuum equipment such as a negative pressure fan or a vacuum pump to generate negative pressure adsorption force for the adherence walking robot. Because the robot needs to move relative to the contact surface, after the sliding sucker is adsorbed by the negative pressure of the contact surface, the sliding sucker slides relative to the contact surface along with the movement of the robot in the moving process of the robot. However, in the sliding process of the sucker, because the contact surface can have stains such as dust, sand, water, a mixture thereof and other pollutants, the sliding sucker is extremely easy to pollute, the overall replacement of the sucker is high in cost and inconvenient to maintain, if the special structural design or optimization is not carried out on the sliding sucker, the sliding sucker can be damaged, the adsorption failure is caused, and the potential safety hazard is caused.

Disclosure of Invention

The utility model provides a sliding sucker, a negative pressure adsorption system and a mobile robot, which are used for solving the problem that the sliding sucker is easily polluted in the operation process and damaged in the prior art.

The utility model provides a sliding sucker, comprising:

the fixing piece is provided with an exhaust port;

the movable piece is provided with an air inlet, is connected with the fixed piece and can move relative to the fixed piece;

the sealing sleeve is respectively connected with the fixed piece and the movable piece and encloses a first negative pressure cavity, and the air inlet and the air outlet are both communicated with the first negative pressure cavity;

the elastic sealing gasket is arranged on one side of the movable part, which is opposite to the fixed part, and is annularly arranged around the air inlet, and the elastic sealing gasket is used for being adhered to the surface to be adhered and can slide relative to the surface; and

and the air filtering component is arranged at the air inlet and/or the air outlet.

According to the sliding sucker provided by the utility model, the air filtering component is connected with the movable piece, and at least one part of the air filtering component is detachably connected with the movable piece.

According to the sliding sucker provided by the utility model, the air filtering component comprises a hollowed-out cylinder body, a filtering part arranged in the cylinder body and a fastener which is detachably connected with the cylinder body, wherein the cylinder body and the movable part are integrally formed or detachably connected.

According to the sliding sucker provided by the utility model, the elastic sealing gasket is adhered and fixed with the movable piece;

or, the movable part comprises a base plate and a fixing assembly detachably connected with the base plate, and the fixing assembly is used for fixing the elastic sealing gasket and the base plate.

According to the sliding sucker provided by the utility model, the fixing assembly comprises an inner connecting piece and an outer connecting piece, wherein the elastic sealing gasket comprises an inner side part close to the air inlet and an outer side part far away from the air inlet, the inner connecting piece is used for being fixed with the base plate and propped against the inner side part, and the outer connecting piece is used for being fixed with the peripheral side part of the base plate and propped against the outer side part.

According to the sliding sucker provided by the utility model, the air filtering component is connected with the base plate or the fixing component.

According to the sliding sucker provided by the utility model, the air filtering component is connected with the inner connecting piece.

According to the sliding sucker provided by the utility model, the sealing sleeve is made of elastic materials and comprises a first sleeve part and a second sleeve part which are respectively connected with the fixed part and the movable part, wherein the first end of the first sleeve part is provided with a first vent hole communicated with the exhaust port, the second end of the first sleeve part is connected and communicated with the first end of the second sleeve part, the second end of the second sleeve part is in sealing connection with the movable part, and the second end of the second sleeve part is communicated with the air inlet.

According to the sliding sucker provided by the utility model, the average wall thickness of the first sleeve part is larger than that of the second sleeve part.

The utility model provides a negative pressure adsorption system which comprises a negative pressure source and the sliding sucker, wherein the exhaust port of the sliding sucker is connected with the air inlet end of the negative pressure source through an air pipe.

According to the negative pressure adsorption system provided by the utility model, the air pipe is provided with the auxiliary filtering device, and the auxiliary filtering device is used for filtering the air entering the negative pressure source.

The utility model also provides a mobile robot, which comprises a mobile chassis and the negative pressure adsorption system, wherein in the negative pressure adsorption system, the sliding sucker is arranged on one side of the mobile chassis, facing the surface to be attached, and the fixing piece of the sliding sucker is fixed with the mobile chassis.

According to the mobile robot provided by the utility model, at least one part of the sealing sleeve of the sliding sucker is positioned between the mobile chassis and the fixing piece and is pressed by the fixing piece to be fixed with the mobile chassis.

According to the sliding sucker, the negative pressure adsorption system and the mobile robot, the air filtering component is arranged at the air inlet of the sliding sucker, so that pollutants such as dust, sand, water and mixtures thereof on a contact surface can be adsorbed and filtered, the pollutants are prevented from entering the sucker, and the sucker is effectively protected; meanwhile, the air filtering component can be quickly disassembled and assembled outside the sucker, and replacement or maintenance is convenient.

Drawings

In order to more clearly illustrate the utility model or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the utility model, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a perspective view of a sliding suction cup provided by the present utility model;

FIG. 2 is a schematic illustration of the separation of the air filter assembly from the slide chuck;

FIG. 3 is an exploded view of the air filter assembly;

FIG. 4 is a side view of FIG. 3;

FIG. 5 is a schematic view of the sliding sucker and the contact surface in a natural fit state;

FIG. 6 is a schematic view of the sliding sucker and the contact surface in a negative pressure suction state;

FIG. 7 is a schematic view of the structure of the barrel and the inner connecting member as one piece;

FIG. 8 is a schematic view of the structure of the cartridge in detachable connection with the base plate;

FIG. 9 is a side view of the cartridge in detachable connection with the base plate;

FIG. 10 is a schematic diagram of a negative pressure adsorption system provided by the present utility model;

fig. 11 is a schematic view of a mobile robot provided by the present utility model.

Reference numerals:

100. a fixing member; 101. an exhaust port;

200. sealing sleeve; 201. a first sleeve portion; 202. a second sleeve portion;

203. a first vent hole; 204. a fastener;

205. an annular sealing protrusion; 206. a connecting ring;

300. a movable member; 301. an air inlet; 302. a substrate; 303. an inner connecting piece;

304. an outer connecting member; 305. a second vent hole;

306. a first pressing portion; 307. a second pressing part;

400. an elastic sealing gasket; 401. an inner side portion; 402. an outer side portion;

500. an air filtration assembly; 501. a cylinder; 502. a filter member; 503. a fastener;

504. a buckling groove; 505. a buckling hook; 506. a through hole;

507. screwing the sleeve; 508. an operating structure;

601. a first negative pressure chamber; 602. a second negative pressure chamber;

701. a negative pressure source; 702. an air pipe; 703. an auxiliary filtering device;

801. a mobile chassis; 802. a walking track; 803. and a working mechanism.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present utility model more apparent, the technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

When the adherence walking robot moves relative to the contact surface, a certain adsorption force is required to be provided by the sliding sucker, and after the sliding sucker is adsorbed to the contact surface under negative pressure, the sliding sucker slides relative to the contact surface along with the movement of the robot in the moving process of the robot. However, in the sliding process of the sliding sucker, because the contact surface can be polluted by dust, sand, water, a mixture thereof and the like, the sliding sucker is extremely easy to pollute, so that the sliding sucker is damaged, adsorption failure is caused, and potential safety hazards appear. There is therefore a need to optimise the construction of the sliding suction cup.

A sliding suction cup, a negative pressure suction system and a mobile robot according to the present utility model will be described with reference to fig. 1 to 11.

As shown in fig. 1 to 9, a sliding suction cup includes a fixed member 100, a sealing cartridge 200, a movable member 300, an elastic packing 400, and an air filter assembly 500.

The fixing member 100 is provided with an exhaust port 101; the exhaust port 101 is adapted to be connected to a negative pressure source 701.

The movable member 300 is provided with an air inlet 301, and the movable member 300 is connected to the fixed member 100 and movable with respect to the fixed member 100.

The sealing sleeve 200 is respectively connected with the fixed part 100 and the movable part 300 and encloses a first negative pressure cavity 601, and the air inlet 301 and the air outlet 101 are both communicated with the first negative pressure cavity 601;

specifically, the sealing sleeve 200 is fixed to the fixing member 100, and may be sleeved outside the fixing member 100 or fixed to one side of the fixing member 100.

In one possible embodiment, the sealing sleeve 200 comprises a first sleeve portion 201 and a second sleeve portion 202 which are hollow inside and are mutually communicated, and the first sleeve portion 201 and the second sleeve portion 202 are respectively fixed with the fixed member 100 and the movable member 300;

wherein, a first end of the first sleeve part 201 is provided with a first vent 203 communicated with the exhaust port 101, and a second end of the first sleeve part 201 is connected and communicated with a first end of the second sleeve part 202;

the second end of the second sleeve portion 202 is connected with the movable member 300 in a sealing manner, and the air inlet 301 of the movable member 300 is communicated with the second end of the second sleeve portion 202, so that the fixed member 100, the first sleeve portion 201, the second sleeve portion 202 and the movable member 300 define a first negative pressure cavity 601 which is sealed in a circumferential direction and is ventilated at two ends.

Further, it may be configured that: the cross-sectional dimension of the first sleeve portion 201 decreases progressively from its first end to its second end, while the cross-sectional dimension of the second sleeve portion 202 increases progressively from its first end to its second end.

In this way, a bending part can be formed between the first sleeve part 201 and the second sleeve part 202, so that a certain amount of telescopic movement can be generated when the sliding sucker adsorbs the surface to be attached, and the material of the sealing sleeve 200 can be an elastic material, so that the whole sliding sucker has a certain rebound performance, the sliding sucker is convenient to pass through the bulges or the pits, and the universality of the sliding sucker in the use process is improved.

Alternatively, the cross-sections of the first sleeve portion 201 and the second sleeve portion 202 may be circular, and when the cross-sections of the first sleeve portion 201 and the second sleeve portion 202 are circular, the cross-sectional dimensions of the first sleeve portion 201 and the second sleeve portion 202 are the corresponding diameters.

Of course, the cross-sections of the first sleeve portion 201 and the second sleeve portion 202 may also be other shapes, such as: rectangular or other polygonal shape, without limitation.

Similarly, the movable member 300, the fixed member 100, and the elastic sealing pad 400 may have a circular shape, a rectangular shape, and the like, which is not limited in the present utility model.

Optionally, the second end of the second sleeve portion 202 has a larger diameter than the first end of the first sleeve portion 201.

Alternatively, the sealing sleeve 200 is made of a material having a certain elasticity, such as polyurethane.

Optionally, the average wall thickness of the first sleeve portion 201 is greater than the average wall thickness of the second sleeve portion 202, such that the first sleeve portion 201 is stiffer than the second sleeve portion 202, thereby enabling the first sleeve portion 201 to provide a rigid support that reduces lateral deformation of the sliding suction cup during sliding.

The connection between the second sleeve portion 202 and the first sleeve portion 201 may be arc-shaped, and when negative pressure adsorption is performed, the side wall of the second sleeve portion 202 is turned outwards, so that the fixing member 100 is close to the contact surface, and a stable adsorption state is formed.

Optionally, the fixing piece 100 is an annular piece arranged in the first sleeve part 201, the annular piece is located at the outer side of the first vent hole 203, the sealing sleeve 200 and the moving chassis 801 of the moving robot can be connected in a split mode, when the sealing sleeve 200 is connected with the moving chassis 801, the fixing piece 100, the first sleeve part 201 and the moving chassis 801 can be fixed together through penetration of the fastening piece 204, so that the sealing sleeve 200 is firmly installed on the moving chassis 801, and the fastening piece 204 can be matched between a bolt and a nut or matched between the bolt and a riveting column with a screw hole formed in the interior;

in order to enhance the tightness of the connection between the first sleeve portion 201 and the movable chassis 801, an annular sealing groove can be formed in the surface of the movable chassis 801, an annular sealing protrusion 205 matched with the sealing groove is arranged on the outer surface of the first end of the first sleeve portion 201, the annular sealing protrusion 205 is made of elastic rubber, the annular sealing protrusion 205 and the sealing groove are matched to achieve a good sealing effect, the phenomenon of air leakage between the connection surfaces of the first sleeve portion 201 and the movable chassis 801 is avoided, and meanwhile, a quick positioning effect during installation can be achieved. The annular sealing protrusion 205 and the sealing groove are located outside the first vent hole 203 and the exhaust port 101.

Further, a connection portion is provided around the second end of the second sleeve portion 202, and the connection portion is in sealing connection with the movable member 300.

In a specific structure, the connecting portion includes a connecting ring 206, one end of the connecting ring 206 is connected to the second end of the second sleeve portion 202, and a connecting groove is formed around the inner peripheral wall of the connecting ring 206.

In some embodiments, the first sleeve portion 201, the second sleeve portion 202, and the connecting ring 206 may be an integrally formed structure;

in some embodiments, the connection ring 206 may be secured to the moveable member 300 by gluing or the like.

In some embodiments, a clamping groove is formed around the outer peripheral wall of the movable member 300, one end of the movable member 300 is located in the connecting groove, one end of the connecting ring 206 away from the second sleeve portion 202 is located in the clamping groove, and the movable member 300 and the connecting ring 206 are in nested connection.

The elastic sealing gasket 400 is arranged on one side of the movable piece 300, which is opposite to the fixed piece 100, and is annularly arranged around the air inlet 301, and the elastic sealing gasket 400 is used for being adhered to a surface to be attached and can slide relative to the surface;

normally, that is, under the condition that the sliding sucker is not deformed due to the negative pressure difference, the elastic sealing gasket 400 is not compressed, the elastic sealing gasket 400, the movable piece 300 and the contact surface form a second negative pressure cavity 602, and the air inlet 301 of the movable piece 300 communicates the second negative pressure cavity 602 with the first negative pressure cavity 601;

therefore, when the negative pressure source 701 is extracting and evacuating the air in the first negative pressure cavity 601 and the second negative pressure cavity 602, the first negative pressure cavity 601 and the second negative pressure cavity 602 form a negative pressure or even vacuum state, under the action of the atmospheric pressure outside the sliding sucker, the elastic sealing gasket 400 is pressed and deformed to be clung to the surface to be attached, and meanwhile, the sealing sleeve 200 is elastically bent, so that the moving chassis 801 of the mobile robot is closer to the surface to be attached;

when the negative pressure or vacuum state in the sliding sucker is released, the sealing sleeve 200 and the elastic sealing gasket 400 recover the elastic deformation to be normal.

In some embodiments, the resilient gasket 400 is adhesively secured to the moveable member 300;

in some embodiments, the movable member 300 includes a base plate 302, and a fixing component detachably connected to the base plate 302, where the base plate 302 is provided with an air inlet 301, and the fixing component is used to fix the elastic sealing gasket 400 to the base plate 302.

The air filter assembly 500 is disposed at the air inlet 301 and/or the air outlet 101; that is, the air filter assembly 500 may be provided only at the air inlet 301, only at the air outlet 101, or the air filter assembly 500 may be provided at the air inlet 301 and the air outlet 101, respectively;

the air filter assembly 500 is connected with the movable member 300, and at least a portion of the air filter assembly 500 is detachably connected with the movable member 300;

further, the air filter assembly 500 includes a hollow cylinder 501, a filter member 502 disposed in the cylinder 501, and a fastener 503 detachably connected to the cylinder 501, wherein the cylinder 501 is integrally formed with or detachably connected to the movable member 300.

In some embodiments, air filter assembly 500 is coupled to base plate 302; that is, the air filter assembly 500 is directly disposed at the air inlet 301 of the base plate 302, and the cylinder 501 is integrally formed with or detachably connected to the base plate 302.

In some embodiments, air filter assembly 500 is coupled to a stationary assembly; that is, the air filter assembly 500 is disposed at the air inlet 301 of the base plate 302 by the fixing assembly;

further, the fixing assembly includes an inner connector 303 and an outer connector 304, wherein the elastic sealing gasket 400 includes an inner portion 401 disposed close to the air inlet 301 and an outer portion 402 far from the air inlet 301, the inner connector 303 is used for fixing with the base plate 302 and pressing against the inner portion 401, the outer connector 304 is used for fixing with a peripheral portion of the base plate 302 and pressing against the outer portion 402, and the air filter assembly 500 is connected with the inner connector 303;

that is, the air filter assembly 500 is disposed at the air inlet 301 of the base plate 302 through the inner connector 303, and the cylinder 501 is integrally formed with or detachably connected to the inner connector 303;

further, the inner connecting member 303 is an inner fixing ring, the inner fixing ring is fixed at the air inlet 301 of the base plate 302, the middle part of the inner fixing ring is provided with a second air vent 305, and the cylinder 501 is arranged in the second air vent 305;

wherein, a first pressing part 306 is arranged on the outer peripheral wall of one end of the inner fixing ring far away from the fixing piece 100 in a surrounding way, and the first pressing part 306 presses the inner side part 401 of the elastic sealing gasket 400 towards one side of the base plate 302;

further, the outer connecting member 304 is an outer fixing sleeve, the outer fixing sleeve is sleeved on the outer sides of the base plate 302 and the connecting ring 206, a second pressing portion 307 is circumferentially disposed on an inner peripheral wall of one end of the outer fixing sleeve, which is far away from the fixing member 100, the second pressing portion 307 is pressed against an outer side portion 402 of the elastic sealing pad 400 towards one side of the base plate 302, and a channel for the middle portion of the elastic sealing pad 400 to protrude outwards is formed between the second pressing portion 307 and the first pressing portion 306.

Optionally, the above-mentioned clamping groove of the movable member 300 is further specifically formed on the circumferential side surface of the base plate 302, and the second pressing portion 307 presses the outer side portion 402 of the elastic sealing gasket 400 against the base plate 302, and simultaneously presses and fixes the connecting ring 206 in the clamping groove.

In connection, the outer fixing sleeve, the base plate 302 and the connecting ring 206 can be fixed by adopting a thread, a buckle and the like;

optionally, the inner wall of the outer fixing sleeve is provided with internal threads, the outer walls of the base plate 302 and the connecting ring 206 are provided with external threads, and the outer fixing sleeve is in threaded connection with the base plate 302 and the connecting ring 206;

optionally, a second clamping groove is formed on the inner wall of the outer fixing sleeve, and second buckles matched with the second clamping groove are formed on the outer walls of the base plate 302 and the connecting ring 206, so that the outer fixing sleeve is fixed with the base plate 302 and the connecting ring 206 in a buckling manner.

When the cylinder 501 is detachably connected with the air inlet 301 or the second air vent 305, that is, when the cylinder 501 is detachably connected with the base plate 302 or the inner fixing ring, in a specific structure, as shown in fig. 3-6 and fig. 8-9, one end of the cylinder 501 facing the fixing piece 100 is provided with an opening, a buckling groove 504 is formed in the side wall of the cylinder 501, one side of the buckling hook 503 is provided with a buckling hook 505 matched with the buckling groove 504, and the buckling hook 505 stretches into the cylinder 501 and is buckled with the buckling groove 504, so that the buckling hook 503 closes the opening;

the filter component 502 is arranged in the internal cavity formed by the fastener 503 and the cylinder 501, and the cylinder 501 and/or the fastener 503 are provided with through holes 506; filter element 502 is a filter cotton or other conventional air filter element;

one end of the cylinder 501, which is far away from the fastener 503, is provided with a screwing sleeve 507, and the screwing sleeve 507 is detachably connected with the air inlet 301 or the second ventilation hole 305; the concrete connection mode is as follows:

optionally, a first buckle is provided on the circumferential side of the screwing sleeve 507, and a first clamping groove adapted to the first buckle is provided on the inner wall of the air inlet 301 or the second air vent 305;

optionally, the circumferential side of the screw sleeve 507 is provided with external threads, and the inner wall of the air inlet 301 or the second ventilation hole 305 is provided with internal threads adapted to the external threads.

The screwing sleeve 507 is provided with an operation structure 508, and the operation structure 508 is a screwing handle, so that the air filtering assembly 500 and the air inlet 301 or the second ventilation hole 305 can be conveniently assembled and disassembled manually;

alternatively, the screwing sleeve 507 is provided with a slot into which a screwing tool (such as a screwdriver) is inserted, so that the air filter assembly 500 can be conveniently detached from the air inlet 301 or the second air vent 305 by using the tool.

Of course, the air filter assembly 500 may also be integrally and detachably disposed within the air inlet 301 or the second air vent 305 in other conventional manners.

When the cylinder 501 is integrally formed with the air inlet 301 or the second air vent 305, that is, when the cylinder 501 is integrally formed with the base plate 302 or the inner retainer ring; in a specific structure, as shown in fig. 7, an opening is provided at one end of the cylinder 501 far away from the fixing member 100, and at this time, the fastener 503 is a cover plate, and the cover plate is detachably connected with the opening;

optionally, an external thread is provided on the outer peripheral wall of the cover plate, an internal thread is provided on the inner wall of the cylinder 501 or the air inlet 301 or the second air vent 305, and the cover plate is detachably connected with the opening in a threaded connection manner;

the cover plate is provided with a screwing structure or a slot for inserting a screwing tool (a screwdriver and the like), so that the cover plate is convenient to assemble and disassemble; of course, the cover plate may also be detachably connected to the opening in other conventional manners;

the cover plate and the cylinder 501 form an internal cavity in which a filter component 502 is arranged, through holes 506 are arranged on the cylinder 501 and/or the cover plate, and the filter component 502 is filter cotton or other conventional air filter components.

As shown in fig. 10, a negative pressure adsorption system comprises a negative pressure source 701 and the sliding sucker, wherein an exhaust port 101 of the sliding sucker is connected with an air inlet end of the negative pressure source 701 through an air pipe 702;

the negative pressure source 701 may be a negative pressure fan or a vacuum pump, or may be other devices or apparatuses capable of providing negative pressure conditions in the prior art, and the negative pressure source 701 may be mounted on the mobile chassis 801 of the mobile robot or may be independent from the mobile robot.

Further, the air pipe 702 is provided with an auxiliary filtering device 703, the auxiliary filtering device 703 is used for filtering the air entering the negative pressure source 701, the auxiliary filtering device 703 can be disposed at any position of the air pipe 702, and the auxiliary filtering device 703 can be a conventional air filtering device, for example: PTFE (polytetrafluoroethylene) filters, glass fiber filters, electrostatic filters, activated carbon fiber filters, and the like.

As shown in fig. 11, a mobile robot includes a mobile chassis 801 and the aforementioned negative pressure adsorption system, wherein in the negative pressure adsorption system, a sliding suction cup is disposed on a side of the mobile chassis 801 facing a surface to be attached, and a fixing member 100 of the sliding suction cup is fixed to the mobile chassis 801;

when the sliding sucker is connected with the moving chassis 801, at least a part of the sealing sleeve 200 of the sliding sucker is positioned between the moving chassis 801 and the fixing member 100, and is pressed by the fixing member 100 to be fixed with the moving chassis 801.

Further, the mobile robot further includes walking tracks 802, and the walking tracks 802 are disposed at both sides of the mobile chassis 801.

Further, at least one of the front and rear ends of the mobile robot is further provided with a working mechanism 803, such as a cleaning assembly or a spraying assembly, through which the surface to be attached is cleaned or through which the surface to be attached is sprayed.

Alternatively, the cleaning assembly may be a combination of one or more of a squeegee, a roller brush and a mop.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and are not limiting; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present utility model.

Claims (13)

1. A sliding suction cup, comprising:

the fixing piece is provided with an exhaust port;

the movable piece is provided with an air inlet, is connected with the fixed piece and can move relative to the fixed piece;

the sealing sleeve is respectively connected with the fixed piece and the movable piece and encloses a first negative pressure cavity, and the air inlet and the air outlet are both communicated with the first negative pressure cavity;

the elastic sealing gasket is arranged on one side of the movable part, which is opposite to the fixed part, and is annularly arranged around the air inlet, and the elastic sealing gasket is used for being adhered to the surface to be adhered and can slide relative to the surface; and

and the air filtering component is arranged at the air inlet and/or the air outlet.

2. The sliding suction cup of claim 1, wherein the air filter assembly is coupled to the moveable member and at least a portion of the air filter assembly is detachably coupled to the moveable member.

3. The sliding suction cup according to claim 2, wherein the air filter assembly comprises a hollow cylinder, a filter component arranged in the cylinder, and a fastener detachably connected with the cylinder, wherein the cylinder and the movable component are integrally formed or detachably connected.

4. A sliding suction cup according to any one of claims 1 to 3 wherein the resilient sealing pad is adhesively secured to the moveable member;

or, the movable part comprises a base plate and a fixing assembly detachably connected with the base plate, and the fixing assembly is used for fixing the elastic sealing gasket and the base plate.

5. The sliding suction cup as claimed in claim 4, wherein the fixing assembly includes an inner connecting member for fixing with the base plate and pressing against the inner side portion, and an outer connecting member for fixing with a peripheral side portion of the base plate and pressing against the outer side portion, wherein the elastic sealing pad includes an inner side portion disposed close to the air inlet and an outer side portion remote from the air inlet.

6. The sliding suction cup as set forth in claim 4 wherein said air filter assembly is connected to said base plate or said securing assembly.

7. The sliding suction cup as set forth in claim 5 wherein said air filter assembly is connected to said inner connector.

8. The sliding suction cup according to claim 1, wherein the sealing sleeve is made of an elastic material and comprises a first sleeve part and a second sleeve part which are respectively connected with the fixed part and the movable part, wherein a first end of the first sleeve part is provided with a first vent hole communicated with the exhaust port, a second end of the first sleeve part is connected with and communicated with a first end of the second sleeve part, a second end of the second sleeve part is in sealing connection with the movable part, and a second end of the second sleeve part is communicated with the air inlet.

9. The sliding suction cup of claim 8, wherein the average wall thickness of the first sleeve portion is greater than the average wall thickness of the second sleeve portion.

10. A negative pressure adsorption system comprising a negative pressure source and a sliding suction cup according to any one of claims 1-9, wherein the exhaust port of the sliding suction cup is connected to the intake end of the negative pressure source via an air tube.

11. The negative pressure adsorption system of claim 10, wherein an auxiliary filter device is provided on the air tube for filtering the air entering the negative pressure source.

12. A mobile robot comprising a mobile chassis and the negative pressure adsorption system according to claim 10 or 11, wherein in the negative pressure adsorption system, the sliding suction cup is disposed on a side of the mobile chassis facing a surface to be attached, and the fixing member of the sliding suction cup is fixed to the mobile chassis.

13. The mobile robot of claim 12, wherein at least a portion of the sealing sleeve of the skid suction cup is positioned between the mobile chassis and the fixture and is held in place with the mobile chassis by the fixture.