WO2013149590A1 - 吸附装置、擦玻璃装置及其行走控制方法 - Google Patents
吸附装置、擦玻璃装置及其行走控制方法 Download PDFInfo
- Publication number
- WO2013149590A1 WO2013149590A1 PCT/CN2013/073730 CN2013073730W WO2013149590A1 WO 2013149590 A1 WO2013149590 A1 WO 2013149590A1 CN 2013073730 W CN2013073730 W CN 2013073730W WO 2013149590 A1 WO2013149590 A1 WO 2013149590A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- glass
- suction cup
- negative pressure
- vacuum
- pressure chamber
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 24
- 239000011521 glass Substances 0.000 claims description 116
- 238000004140 cleaning Methods 0.000 claims description 83
- 238000001179 sorption measurement Methods 0.000 claims description 24
- 239000002131 composite material Substances 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000005201 scrubbing Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
- F04C28/00—Control of, monitoring of, or safety arrangements for, pumps or pumping installations specially adapted for elastic fluids
- F04C28/24—Control of, monitoring of, or safety arrangements for, pumps or pumping installations specially adapted for elastic fluids characterised by using valves controlling pressure or flow rate, e.g. discharge valves or unloading valves
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B47/00—Suction cups for attaching purposes; Equivalent means using adhesives
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B15/00—Systems controlled by a computer
- G05B15/02—Systems controlled by a computer electric
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Definitions
- the invention belongs to the technical field of daily small household appliance manufacturing, and relates to an adsorption device, a glass cleaning device and a walking control method thereof. Background technique
- the single-sucker window cleaning robot In daily life, for small pieces of glass, people generally use a rag for cleaning and scrubbing, while large glass and the façade of the window are usually cleaned and scrubbed with a glass cleaner. However, when cleaning the glass with a glass cleaner, the arms are prone to fatigue.
- the single-sucker window cleaning robot currently available on the market can perform high-rise glass curtain wall cleaning work by attaching a vacuum suction cup to a vertical wall surface and driving by a wheel or a crawler alone.
- the single-sided window cleaning robot described above has a drawback: During the rolling process, the sliding chamber is in a sliding friction state between the vacuum chamber and the wall surface, which inevitably causes leakage of the sealing gas. At this time, if there is a gap or a small number of small bumps, it is easy to leak, resulting in an imbalance of atmospheric pressure, so that the machine can not guarantee sufficient vacuum pressure, and the machine will fall from the wall surface. Summary of the invention
- the technical problem to be solved by the present invention is to provide an adsorption device, a glass-wiping device having the above-mentioned adsorption device, and a walking control method for the glass-wiping device according to the deficiencies of the prior art, when the external suction cup in the adsorption device fails, When the negative pressure chamber fails, the glass cleaning device will take measures in time to prevent more small bumps from entering the inner suction cup, thereby avoiding the phenomenon that the glass cleaning device falls off the wall surface.
- the adsorption device provided by the present invention comprises a suction cup unit, which comprises an inner suction cup 11 and an outer suction cup 12.
- the inner suction cup 11 is disposed inside the outer suction cup 12, wherein the inner cavity of the inner suction cup 11 forms an inner negative pressure chamber 13 by vacuum suction.
- the cavity between the inner and outer suction cups forms an outer negative pressure chamber 14 by vacuum suction; wherein the outer negative pressure chamber is connected to the vacuum degree detecting unit, and the vacuum degree detecting unit comprises the deformation piece 20 and the strain gauge 21, and the deformation piece 20 is sealed and connected On the opening 141 at the top end of the negative pressure chamber 14, a strain gauge 21 is placed on the deformation piece 20.
- the glass cleaning device provided by the invention comprises an adsorption device 1, a walking unit 2, a cleaning unit 3, a driving unit 4 and a control unit 5.
- the walking unit 2 and the cleaning unit 3 are respectively disposed at the bottom of the glass cleaning device 8, and the control unit 5 respectively The cleaning unit 3 and the driving unit 4 are connected.
- the driving unit 4 controls the walking unit 2 to travel, and the glass cleaning device is adsorbed on the glass surface by the adsorption device 1, and the adsorption device 1 includes a suction cup unit.
- the suction cup unit comprises an inner suction cup 11 and an outer suction cup 12.
- the inner suction cup 11 is disposed on the inner side of the outer suction cup 12, wherein the inner cavity of the inner suction cup 11 forms an inner negative pressure chamber 13 by vacuum suction, and the cavity between the inner and outer suction cups passes.
- Vacuum suction forms the outer negative pressure chamber 14, and the glass cleaning device further includes a vacuum detecting unit, and the vacuum detecting unit is connected to the control unit 5 and the outer negative pressure chamber 14, respectively.
- the vacuum detecting unit includes a deformation piece 20 and a strain gauge 21, and the deformation piece 20 is sealingly connected to the opening 141 at the top end of the outer negative pressure chamber 14.
- the strain gauge 20 is provided with a strain gauge 21, and the strain gauge 20 is connected and outputs a vacuum degree detection. The data is sent to the control unit 5.
- a vacuum threshold is stored in the control unit 5.
- the control unit 5 controls the glass cleaning device to stop or turn.
- the glass-wiping device is further provided with a timing unit.
- the control unit controls the glass-washing device to stop or turn.
- the adsorption device further includes an inner vacuum pump 15, an outer vacuum pump 16, an inner air tube 17 and an outer air tube 18, and the inner suction cup 11 is connected to the inner vacuum pump 15 through the inner air tube 16, and the outer suction cup 12 is connected to the outer vacuum pump 16 through the outer air tube 18. .
- the glass cleaning device 8 is adsorbed to the glass surface by the inner negative pressure chamber 13 and/or the outer negative pressure chamber 14.
- the glass cleaning device When only the inner suction cup 11 is sealed with the glass surface, the glass cleaning device is adsorbed to the glass surface through the inner negative pressure chamber 13; or, when only the outer suction cup 12 is sealed with the glass surface, the inner negative pressure chamber 13 and the outer negative pressure chamber 14 are connected A large negative pressure chamber is formed, and the glass cleaning device is adsorbed to the glass surface through the large negative pressure chamber.
- the inner negative pressure chamber 13 is located in the inner suction cup 11, the bottom shell of the glass cleaning device, and the closed space formed by the glass;
- the outer negative pressure chamber 14 is located at the inner suction cup 11, the outer suction cup 12, the bottom shell of the glass cleaning device, and the closed glass composite. space.
- the inner negative pressure chamber 13 is located in the closed space formed by the inner suction cup 11 and the glass circumference; the outer negative pressure chamber 14 is located in the closed space of the inner suction cup 11, the outer suction cup 12 and the glass circumference.
- the inner suction cup 11 and the outer suction cup 12 are coaxially arranged.
- the invention also provides a walking control method for the above glass cleaning device, comprising the following steps:
- the control unit 5 controls the internal and external vacuum pumps to start, and performs vacuuming operation on the inner and outer negative pressure chambers of the suction cup unit, and the glass cleaning device 8 is adsorbed on the surface of the glass 6;
- the glass-wiping device 8 walks on the surface of the glass 6;
- the vacuum degree detecting unit detects and transmits the vacuum degree detecting data to the control unit 5;
- step S4 specifically comprises the following steps: When the interval time t or the duration t is, the detection data is still less than or equal to the vacuum degree threshold, and the control unit 5 controls the glass cleaning device 8 to stop or turn.
- the glass cleaning device provided by the invention has an adsorption device.
- the glass cleaning device takes measures in time to prevent more small bumps from entering the inner suction cup. Thereby, the phenomenon that the glass cleaning device falls from the wall surface is avoided.
- FIG. 1 is a schematic structural view of a glass device of the present invention
- FIG. 2 is a schematic view showing the glass device of the present invention adsorbed on glass (with small bumps on the glass);
- Figure 3 is a schematic view showing the control of the glass device of the present invention.
- FIG. 1 is a schematic view showing the structure of a glass cleaning device according to the present invention
- FIG. 2 is a schematic view showing the glass cleaning device of the present invention adsorbed on glass (with small bumps on the glass)
- FIG. 3 is a schematic view showing the control of the glass cleaning device of the present invention.
- the adsorption device of the present invention comprises a suction cup unit comprising an inner suction cup 11 and an outer suction cup 12.
- the inner suction cup 11 is disposed inside the outer suction cup 12, wherein the inner cavity of the inner suction cup 11 is formed by vacuum suction.
- the pressure chamber 13 and the cavity between the inner and outer suction cups form an outer negative pressure chamber 14 by vacuum suction; wherein the outer negative pressure chamber is connected to the vacuum degree detecting unit, and the vacuum degree detecting unit comprises the deformation piece 20 and the strain gauge 21, the deformation piece 20 is sealingly connected to the opening 141 at the top end of the outer negative pressure chamber 14, and a strain gauge 21 is disposed on the deformation piece 20.
- the glass cleaning device provided by the present invention comprises an adsorption device 1, a walking unit 2, a cleaning unit 3, a driving unit 4 and a control unit 5, and the walking unit 2 and the cleaning unit 3 are respectively disposed on the glass cleaning device 8.
- the control unit 5 is connected to the cleaning unit 3 and the driving unit 4 respectively.
- the driving unit 4 controls the walking unit 2 to travel, and the glass cleaning device 8 is adsorbed on the glass surface by the adsorption device 1, and is adsorbed.
- the suction cup unit comprises an inner suction cup 11 and an outer suction cup 12.
- the inner suction cup 11 is disposed on the inner side of the outer suction cup 12, wherein the inner cavity of the inner suction cup 11 forms an inner negative pressure chamber 13 by vacuum suction, inside and outside.
- the cavity between the suction cups forms an external negative pressure chamber 14 by vacuum suction, and the glass cleaning device further includes a vacuum degree detecting unit, and the vacuum degree detecting unit is connected to the control unit 5 and the external negative pressure chamber 14, respectively.
- the vacuum detecting unit includes a deformation piece 20 and a strain gauge 21, and the deformation piece 20 is sealingly connected to the opening 141 at the top end of the outer negative pressure chamber 14.
- the strain gauge 20 is provided with a strain gauge 21, and the strain gauge 20 is connected by the strain gauge wire harness 211.
- the vacuum degree detection data is output to the control unit 5.
- a vacuum threshold is stored in the control unit 5, and when the vacuum detection data is less than or equal to the vacuum threshold, the control unit 5 controls the glass cleaning device to stop or turn.
- the glass cleaning device is further provided with a timing unit, and when the interval time t or the duration t is, the vacuum degree detection data is less than or equal to the vacuum degree threshold.
- the control unit controls the glass cleaning device to stop or turn.
- the adsorption device further includes an inner vacuum pump 15, an outer vacuum pump 16, an inner air tube 17 and an outer air tube
- the inner suction cup 11 is connected to the inner vacuum pump through the inner air tube 16
- the outer suction cup 12 is connected to the outer vacuum pump 16 through the outer air tube 18.
- the glass cleaning device 8 is adsorbed to the glass surface by the inner negative pressure chamber 13 and/or the outer negative pressure chamber 14.
- the glass cleaning device is adsorbed to the glass surface through the inner negative pressure chamber 13 and the outer negative pressure chamber 14; when the outer suction cup 12 encounters the small bumps 7, the outer suction cup 12 is jacked up, and the outer negative pressure chamber 14 is disabled. At this time, only the inner suction cup 11 is sealed with the glass surface, and the glass cleaning device is adsorbed to the glass surface through the inner negative pressure chamber 13; the glass cleaning device continues to operate, and when the inner suction cup 11 encounters the small bump 7, the inner suction cup 11 is jacked up. Only the outer suction cup 12 is sealed with the glass surface, and the inner negative pressure chamber 13 and the outer negative pressure chamber 14 communicate with each other to form a large negative pressure chamber, and the glass cleaning device is adsorbed to the glass surface through the large negative pressure chamber.
- the inner negative pressure chamber 13 is located in the inner suction cup 11, the bottom shell of the glass cleaning device, and the closed space formed by the glass;
- the outer negative pressure chamber 14 is located at the inner suction cup 11, the outer suction cup 12, the bottom shell of the glass cleaning device, and the closed glass composite. space.
- the inner negative pressure chamber 13 is located in the closed space formed by the inner suction cup 11 and the glass circumference; the outer negative pressure chamber 14 is located in the closed space of the inner suction cup 11, the outer suction cup 12 and the glass circumference.
- the inner suction cup 11 and the outer suction cup 12 can be coaxially arranged.
- the cleaning device 3 is further provided with a cleaning unit 3, a driving unit 4, a walking unit 2 and a cleaning sheet.
- the elements 3 are respectively disposed at the bottom of the glass cleaning device 8, and the control unit 5 is connected to the cleaning unit 3, the driving unit 4, and the vacuum detecting unit, respectively. Under the action of the control unit 5, the driving unit 4 controls the walking unit 2 to travel.
- the invention also provides a walking control method for the above-mentioned glass-wiping device, the control method comprising the following steps:
- the control unit 5 controls the internal and external vacuum pumps to start, and performs vacuuming operation on the inner and outer negative pressure chambers of the suction cup unit, and the glass cleaning device 8 is adsorbed on the surface of the glass 6;
- the glass-wiping device 8 walks on the surface of the glass 6;
- the vacuum degree detecting unit detects and transmits the vacuum degree detecting data to the control unit 5;
- the control unit 5 compares the vacuum degree detection data with the vacuum degree threshold. When the vacuum degree detection data is less than or equal to the vacuum degree threshold, the control unit 5 controls the glass cleaning device 8 to stop walking or turning; otherwise, the walking is continued.
- step S4 specifically comprises the following steps: When the interval data t or the duration t is, the detection data is still less than or equal to the vacuum threshold, and the control unit 5 controls the glass cleaning device 8 to stop or turn.
- the adsorption device in the glass cleaning device of the present invention comprises an inner suction cup 11 and an outer suction cup 12.
- the outer negative pressure chamber 14 is between the inner and outer suction cups, and the inner negative pressure chamber 13 is in the middle of the inner suction cup 11, two The negative pressure chamber is evacuated by the inner vacuum pump 15 and the outer vacuum pump 16, respectively.
- the vacuum detecting unit in the adsorption device is connected to the control unit 5 and the external negative pressure chamber 14, respectively, and the vacuum detecting unit includes the deformation piece 20 and the strain gauge 21.
- An opening 141 is formed at the top end of the outer negative pressure chamber 14, and the deformation piece 20 is sealingly connected to the opening 141, and the deformation piece 20 is a metal piece.
- a strain gauge 21 is adhered to the deformation piece 20 corresponding to the opening area for sensing the degree of vacuum of the outer negative pressure chamber 14.
- the strain gauge 21 is an electronic component connected to the control unit 5 via a signal line.
- the strain gauge can be of a prior art, such as a metal strain gauge or a semiconductor strain gauge.
- the control unit 5 controls the glass cleaning device to stop or turn according to the vacuum degree detection data input by the vacuum degree detecting unit.
- the control unit 5 stores a vacuum threshold. When the vacuum detection data is less than or equal to the vacuum threshold, the control unit 5 controls the glass cleaning device to stop or turn.
- the glass-cleaning device can be crossed by the inner and outer suction cups. However, if a small number of small bumps or large cracks are encountered, the glass-cleaning device cannot cross the dangerous area and needs to be avoided in time. Further, the glass cleaning device is further provided with a timing unit (not shown). When the interval is t or for a certain time t, if the vacuum detection data is still less than or equal to the vacuum threshold, the control unit determines that the area is present. Small bumps or large cracks that control the glass-cutting device to stop or turn.
- control unit 5 immediately signals the walking unit 2, The machine is retracted or left still to prevent the small bumps 7 from re-entering the inner suction cup 11, and the inner suction cup 11 is lifted up to avoid the phenomenon that the glass cleaning device falls from the wall surface.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Fluid Mechanics (AREA)
- Manipulator (AREA)
- Cleaning In General (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP13773149.3A EP2835085B1 (en) | 2012-04-05 | 2013-04-03 | Suction apparatus |
JP2015503743A JP6188783B2 (ja) | 2012-04-05 | 2013-04-03 | ガラス拭き取り装置、及びその走行制御方法 |
KR1020147031123A KR102059680B1 (ko) | 2012-04-05 | 2013-04-03 | 흡입 장치, 유리-와이핑 장치 및 그 주행 제어 방법 |
US14/389,938 US10016102B2 (en) | 2012-04-05 | 2013-04-03 | Suction apparatus, glass-wiping device, and run control method therefor |
US15/976,041 US10610070B2 (en) | 2012-04-05 | 2018-05-10 | Suction apparatus, glass-wiping device, and run control method thereof |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201210097694.6 | 2012-04-05 | ||
CN201210097694.6A CN103359197B (zh) | 2012-04-05 | 2012-04-05 | 擦玻璃装置及其行走控制方法 |
Related Child Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US14/389,938 A-371-Of-International US10016102B2 (en) | 2012-04-05 | 2013-04-03 | Suction apparatus, glass-wiping device, and run control method therefor |
US15/976,041 Continuation US10610070B2 (en) | 2012-04-05 | 2018-05-10 | Suction apparatus, glass-wiping device, and run control method thereof |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2013149590A1 true WO2013149590A1 (zh) | 2013-10-10 |
Family
ID=49300007
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2013/073730 WO2013149590A1 (zh) | 2012-04-05 | 2013-04-03 | 吸附装置、擦玻璃装置及其行走控制方法 |
Country Status (6)
Country | Link |
---|---|
US (2) | US10016102B2 (zh) |
EP (2) | EP3141172B1 (zh) |
JP (1) | JP6188783B2 (zh) |
KR (1) | KR102059680B1 (zh) |
CN (1) | CN103359197B (zh) |
WO (1) | WO2013149590A1 (zh) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20160347384A1 (en) * | 2015-05-27 | 2016-12-01 | Chi-Mou Chao | Robot |
CN108120684A (zh) * | 2018-01-30 | 2018-06-05 | 中国建材检验认证集团股份有限公司 | 幕墙安全检测机器人及幕墙检测系统 |
CN110169740A (zh) * | 2019-06-20 | 2019-08-27 | 西安建筑科技大学 | 一种用于清洗隐框玻璃幕墙的机器人及其操作方法 |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103359197B (zh) * | 2012-04-05 | 2015-08-19 | 科沃斯机器人有限公司 | 擦玻璃装置及其行走控制方法 |
CN104648506B (zh) * | 2013-11-20 | 2017-09-19 | 科沃斯商用机器人有限公司 | 控制分体吸盘式机器人躲避行走表面缺陷的方法 |
CN104644064A (zh) * | 2013-11-20 | 2015-05-27 | 苏州科沃斯商用机器人有限公司 | 吸附式自动清洁机 |
CN104921654B (zh) * | 2014-03-17 | 2017-11-17 | 科沃斯机器人股份有限公司 | 吸附机器人 |
CN104921651B (zh) * | 2014-03-17 | 2017-08-15 | 科沃斯机器人股份有限公司 | 自移动装置及其运动表面缺陷检测及控制方法 |
CN104921672B (zh) * | 2014-03-17 | 2017-11-07 | 科沃斯家用机器人(苏州)有限公司 | 吸附机器人的吸附状态判断及行走控制方法 |
CN104932491B (zh) * | 2014-03-17 | 2018-07-06 | 科沃斯机器人股份有限公司 | 吸附机器人的吸附状态判断及行走控制方法 |
CN105137990A (zh) * | 2015-08-24 | 2015-12-09 | 铜陵学院 | 双核中速四轮微微鼠全数字导航伺服系统控制器 |
GB201521712D0 (en) | 2015-12-09 | 2016-01-20 | F Robotics Acquisitions Ltd | Window cleaning robot |
CA2971033A1 (en) * | 2016-01-19 | 2017-07-19 | Jiangsu Midea Cleaning Appliances Co., Ltd. | Window-cleaning robot and method for controlling the same |
CN107028547B (zh) * | 2017-04-28 | 2022-12-27 | 厦门华蔚物联网科技有限公司 | 一种行走稳定的幕墙机器人及控制方法 |
CN107007196A (zh) * | 2017-06-14 | 2017-08-04 | 浙江工贸职业技术学院 | 一种擦玻璃装置 |
FR3073766B1 (fr) | 2017-11-22 | 2019-10-25 | Coval | Dispositif de prehension avec surveillance de son etat de fonctionnement |
US11141863B2 (en) * | 2018-10-11 | 2021-10-12 | Pixart Imaging Inc. | Cleaning robot capable of detecting 2D depth information and operating method thereof |
KR102113475B1 (ko) * | 2018-12-06 | 2020-05-22 | 공주대학교 산학협력단 | 청소기 |
JP7264241B2 (ja) * | 2019-05-13 | 2023-04-25 | オムロン株式会社 | センサー体、及び吸着装置 |
JP7342614B2 (ja) * | 2019-10-25 | 2023-09-12 | オムロン株式会社 | 劣化判定装置、劣化判定方法、および制御プログラム |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
RU1771958C (ru) * | 1989-12-05 | 1992-10-30 | Харьковский Опытно-Экспериментальный Завод Средств Оснащения | Вакуумный захват |
US5890250A (en) * | 1996-02-02 | 1999-04-06 | Sky Robitics, Inc. | Robotic washing apparatus |
CN201029844Y (zh) * | 2007-05-08 | 2008-03-05 | 徐彬 | 一种自动行走玻璃幕墙清洗机 |
CN101623868A (zh) * | 2009-08-07 | 2010-01-13 | 太原亚乐士新技术有限公司 | 重型大口径真空吸盘 |
CN201506669U (zh) * | 2009-08-07 | 2010-06-16 | 太原亚乐士新技术有限公司 | 真空吸盘 |
CN102009707A (zh) * | 2010-11-22 | 2011-04-13 | 江苏申锡建筑机械有限公司 | 擦窗机器人机械腿的真空系统 |
CN202669947U (zh) * | 2012-04-05 | 2013-01-16 | 科沃斯机器人科技(苏州)有限公司 | 吸附装置及其擦玻璃装置 |
Family Cites Families (25)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6078877A (ja) * | 1983-10-07 | 1985-05-04 | Hitachi Ltd | 壁面走行機 |
US4997052A (en) * | 1989-03-23 | 1991-03-05 | Uragami Fukashi | Device for moving along a wall surface while suction-adhering thereto |
JPH05111882A (ja) * | 1991-10-22 | 1993-05-07 | Ishikawajima Kensa Keisoku Kk | 吸盤構造 |
JPH06190747A (ja) * | 1992-10-29 | 1994-07-12 | Mitsubishi Heavy Ind Ltd | 二重バキュームカップ式自走ロボット |
DE19958890C1 (de) * | 1999-12-07 | 2001-02-15 | Bsh Bosch Siemens Hausgeraete | Sicherheitseinrichtung für eine auf einer Fläche beweglichen Vorrichtung |
DE10020503A1 (de) * | 2000-04-26 | 2001-10-31 | Bsh Bosch Siemens Hausgeraete | Vorrichtung zur Durchführung von Arbeiten an einer Fläche |
WO2003013944A2 (en) * | 2001-08-06 | 2003-02-20 | Smart Robotics Ltd. | Vehicle with a mechanism for attachment to a surface |
AU2002335723A1 (en) * | 2001-09-09 | 2003-03-24 | Advanced Robotic Vehicles, Inc. | Surface adhering tool carrying robot |
US6854412B1 (en) * | 2002-05-31 | 2005-02-15 | The United States Of America As Represented By The Secretary Of The Navy | Underwater vacuum attachment device |
JP4396095B2 (ja) * | 2002-06-03 | 2010-01-13 | セイコーエプソン株式会社 | ポンプ |
AU2002332281A1 (en) * | 2002-09-24 | 2004-04-19 | Hidenori Ishihara | Window wiping system |
US7313968B2 (en) * | 2003-01-30 | 2008-01-01 | Jms Co., Ltd. | Pressure detector and pressure detecting method |
US20100076606A1 (en) * | 2006-08-23 | 2010-03-25 | Jakel Incorporated | Method and apparatus for producing a constant air flow from a blower by sensing blower housing vacuum |
JP4926690B2 (ja) * | 2006-12-20 | 2012-05-09 | 株式会社アイ・アンド・ティー | ワーク吸着装置 |
KR100823006B1 (ko) * | 2007-02-09 | 2008-04-18 | 김용욱 | 외벽 청소용 로봇과 그 방법 |
DE102007041067A1 (de) * | 2007-08-30 | 2009-03-05 | BSH Bosch und Siemens Hausgeräte GmbH | Verfahrbare Vorrichtung zum Durchführen von Arbeiten an vorzugsweise ebenen Flächen |
EP2992912B1 (en) * | 2008-08-08 | 2017-11-22 | KCI Licensing, Inc. | Reduced-pressure treatment systems with reservoir control |
CN103356119B (zh) * | 2012-04-05 | 2017-06-20 | 科沃斯机器人股份有限公司 | 具有吸盘的吸附装置及其擦玻璃装置 |
CN103356120B (zh) * | 2012-04-05 | 2015-08-19 | 科沃斯机器人有限公司 | 具有吸附装置的擦玻璃装置 |
CN103356122A (zh) * | 2012-04-05 | 2013-10-23 | 科沃斯机器人科技(苏州)有限公司 | 擦玻璃装置 |
CN103359197B (zh) * | 2012-04-05 | 2015-08-19 | 科沃斯机器人有限公司 | 擦玻璃装置及其行走控制方法 |
CN103565344B (zh) * | 2012-08-08 | 2017-04-19 | 科沃斯机器人股份有限公司 | 自移动机器人及其行走方法 |
US9427121B2 (en) * | 2012-09-26 | 2016-08-30 | Ecovacs Robotics Co., Ltd. | Glass-wiping robot having air-venting device |
US9215962B2 (en) * | 2014-03-13 | 2015-12-22 | Ecovacs Robotics, Inc. | Autonomous planar surface cleaning robot |
DE102014217843A1 (de) * | 2014-09-05 | 2016-03-10 | Martin Cudzilo | Vorrichtung zum Vereinfachen der Reinigung von Oberflächen und Verfahren zum Erfassen geleisteter Reinigungsarbeiten |
-
2012
- 2012-04-05 CN CN201210097694.6A patent/CN103359197B/zh active Active
-
2013
- 2013-04-03 WO PCT/CN2013/073730 patent/WO2013149590A1/zh active Application Filing
- 2013-04-03 US US14/389,938 patent/US10016102B2/en active Active
- 2013-04-03 EP EP16192045.9A patent/EP3141172B1/en active Active
- 2013-04-03 KR KR1020147031123A patent/KR102059680B1/ko active IP Right Grant
- 2013-04-03 JP JP2015503743A patent/JP6188783B2/ja active Active
- 2013-04-03 EP EP13773149.3A patent/EP2835085B1/en active Active
-
2018
- 2018-05-10 US US15/976,041 patent/US10610070B2/en active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
RU1771958C (ru) * | 1989-12-05 | 1992-10-30 | Харьковский Опытно-Экспериментальный Завод Средств Оснащения | Вакуумный захват |
US5890250A (en) * | 1996-02-02 | 1999-04-06 | Sky Robitics, Inc. | Robotic washing apparatus |
CN201029844Y (zh) * | 2007-05-08 | 2008-03-05 | 徐彬 | 一种自动行走玻璃幕墙清洗机 |
CN101623868A (zh) * | 2009-08-07 | 2010-01-13 | 太原亚乐士新技术有限公司 | 重型大口径真空吸盘 |
CN201506669U (zh) * | 2009-08-07 | 2010-06-16 | 太原亚乐士新技术有限公司 | 真空吸盘 |
CN102009707A (zh) * | 2010-11-22 | 2011-04-13 | 江苏申锡建筑机械有限公司 | 擦窗机器人机械腿的真空系统 |
CN202669947U (zh) * | 2012-04-05 | 2013-01-16 | 科沃斯机器人科技(苏州)有限公司 | 吸附装置及其擦玻璃装置 |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20160347384A1 (en) * | 2015-05-27 | 2016-12-01 | Chi-Mou Chao | Robot |
US9896139B2 (en) * | 2015-05-27 | 2018-02-20 | Chi-Mou Chao | Robot |
CN108120684A (zh) * | 2018-01-30 | 2018-06-05 | 中国建材检验认证集团股份有限公司 | 幕墙安全检测机器人及幕墙检测系统 |
CN110169740A (zh) * | 2019-06-20 | 2019-08-27 | 西安建筑科技大学 | 一种用于清洗隐框玻璃幕墙的机器人及其操作方法 |
CN110169740B (zh) * | 2019-06-20 | 2024-05-03 | 西安建筑科技大学 | 一种用于清洗隐框玻璃幕墙的机器人及其操作方法 |
Also Published As
Publication number | Publication date |
---|---|
EP2835085B1 (en) | 2018-06-06 |
US20150305581A1 (en) | 2015-10-29 |
CN103359197B (zh) | 2015-08-19 |
US20180255990A1 (en) | 2018-09-13 |
EP2835085A4 (en) | 2016-04-13 |
US10016102B2 (en) | 2018-07-10 |
EP2835085A1 (en) | 2015-02-11 |
KR102059680B1 (ko) | 2019-12-27 |
US10610070B2 (en) | 2020-04-07 |
JP2015518430A (ja) | 2015-07-02 |
JP6188783B2 (ja) | 2017-08-30 |
CN103359197A (zh) | 2013-10-23 |
EP3141172A1 (en) | 2017-03-15 |
EP3141172B1 (en) | 2018-05-23 |
KR20150003793A (ko) | 2015-01-09 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2013149590A1 (zh) | 吸附装置、擦玻璃装置及其行走控制方法 | |
CN202669947U (zh) | 吸附装置及其擦玻璃装置 | |
WO2013149584A1 (zh) | 吸附装置及具有该吸附装置的擦玻璃装置 | |
CN104921651B (zh) | 自移动装置及其运动表面缺陷检测及控制方法 | |
CN104921654B (zh) | 吸附机器人 | |
CN204071930U (zh) | 吸附机器人 | |
CN106175568B (zh) | 一种玻璃清洗机器人及其控制方法 | |
JP2015512310A5 (zh) | ||
JP5861131B2 (ja) | 壁面移動機械の吸盤機構 | |
CN203802384U (zh) | 自移动装置 | |
WO2014048347A1 (zh) | 带有泄气装置的擦玻璃机器人 | |
CN106073618A (zh) | 智能攀爬自动清洁机器人 | |
CN202690706U (zh) | 一种能够适应粗糙和有灰尘壁面的复合吸盘 | |
CN106264301B (zh) | 机器人 | |
CN106923733B (zh) | 自移动吸附机器人 | |
CN115356396A (zh) | 具有吸附结构的幕墙安全检测机器人及其工作方法 | |
CN113616102A (zh) | 一种防坠落的擦窗机 | |
CN209837753U (zh) | 一种清洗效果高强的高空幕墙清洗机器人 | |
CN212879115U (zh) | 一种自动外窗清洗机器人 | |
CN213262665U (zh) | 一种用于爬壁机器人的防护装置 | |
CN211613678U (zh) | 一种供水管道的清洗装置 | |
WO2013149509A1 (zh) | 擦玻璃装置及其行走启动控制方法 | |
CN114869164A (zh) | 吸附式平面清洁机器人 | |
CN110151069A (zh) | 一种用于清洁超市海鲜售卖区瓷砖地面的清洁机器人 | |
JP2013132510A5 (zh) |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 13773149 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2015503743 Country of ref document: JP Kind code of ref document: A |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 20147031123 Country of ref document: KR Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2013773149 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 14389938 Country of ref document: US |