WO2014048347A1 - 带有泄气装置的擦玻璃机器人 - Google Patents

带有泄气装置的擦玻璃机器人 Download PDF

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Publication number
WO2014048347A1
WO2014048347A1 PCT/CN2013/084335 CN2013084335W WO2014048347A1 WO 2014048347 A1 WO2014048347 A1 WO 2014048347A1 CN 2013084335 W CN2013084335 W CN 2013084335W WO 2014048347 A1 WO2014048347 A1 WO 2014048347A1
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WO
WIPO (PCT)
Prior art keywords
air
suction cup
glass
venting
air release
Prior art date
Application number
PCT/CN2013/084335
Other languages
English (en)
French (fr)
Inventor
吕小明
Original Assignee
科沃斯机器人科技(苏州)有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201210363960.5A external-priority patent/CN103654604B/zh
Application filed by 科沃斯机器人科技(苏州)有限公司 filed Critical 科沃斯机器人科技(苏州)有限公司
Priority to US14/431,260 priority Critical patent/US9427121B2/en
Priority to EP13842618.4A priority patent/EP2910163B1/en
Priority to KR1020157010261A priority patent/KR102078238B1/ko
Priority to JP2015533436A priority patent/JP2015535707A/ja
Publication of WO2014048347A1 publication Critical patent/WO2014048347A1/zh

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
    • B08B1/14—Wipes; Absorbent members, e.g. swabs or sponges
    • B08B1/143—Wipes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • 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
    • 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

Definitions

  • the invention relates to a glass-cleaning robot with a gas venting device, belonging to the technical field of small household appliance manufacturing. Background technique
  • the glass-cleaning robot has been widely used due to its compact size and flexible movement.
  • the existing glass-cleaning robot which is also called a window treasure, is a vacuum pump that vacuums the suction cup provided on the body, and then adsorbs on the surface of the glass to be cleaned, and moves under the driving mechanism provided on the body. Thereby a cleaning operation on the surface of the glass to be cleaned is carried out.
  • the vacuum pump stops working, and it is necessary to wait for the suction cup to naturally fail before the glass cleaning robot can be removed from the glass surface. This process usually takes a period of time, which also has a great impact on the working efficiency of the glass cleaning robot.
  • the technical problem to be solved by the present invention is to provide a glass-cleaning robot with a deflation device, which pulls the deflation valve and pulls it, and the positioning shaft rotates, touches the vent valve, and vents the cock to open the interior thereof.
  • the venting hole connects the inside of the suction cup to the atmosphere, and the internal and external air pressure quickly reaches the balance, and the window treasure can be quickly removed without waiting, the structure is simple and the work efficiency is improved.
  • a glass-cleaning robot with a deflation device comprising a body, a suction cup device is arranged on the body, the suction cup device is connected to the vacuum air pump through the airway pipeline, and the glass-cleaning robot is adsorbed on the glass surface by the suction cup device, and the suction cup device is also connected
  • the deflation device is provided with an open and closed position, and when the deflation device is in the open position, the suction device communicates with the atmosphere through the deflation device.
  • the deflation device is disposed on the airway line connected to the vacuum air pump and the suction device.
  • the suction cup device, the vacuum air pump and the deflation device are connected by a tee; the air passage line is a hose.
  • the venting device includes an interconnecting handle and a venting valve, and the pull handle is connected to the deflation valve through a positioning rotating shaft, the positioning rotating shaft is fixed at one end of the handle and the other end is fixed at the top of the deflated button.
  • the vent valve includes a deflation button, a fixed rod and a valve core, wherein a top end of the deflation button is provided with a vent hole, and a damper button is internally provided with a return spring, the return spring is sleeved on the valve core, the valve After the core is passed through the middle of the fixed rod, the boss is positioned under the fixed rod by a boss sleeved on the valve core; the valve core For the cylinder, a core hole is opened in the center thereof, and in the compressed state, the vent hole at the top of the deflation button communicates with the core hole of the valve core.
  • the present invention provides a venting device by pulling a deflation device on the airway of the vacuum pump and the suction device, and then the positioning shaft rotates, the venting opening is widened, and the venting valve opens the venting hole therein.
  • the inside of the suction cup is connected to the atmosphere, and the internal and external air pressure is quickly balanced, and the glass-cleaning robot can be quickly removed without waiting, thereby improving work efficiency.
  • Figure 1 is a schematic view of the overall structure of the present invention
  • Figure 2 is a partial structural view of Figure 1;
  • FIG. 3 is a partial schematic view of the bleed valve. detailed description
  • FIG. 1 is a schematic view of the overall structure of the present invention
  • FIG. 2 is a partial structural view of FIG.
  • the present invention provides a glass-cleaning robot with a deflation device, including a body 1, a suction cup device 2 is disposed on the body 1, and the suction device 2 passes through the air passage 3 and the vacuum pump 4. Connected, the glass-wiping robot is attracted to the glass surface by the suction device 2.
  • the suction device 2 is also connected to a deflation device 5, which is provided with an open and closed position, and when the deflation device 5 is in the open position, the suction device 2 is in communication with the atmosphere through the deflation device 5.
  • the deflation device 5 is disposed on the air passage 3 connected to the vacuum pump 4 and the suction device 2.
  • the suction cup device 2, the vacuum air pump 4 and the deflation device 5 are connected by a tee 6, and the air passage line 3 is a hose.
  • the air venting device 5 includes a pull handle 51 and a vent valve 52 connected to each other, and the pull handle 51 is connected to the deflation valve 52 via a positioning shaft 53.
  • the positioning shaft 53-end is fixed under the handle 51, and the other end is fixed. It is fixed to the top of the blow button 521.
  • FIG. 3 is a partial schematic view of the bleed valve.
  • the venting valve 52 includes a deflation button 521, a fixing rod 522 and a valve core 523.
  • the venting button 521 has a vent hole 524 at the top end thereof, and a damper button 521 is provided inside the deflation button 521.
  • the return spring 525 is sleeved on the valve core 523.
  • valve core 523 After the valve core 523 passes through the middle of the fixed rod 522, the bottom is fixed by the boss 527 disposed on the valve core 523 under the fixed rod 522; the valve core 523 is a column
  • the body has a core hole 526 in the center thereof, and the return spring 525 is in a compressed state, and the vent hole 524 at the top end of the deflation button communicates with the core hole 526 of the valve core.
  • the working process of the present invention is as follows:
  • the suction device 2 disposed on the body 1 is evacuated by the vacuum air pump 4, so that the glass-cleaning robot is attracted to the surface of the glass to be cleaned.
  • the body 1 is moved by the traveling mechanism to perform cleaning work on the surface of the glass to be cleaned.
  • the handle 51 of the deflation valve 52 is in a horizontal state, and under the tension of the return spring 525, the deflation button 521 is in a tension state, and the vent hole 524 at the top end thereof and the core hole 526 of the valve core 523 are disconnected from each other.
  • the tee 6 has only the two ends of the suction cup device 2 and the vacuum air pump 4 in an on state, and the suction device 2 is blocked from the atmosphere.
  • the suction device 2 When the cleaning operation is completed, the suction device 2 needs to be released, and when the glass cleaning robot is removed from the glass surface, the handle 51 of the air release valve 52 is pulled up, the positioning shaft 53 is rotated, and the end connected to the air release button 521 is moved downward.
  • the return spring 525 is compressed, and the vent hole 524 at the top end thereof communicates with the core hole 526 of the valve core 523, and the chuck device 2 sequentially communicates with the atmosphere through the air passage line 3, the tee 6, the core hole 526, and the vent hole 524.
  • the suction cup device 2 is released, and the air pressure inside and outside the suction cup is quickly balanced, and the glass-cleaning robot is immediately removed from the glass surface.
  • the deflation device of the present invention is not limited to the mechanism for combining the deflation and the handle, and can also be realized by the following simple structure: if the suction device is directly connected with one end of the separate air pipe, and then the air pipe is opened or closed by the sealing plug. At one end, the suction cup device is connected or closed to the atmosphere.
  • the present invention provides a venting device by pulling a deflation device on the airway of the vacuum pump and the suction device, and then the positioning shaft rotates, the venting opening is widened, and the venting valve opens the venting hole therein.
  • the inside of the suction cup is connected to the atmosphere, and the internal and external air pressure is quickly balanced, and the glass-cleaning robot can be quickly taken off from the glass surface without waiting, thereby improving work efficiency.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种带有泄气装置（5）的擦玻璃机器人，包括机体（1），机体（1）上设有吸盘装置（2），吸盘装置（2）通过气道管路（3）与真空气泵（4）相连，擦玻璃机器人通过吸盘装置（2）吸附于玻璃表面，所述吸盘装置（2）还连接泄气装置（5），所述泄气装置（5）上设有打开和关闭位置，当泄气装置（5）处于打开位置时，吸盘装置（2）通过泄气装置（5）与大气连通。该擦玻璃机器人通过在真空气泵（4）和吸盘装置（2）的气道管路（3）上设置泄气装置（5），拉起拉手（51）后，定位转轴（53）发生旋转，触动泄气阀（52），泄气阀（52）打开其内部的排气孔，使吸盘的内部与大气连通，内外气压迅速达到平衡，无需等待就能快速取下擦玻璃机器人，提高工作效率。

Description

带有泄气装置的擦玻璃机器人 技术领域
本发明涉及一种带有泄气装置的擦玻璃机器人， 属于小家电制造技术领域。 背景技术
擦玻璃机器人以其体积小巧、 运动灵活的特点， 得到了广泛的应用。 现有的擦玻 璃机器人， 又被称为窗宝， 是通过真空泵将设置在机体上的吸盘抽真空后， 一边吸附 在待清洁玻璃表面， 一边在设置在机体上的行走机构的带动下运动， 从而进行在待清 洁玻璃表面上的清洁作业。 当清洁作业完成后， 真空泵停止工作， 需要等待吸盘自然 失效后， 方可将擦玻璃机器人从玻璃表面取下来， 这个过程通常要消耗一段时间， 对 擦玻璃机器人的工作效率也造成很大的影响。 发明内容
本发明所要解决的技术问题在于针对现有技术的不足， 提供一种带有泄气装置的 擦玻璃机器人， 将泄气阀拉手拉起后， 定位转轴发生旋转， 触动泄气阀， 泄气闽打开 其内部的排气孔， 使吸盘的内部与大气连通， 内外气压迅速达到平衡， 无需等待就能 快速取下窗宝， 结构简单且提高工作效率。
本发明的所要解决的技术问题是通过如下技术方案实现的：
一种带有泄气装置的擦玻璃机器人， 包括机体， 机体上设有吸盘装置， 吸盘装置 通过气道管路与真空气泵相连， 擦玻璃机器人通过吸盘装置吸附于玻璃表面， 所述吸 盘装置还连接泄气装置， 所述泄气装置上设有打开和关闭位置， 当泄气装置处于打开 位置时， 吸盘装置通过泄气装置与大气连通。
所述泄气装置设置在真空气泵和吸盘装置相连的气道管路上。 为了便于连接， 所 述的吸盘装置、 真空气泵和泄气装置之间通过三通相连； 所述的气道管路为软管。
具体来说， 所述的泄气装置包括相互连接的拉手和泄气阀， 拉手通过定位转轴与 泄气阀相连， 所述的定位转轴一端固定在拉手的下方， 另一端固定在泄气按钮的顶部。
更具体地， 所述的泄气阀包括泄气按钮、 固定杆和气门芯， 其中， 泄气按钮的顶 端设有通气孔， 泄气按钮的内部设有复位弹簧， 该复位弹簧套设在气门芯上， 气门芯 穿设过固定杆的中部后， 通过套设在气门芯上的凸台在固定杆下方定位； 所述气门芯 为柱体， 其中心开设有芯孔， 复位弹簧在压缩状态下， 泄气按钮顶端的通气孔与气门 芯的芯孔相连通。
综上所述， 本发明通过在真空气泵和吸盘装置的气道管路上设置将泄气装置， 拉 起泄气阀拉手后， 定位转轴发生旋转， 触动泄气阔， 泄气阀打开其内部的排气孔， 使 吸盘的内部与大气连通， 内外气压迅速达到平衡， 无需等待就能快速取下擦玻璃机器 人， 提高工作效率。
下面结合附图和具体实施例， 对本发明的技术方案进行详细地说明。 附图说明
图 1为本发明的整体结构示意图；
图 2为图 1的局部结构示意图；
图 3为泄气阀的局部结构示意图。 具体实施方式
图 1为本发明的整体结构示意图； 图 2为图 1的局部结构示意图。 如图 1并结合 图 2所示， 本发明提供一种带有泄气装置的擦玻璃机器人， 包括机体 1， 机体 1上设 有吸盘装置 2， 吸盘装置 2通过气道管路 3与真空气泵 4相连， 擦玻璃机器人通过吸 盘装置 2吸附于玻璃表面。 所述吸盘装置 2还连接泄气装置 5， 所述泄气装置 5上设 有打开和关闭位置， 当泄气装置 5处于打开位置时， 吸盘装置 2通过泄气装置 5与大 气连通。 所述泄气装置 5设置在真空气泵 4和吸盘装置 2相连的气道管路 3上。 为了 便于连接， 所述的吸盘装置 2、 真空气泵 4和泄气装置 5之间通过三通 6相连， 所述 的气道管路 3为软管。具体来说， 所述的泄气装置 5包括相互连接的拉手 51和泄气阀 52， 拉手 51通过定位转轴 53与泄气阀 52相连， 所述的定位转轴 53—端固定在拉手 51的下方， 另一端固定在泄气按钮 521的顶部。
图 3为泄气阀的局部结构示意图。 如图 3所示， 所述的泄气阀 52包括泄气按钮 521、 固定杆 522和气门芯 523， 其中， 泄气按钮 521的顶端设有通气孔 524， 泄气按 钮 521 的内部设有复位弹簧 525， 该复位弹簧 525套设在气门芯 523上， 气门芯 523 穿设过固定杆 522的中部后， 通过套设在气门芯 523上的凸台 527在固定杆 522下方 定位； 所述气门芯 523为柱体， 其中心开设有芯孔 526， 复位弹簧 525在压缩状态下， 泄气按钮顶端的通气孔 524与气门芯的芯孔 526相连通。
结合图 1至图 3所示， 本发明的工作过程是这样的： 当擦玻璃机器人需要在待清洁玻璃表面进行清洁作业时， 通过真空气泵 4将设置 在机体 1上的吸盘装置 2进行抽真空处理， 使擦玻璃机器人吸附在待清洁的玻璃表面 上。 在吸附的同时， 机体 1在行走机构的带动下运动， 在待清洁玻璃表面上进行清洁 作业。 此时， 泄气阀 52的拉手 51处于水平状态， 在复位弹簧 525的张力作用下， 泄 气按钮 521处于张紧状态， 其顶端的通气孔 524与气门芯 523的芯孔 526彼此断开不 连通， 三通 6只有连接吸盘装置 2和真空气泵 4的两端处于导通状态， 吸盘装置 2与 大气之间是阻断的。
当清洁作业结束， 需要使吸盘装置 2释放， 将擦玻璃机器人从玻璃表面取下时， 将泄气阀 52的拉手 51拉起， 定位转轴 53发生旋转， 与泄气按钮 521相连的一端向下 运动， 复位弹簧 525被压缩， 其顶端的通气孔 524与气门芯 523的芯孔 526相连通， 吸盘装置 2依次通过气道管路 3、 三通 6、 芯孔 526和通气孔 524与大气连通， 使吸盘 装置 2得到释放， 吸盘的内外气压迅速达到平衡， 即刻使擦玻璃机器人从玻璃表面取 下来。
需要强调的是， 本发明泄气装置并不局限于泄气闽结合拉手的机构， 还可以通过 如下简单结构实现： 如利用单独的导气管一端直接连接吸盘装置， 然后利用密封塞打 开或关闭导气管另一端， 使得吸盘装置和大气的连通或关闭。
综上所述， 本发明通过在真空气泵和吸盘装置的气道管路上设置将泄气装置， 拉 起泄气阀拉手后， 定位转轴发生旋转， 触动泄气阔， 泄气阀打开其内部的排气孔， 使 吸盘的内部与大气连通， 内外气压迅速达到平衡， 无需等待就能从玻璃表面将擦玻璃 机器人快速取下来， 提高工作效率。

Claims

权利要求书
1、 一种带有泄气装置的擦玻璃机器人， 包括机体 （1)， 机体 （1) 上设有吸盘装 置 （2)， 吸盘装置 （2) 通过气道管路 （3) 与真空气泵 （4) 相连， 擦玻璃机器人通过 吸盘装置（2)吸附于玻璃表面， 其特征在于， 所述吸盘装置（2)还连接泄气装置（5)， 所述泄气装置 （5) 包括打开和关闭位置， 当泄气装置 （5) 处于打开位置时， 吸盘装 置 （2) 通过泄气装置 （5) 与大气连通。
2、 如权利要求 1所述的带有泄气装置的擦玻璃机器人， 其特征在于， 所述泄气装 置 （5) 设置在真空气泵 （4) 和吸盘装置 （2) 相连的气道管路 （3) 上。
3、 如权利要求 2所述的带有泄气装置的擦玻璃机器人， 其特征在于， 所述的吸盘 装置 （2)、 真空气泵 （4) 和泄气装置 （5) 之间通过三通 （6) 相连。
4、 如权利要求 2所述的带有泄气装置的擦玻璃机器人， 其特征在于， 所述的气道 管路 （3) 为软管。
5、 如权利要求 1所述的带有泄气装置的擦玻璃机器人， 其特征在于， 所述的泄气 装置 （5) 包括相互连接的拉手 （51) 和泄气阀 （52)， 拉手 （51) 通过定位转轴 （53) 与泄气阀 （52) 相连， 所述的定位转轴 （53) —端固定在拉手 （51) 的下方， 另一端 固定在泄气按钮 （521) 的顶部。
6、 如权利要求 5所述的带有泄气装置的擦玻璃机器人， 其特征在于， 所述的泄气 阀（52)包括泄气按钮（521)、 固定杆（522)和气门芯（523)， 其中， 泄气按钮（521) 的顶端设有通气孔 （524)， 泄气按钮 （521) 的内部设有复位弹簧 （525)， 该复位弹簧 (525) 套设在气门芯 （523) 上， 气门芯 （523) 穿设过固定杆 （522) 的中部后， 通 过套设在气门芯（523)上的凸台（527)在固定杆（522)下方定位； 所述气门芯（523) 为柱体， 其中心开设有芯孔 （526); 复位弹簧 （525) 在压缩状态下， 泄气按钮 （521) 顶端的通气孔 （524) 与气门芯的芯孔 （526) 相连通。
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