WO2014048383A1 - 吸盘装置及其擦玻璃装置 - Google Patents

吸盘装置及其擦玻璃装置 Download PDF

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Publication number
WO2014048383A1
WO2014048383A1 PCT/CN2013/084583 CN2013084583W WO2014048383A1 WO 2014048383 A1 WO2014048383 A1 WO 2014048383A1 CN 2013084583 W CN2013084583 W CN 2013084583W WO 2014048383 A1 WO2014048383 A1 WO 2014048383A1
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WO
WIPO (PCT)
Prior art keywords
suction cup
unit
spring
pad
outer ring
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Application number
PCT/CN2013/084583
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English (en)
French (fr)
Inventor
吕小明
Original Assignee
科沃斯机器人科技(苏州)有限公司
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Publication of WO2014048383A1 publication Critical patent/WO2014048383A1/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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation

Definitions

  • the invention belongs to the technical field of small household electrical appliance manufacturing, and particularly relates to an adsorption device and a glass cleaning device thereof. Background technique
  • a common adsorption unit consists of a suction cup that is attached to the bottom of the glass-wiping device. If the material of the suction cup is made of soft materials, such as rubber, silica gel, etc., these elastic materials can make the machine absorb well, but because of the large friction coefficient, the glass-wiping device often cannot overcome the larger between the suction cup and the glass. The friction causes the glass-wiping device to move or the operation is not smooth, which affects the performance of the glass-wiping device.
  • a suction cup structure in which a soft and hard material is combined is formed, in which a hard rubber is contacted with the glass, and the friction between the suction cup and the glass is small.
  • a hard rubber is contacted with the glass, and the friction between the suction cup and the glass is small.
  • the soft rubber due to the long pressure of the soft rubber, it affects its service life. After the elasticity of the soft rubber is deteriorated, the rebound of the hard rubber is difficult.
  • the degree of vacuum becomes small, the chuck cannot fall into contact with the glass due to the inability of the hard rubber to rebound in time, and the glass-cleaning robot has a risk of falling.
  • the technical problem to be solved by the present invention is to solve the deficiencies of the prior art, and propose an adsorption device and a glass cleaning device thereof, which utilize spring elasticity to share the rebound function of the suction pad, extend the service life of the suction pad, or fully utilize or mainly By utilizing the elasticity of the spring, the suction cup is fitted to the glass, thereby effectively preventing the glass-wiping device from falling off the glass during the work.
  • the present invention adopts the following technical solutions:
  • the present invention provides a suction cup device comprising a suction cup unit and a suction cup base.
  • the suction cup unit is provided with a suction cup cover and a suction pad pad.
  • the suction cup cover is sealed and connected to the suction cup base through a suction pad pad, and a spring is further arranged between the suction cup unit and the suction cup base.
  • the suction cup cover is provided with a spring fixing seat, and the suction cup base is provided with a spring fixing hole corresponding to the spring fixing seat, and the spring is accommodated in the spring fixing seat and the spring fixing hole; or, the suction cup cover is provided There is a spring fixing hole, and the suction cup base is provided with a spring fixing seat corresponding to the spring fixing hole, and the spring is accommodated in the spring fixing seat and the spring fixing hole; or, the suction cup cover is provided with a spring fixing column, and the spring sleeve is set on the spring On the fixed column, the free end of the spring abuts against the base of the suction cup; or, the base of the suction cup is provided with a spring fixing column, the spring is sleeved on the spring fixing column, and the free end of the spring is opposite to the suction cup cover.
  • the two suction cup units provided by the suction cup device are respectively an inner ring suction cup unit and an outer ring suction unit.
  • the inner unit suction cup unit is disposed on the inner side of the outer ring suction cup unit; wherein, the inner ring suction cup unit comprises an inner ring suction cup cover and an inner ring suction cup pad, and the outer ring suction cup unit comprises an outer ring suction cup cover and an outer ring suction cup pad.
  • the spring fixing seat on the outer ring suction cup cover is disposed toward the inner circumference of the outer ring suction cup cover, and the spring fixing seat on the inner ring suction cup cover is disposed toward the outer circumference of the inner ring suction cup cover.
  • the spring fixing seat on the outer ring suction cup cover and the spring fixing seat on the inner ring suction cup cover are spaced apart from each other.
  • the suction cup base is provided with a spring fixing post, and the spring sleeve is sleeved on the spring fixing column, and the top end of the spring is opposite to the bottom of the suction cup unit.
  • the two suction cup units provided by the suction cup device are an inner ring suction cup unit and an outer ring suction cup unit, wherein the inner ring suction cup unit is provided with an inner ring suction cup cover and a suction pad pad, and the outer ring suction cup unit is provided. There is an outer ring suction cup cover and a suction pad pad, and a portion of the suction pad pad located between the inner ring and the outer ring suction cup cover is sealingly connected with the suction cup base.
  • the inner ring suction cup unit and the outer ring suction cup unit can be connected to the suction pad pad at the same time, or the suction pad pad can be split into the inner ring suction pad pad and the outer ring suction pad pad as needed.
  • the suction cup cover is made of a hard rubber material
  • the suction pad is made of an elastic material
  • the elastic material may be rubber, silica gel or the like
  • the suction cup cover is injection-molded with the suction pad.
  • the invention also provides a glass cleaning device, comprising: an adsorption device, a cleaning unit, a driving unit, a walking unit and a control unit, wherein the control unit controls the driving unit to drive the walking unit to walk, and the glass cleaning device is adsorbed on the glass surface by the adsorption device,
  • the adsorption device includes a suction cup device as described above.
  • suction cup device is fixedly connected to the housing at the bottom of the glass cleaning device.
  • the adsorption device further includes an air suction pipe and a vacuum pump, and the vacuum pump is connected to the suction cup device through an air suction pipe.
  • the invention further provides a glass cleaning device, comprising: an adsorption device, a cleaning unit, a driving unit, a walking unit and a control unit, the adsorption device comprising a suction cup unit fixedly connected with the housing of the bottom of the glass cleaning device, the suction cup unit
  • the utility model comprises a suction cup cover and a suction cup pad, wherein the suction cup cover is fixedly connected to the bottom of the housing through a suction pad, the suction cup cover is provided with a spring fixing seat, and the bottom housing is provided with a spring fixing hole corresponding to the spring fixing seat, and the spring is accommodated Inside the spring mount and spring retaining hole.
  • the suction cup cover is provided with a spring fixing hole
  • the bottom of the housing is provided with a spring fixing seat corresponding to the spring fixing seat, and the spring is accommodated in the
  • the invention further provides a glass cleaning device comprising an adsorption device, a cleaning unit, a driving unit, a walking unit and a control unit, the adsorption device comprising a suction cup unit fixedly connected with the housing of the bottom of the glass cleaning device, the suction cup unit
  • the utility model comprises a suction cup cover and a suction pad pad, wherein the suction cup cover is fixedly connected to the bottom casing through the suction pad pad, the bottom casing is provided with a spring fixing column, the spring sleeve is arranged on the spring fixing column, and the spring top end is opposite to the suction cup unit.
  • FIG. 1 is a schematic structural view of a suction cup device of the present invention
  • Embodiment 1 of the suction cup device of the present invention is a schematic view showing the explosion structure of Embodiment 1 of the suction cup device of the present invention
  • Embodiment 1 of the suction cup device of the present invention is a top plan view of Embodiment 1 of the suction cup device of the present invention.
  • Figure 4 is a cross-sectional view taken along line A-A of Figure 3;
  • Figure 5 is a schematic view showing the explosion structure of the embodiment 2 of the suction cup device of the present invention.
  • Figure 6 is a top plan view of the suction cup base in the second embodiment of the suction cup device of the present invention.
  • Figure 7 is a top plan view of Embodiment 2 of the suction cup device of the present invention.
  • Figure 8 is a cross-sectional view taken along line A-A of Figure 7;
  • Figure 9 is a schematic view of a suction cup device of the present invention.
  • Figure 10 is a schematic view showing the control of the glass cleaning device of the present invention.
  • Air suction pipe 13. Vacuum pump 111. Inner ring suction cup cover 112. Outer ring suction cup cover
  • the glass cleaning apparatus of the present invention comprises an adsorption device 1, a cleaning unit (not shown in FIG. 10), a driving unit 4, a traveling unit 2, and a control unit 5, and the traveling unit 2 and the cleaning unit are both disposed in the glass cleaning device.
  • the control unit 5 is connected to the drive unit 4, under the action of the control unit 5, the drive unit 4 controls the travel unit 2 to travel, and the glass cleaning device 8 is adsorbed to the glass surface by the suction device in the adsorption device 1.
  • walking unit 2 the cleaning unit, the driving unit 4 and the control unit 5 are all prior art, and are not described herein again.
  • the suction cup device of the present invention comprises a suction cup unit 11 and a suction cup base 115.
  • the suction cup unit is provided with a suction cup cover and a suction pad pad.
  • the suction cup cover is sealed and connected to the suction cup base 115 through a suction pad pad, and a spring 116 is further disposed between the suction cup single 11 yuan and the suction cup base 115.
  • the suction cup unit 11 may be a single-ring suction cup or a double-ring suction cup or a multi-ring suction cup.
  • the suction pad pad is sealedly connected with the suction cup base, and the suction pad pad needs to be made of a material with good sealing property; and in order to make the suction cup unit and the glass surface fit, the suction pad pad also needs to have better elasticity. Therefore, the suction pad can be made of an elastic material such as silicone rubber or rubber which has good sealing properties and elasticity.
  • the suction cup cover is provided with a spring fixing seat 117.
  • the suction cup base 115 is provided with a spring fixing hole 118 corresponding to the spring fixing seat.
  • the spring 116 is received in the spring fixing seat and the spring fixing hole 118. .
  • the two suction cup units provided by the suction cup device are an inner ring suction cup unit and an outer ring suction cup unit, and the inner ring suction cup unit is disposed inside the outer ring suction cup unit; wherein the inner ring suction cup unit comprises an inner ring suction cup
  • the outer ring suction cup unit includes an outer ring suction cup cover 112 and an outer ring suction cup pad 114.
  • the spring holder 125 on the outer ring suction cup cover 112 is disposed toward the inner circumference of the outer ring suction cup cover 112, and the spring fixing seat 117 on the inner ring suction cup cover is disposed toward the outer circumference of the inner ring suction cup cover 111.
  • the spring fixing seat 117 on the outer ring suction cup cover and the spring fixing seat 125 on the inner ring suction cup cover are spaced apart from each other.
  • the resilience of the inner ring suction pad 113 and the outer ring suction pad 114 can be better shared. After the inner inner suction cup pad 113 and the outer ring suction pad 114 have been compressed and rebounded many times, the elasticity is gradually deteriorated, and the spring 116 can still provide a good resilience, so that the suction cup unit is well fitted. Glass, improving the reliability of the suction cup device. As shown in Fig. 1, the screw is fixedly connected to the suction cup unit 11 and the suction cup base 115 through the screw through hole 123.
  • the inner ring suction cup cover 111 and the outer ring suction cup cover 112 are directly sealed and connected to the suction cup base 115 through the inner inner ring suction pad 113 and the outer ring suction pad 114, and the spring 116 is disposed between the inner and outer suction cup covers. In the cavity.
  • the inner and outer ring suction cup covers 111 and 112 are made of hard rubber material for supporting the suction cup unit and simultaneously protecting the inner ring suction cup gaskets respectively disposed in the upper grooves of the inner and outer ring suction cup covers 111 and 112 (not shown in FIG. 2).
  • outer ring suction pad gasket (not shown in Figure 2).
  • the inner ring suction cup gasket and the outer ring suction cup gasket refer to the inner and outer ring suction cup gaskets 120 and 121 in Fig. 5.
  • the inner ring suction pad 113 and the outer ring suction pad 114 are made of elastic materials such as rubber and silicone.
  • the chuck base 115 is provided with a spring fixing post 119, and the spring 116 is sleeved on the spring fixing post 119, and the top end of the spring abuts against the bottom of the chuck unit 11.
  • the inner ring suction cup unit is provided with an inner ring suction cup cover 111 and a suction pad pad 122
  • the outer ring suction cup unit is provided with an outer ring suction cup cover 112 and a suction pad pad 122.
  • the inner ring suction cup cover 111 and the outer ring suction cup cover 112 are simultaneously fixedly connected with the suction pad 122, and the fixed cover 124 is pressed by the screw through the screw hole 123.
  • the suction pad 122 is located at the inner and outer ring suction cups. The portions between the covers are such that the inner and outer ring suction cup units are sealingly coupled to the suction cup base 115.
  • the inner and outer ring suction cup covers 111, 112 can also be fixedly connected with the suction pad 122 and enclosed to form at least a part of the cavity, and the suction cup base 115 is connected through the gasket 126 and the housing of the bottom of the glass cleaning machine.
  • the upper groove of the inner ring suction cup cover 111 is provided with an inner ring suction cup gasket 120
  • the upper groove of the outer ring suction cup cover 112 is provided with an outer ring suction cup gasket 121.
  • the inner ring suction cup gasket 120 and the outer ring The ring suction pad gaskets 121 are respectively attached and sealed to the glass.
  • the gasket 126, the inner ring suction cup gasket 120 and the outer ring suction cup gasket 121 can be made of a material such as silicone or rubber which has good sealing properties.
  • the spring 116 is directly disposed at the bottom of the inner and outer ring suction cup covers 111, 112 or the suction pad 122, and fully assumes or mainly bears the resilience of the suction cup unit, so that the suction cup unit is pressed tightly on the glass surface, thereby greatly improving The reliability of the suction cup device.
  • the suction pad 122 is made of a plastic or the like and is inelastic, the spring 116 completely assumes the resilience of the suction unit 116.
  • the suction pad 122 is connected to the inner and outer ring suction cup covers by injection molding, and is sealingly connected to the suction cup base 115 at the inner and outer ring suction cup covers, so that the inner and outer ring suction cup units are sealingly connected with the suction cup base 115.
  • the suction pad 122 is made larger, and the inner and outer ring suction cup covers are injection molded.
  • the suction pad 122 can also be divided into two parts as needed, and the inner and outer ring suction cup covers are respectively connected, so that the inner and outer ring suction cup units are sealed and connected to the suction cup base 115.
  • the inner and outer ring suction cup covers 111, 112 are made of hard rubber material for supporting the suction cup unit and simultaneously protecting the inner ring suction pad gasket 120 and the outer ring suction cup gasket 121.
  • the inner ring suction cup gasket 120, the outer ring suction cup gasket 121, the suction cup pad 122 and the gasket 126 should be made of elastic materials such as rubber, silicone and the like.
  • a spring in the suction cup device reduces the amount of deformation of the gasket, and when the suction cup device is removed from the glass, the spring can quickly reset the suction cup unit, thereby extending the life of the suction cup device.
  • the glass cleaning device of the present invention comprises an adsorption device 1, a cleaning unit (not shown), a driving unit 4, a walking unit 2 and a control unit 5, and the control unit 5 controls the driving unit 4 to drive the walking unit 2 to walk, and the glass cleaning device 8 is adsorbed.
  • the device 1 is adsorbed to the surface of the glass, and the adsorption device comprises a suction device.
  • the suction cup device employs the suction cup device of the above embodiment 1-2.
  • suction cup device is fixedly connected to the housing at the bottom of the glass cleaning device.
  • the adsorption device 1 further includes an air suction pipe 12 and a vacuum pump 13, and the vacuum pump 13 is connected to the suction cup device through an air suction pipe 12.
  • the invention also provides a glass cleaning device comprising an adsorption device 1, a cleaning unit, a driving unit 4, and a row
  • the adsorption device 1 comprises a suction cup unit 11 fixedly connected to the housing of the bottom of the glass cleaning device
  • the suction cup unit 11 comprises a suction cup cover and a suction pad pad
  • the suction cup cover is fixedly connected to the cleaning glass by the suction pad pad a housing at the bottom of the device
  • the suction cup cover is provided with a spring fixing seat
  • the housing at the bottom of the glass cleaning device is provided with a spring fixing hole corresponding to the spring fixing seat, and the spring is accommodated in the spring fixing seat and the spring fixing hole.
  • the adsorption device 1 does not include a suction cup base, and the suction cup unit 11 is directly fixedly coupled to the housing at the bottom of the glass cleaning device.
  • the invention further provides a glass cleaning device comprising an adsorption device, a cleaning unit, a driving unit, a walking unit and a control unit, the adsorption device comprising a suction cup unit fixedly connected with the housing of the bottom of the glass cleaning device, the suction cup unit
  • the utility model comprises a suction cup cover and a suction pad pad, wherein the suction cup cover is fixedly connected to the bottom casing through the suction pad pad, the bottom casing is provided with a spring fixing column, the spring sleeve is arranged on the spring fixing column, and the top end of the spring is opposite to the suction cup unit.
  • the adsorption device 1 does not include a suction cup base, and the suction cup unit 11 is fixedly coupled to the housing at the bottom of the glass cleaning device, and the spring is sleeved on the spring fixing column, and the structure is simpler.
  • the adsorption device 1 includes a suction cup 11, an exhaust pipe 12, and a vacuum pump 13.
  • the vacuum pump 13 is connected to the suction cup 11 through an exhaust pipe 12, and when the vacuum pump 13 starts to operate, the vacuum pump 13 generates a negative pressure in the suction cup 11, The suction cup 11 generates suction, and the glass cleaning device 8 is attracted to the glass 6.
  • the design idea of the present invention mainly bears or completely assumes the resilience of the suction cup unit through the spring portion, so that the suction cup unit is better attached to the glass surface.
  • the spring may be disposed in the housing of the suction cup unit and the suction cup base or the bottom of the glass cleaning device in various other manners, such as a spring fixing column, a spring fixing seat or a spring fixing hole, respectively, or the like, and the present invention does not enumerate here.
  • the suction pad can also be used to seal the suction cup unit to the suction cup base or the low glass housing of the glass unit by various other means.
  • the glass-wiping device of the present invention is not limited by the above-described embodiments, and any modifications, equivalent substitutions, improvements, etc., which are made within the spirit and principles of the present invention, should be included in the present invention. Within the scope of protection of the invention.

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  • Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)

Abstract

一种具有弹簧吸盘的吸附装置（1）及具有该吸附装置（1）的擦玻璃装置（8），该擦玻璃装置（8）包括吸附装置（1）、清洁单元、驱动单元（4）、行走单元（2）和控制单元（5），行走单元（2）和清洁单元均设置在擦玻璃装置（8）的底部，控制单元（5）与驱动单元（4）连接，在控制单元（5）的作用下，驱动单元（4）驱动行走单元（2）行走，擦玻璃装置（8）通过吸附装置（1）吸附于玻璃（6）表面，吸附装置（1）能牢固贴合在玻璃（6）上，从而有效避免擦玻璃装置（8）在工作过程中从玻璃（6）上摔落下来。

Description

吸盘装置及其擦玻璃装置
技术领域
本发明属于日用小家电制造技术领域，特别是涉及一种吸附装置及其擦玻璃装置。 背景技术
传统的擦玻璃装置， 例如擦玻璃机器人， 可以通过吸附单元吸附在玻璃上进行工 作。 常见的吸附单元包含固定在擦玻璃装置底部的吸盘。 如果吸盘的材质采用软质材 料， 如橡胶， 硅胶等， 这些弹性材质虽然能够使机器很好的吸附， 但因其摩擦系数比 较大， 擦玻璃装置往往因为无法克服吸盘与玻璃之间较大的摩擦力而导致擦玻璃装置 走不动， 或者运行不畅， 影响擦玻璃装置的性能。
针对上述缺陷， 出现一种软、 硬材质结合的吸盘结构， 其中与玻璃接触的是硬胶， 可使吸盘与玻璃之间的摩擦力较小。 然而由于软胶长时间处于较大的压力状态， 影响 其使用寿命。 软胶的弹性变差后， 硬胶回弹比较困难， 当真空度变小时， 由于硬胶无 法及时回弹而导致吸盘无法与玻璃贴合而漏气， 擦玻璃机器人有跌落的危险。 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， 提出一种吸附装置及其擦 玻璃装置， 利用弹簧弹性， 分担吸盘垫的回弹功能， 延长吸盘垫的使用寿命， 或者完 全利用或主要利用弹簧的弹性， 使得吸盘贴合玻璃， 从而有效避免该擦玻璃装置在工 作的过程中从玻璃上摔落下来。
为了解决上述技术问题， 本发明采用下述技术方案：
本发明提供一种吸盘装置， 其包含吸盘单元和吸盘底座， 吸盘单元设有吸盘盖和 吸盘垫， 吸盘盖通过吸盘垫密封连接吸盘底座， 吸盘单元和吸盘底座之间还设有弹簧。
在一种方案中， 吸盘盖上设有弹簧固定座， 吸盘底座上设有与弹簧固定座对应设 置的弹簧固定孔， 弹簧容置于弹簧固定座和弹簧固定孔内； 或者， 吸盘盖上设有弹簧 固定孔， 吸盘底座上设有与弹簧固定孔对应设置的弹簧固定座， 弹簧容置于弹簧固定 座和弹簧固定孔内； 或者， 吸盘盖上设有弹簧固定柱， 弹簧套设在弹簧固定柱上， 弹 簧自由端与吸盘底座相抵； 或者， 吸盘底座设有弹簧固定柱， 弹簧套设在弹簧固定柱 上， 弹簧自由端与吸盘盖相抵。
进一步地， 所述吸盘装置设有的两个所述吸盘单元分别为内圈吸盘单元和外圈吸 盘单元， 内圈吸盘单元设置在外圈吸盘单元的内侧； 其中， 内圈吸盘单元包含内圈吸 盘盖和内圈吸盘垫， 外圈吸盘单元包含外圈吸盘盖和外圈吸盘垫。
进一步地， 外圈吸盘盖上的弹簧固定座朝向外圈吸盘盖的内周设置， 内圈吸盘盖 上的弹簧固定座朝向内圈吸盘盖的外周设置。
外圈吸盘盖上的弹簧固定座和内圈吸盘盖上的弹簧固定座相互间隔设置。
在另一种方案中， 所述吸盘底座设有弹簧固定柱， 弹簧套设在弹簧固定柱上， 弹 簧顶端与吸盘单元底部相抵。
进一步地， 所述吸盘装置设有的 2个所述吸盘单元分别为内圈吸盘单元和外圈吸 盘单元； 其中， 内圈吸盘单元设有含内圈吸盘盖和吸盘垫， 外圈吸盘单元设有外圈吸 盘盖和吸盘垫， 吸盘垫位于内圈、 外圈吸盘盖之间的部分与吸盘底座密封连接。 该技 术方案中， 内圈吸盘单元和外圈吸盘单元可同时连接吸盘垫， 或者根据需要， 吸盘垫 也可拆分成内圈吸盘垫和外圈吸盘垫。
上述两个方案中， 所述吸盘盖为硬胶材质， 所述吸盘垫为弹性材质， 弹性材质可 以是橡胶， 硅胶等， 所述吸盘盖与吸盘垫注塑连接。
本发明还提供一种擦玻璃装置， 其包括吸附装置、 清洁单元、 驱动单元、 行走单 元和控制单元， 控制单元控制驱动单元驱动行走单元行走， 擦玻璃装置通过吸附装置 吸附于玻璃表面， 所述吸附装置包括如上述的吸盘装置。
进一步地， 所述吸盘装置与擦玻璃装置底部的壳体固定连接。
吸附装置还包括抽气管和真空泵， 真空泵通过抽气管与所述吸盘装置连接。 本发明再提供一种擦玻璃装置， 其包括吸附装置、 清洁单元、 驱动单元、 行走单 元和控制单元， 所述吸附装置包括与擦玻璃装置底部的壳体固定连接的吸盘单元， 所 述吸盘单元包括吸盘盖和吸盘垫， 吸盘盖通过吸盘垫固定连接底部的壳体， 所述吸盘 盖上设有弹簧固定座， 底部的壳体设有与弹簧固定座对应设置的弹簧固定孔， 弹簧容 置于弹簧固定座和弹簧固定孔内。 或者， 吸盘盖上设有弹簧固定孔， 壳体底部设有与 弹簧固定座对应设置的弹簧固定座， 弹簧容置于弹簧固定座和弹簧固定孔内。
本发明另外提供一种擦玻璃装置， 其包括吸附装置、 清洁单元、 驱动单元、 行走 单元和控制单元， 所述吸附装置包括与擦玻璃装置底部的壳体固定连接的吸盘单元， 所述吸盘单元包括吸盘盖和吸盘垫， 吸盘盖通过吸盘垫固定连接底部的壳体， 底部的 壳体设有弹簧固定柱， 弹簧套设在弹簧固定柱上， 弹簧顶端与吸盘单元相抵。 附图说明
图 1为本发明吸盘装置结构示意图；
图 2为本发明吸盘装置实施例 1爆炸结构示意图；
图 3为本发明吸盘装置实施例 1俯视示意图；
图 4为图 3中 A-A剖视示意图；
图 5为本发明吸盘装置实施例 2爆炸结构示意图；
图 6为本发明吸盘装置实施例 2中的吸盘底座俯视示意图；
图 7为本发明吸盘装置实施例 2俯视示意图；
图 8为图 7中 A-A剖视示意图；
图 9为本发明吸盘装置示意图；
图 10为本发明擦玻璃装置控制示意图。
附图标记：
1.吸附装置 2.行走单元 4.驱动单元
5.控制单元 6.玻璃 8.擦玻璃装置 11.吸盘单元
12.抽气管 13.真空泵 111.内圈吸盘盖 112.外圈吸盘盖
113. 内圈吸盘垫 114.外圈吸盘垫 115.吸盘底座
116.弹簧 117.外圈吸盘盖上的弹簧固定座 118.弹簧固定孔
120.内圈吸盘垫片 121.外圈吸盘垫片 122.吸盘垫
123.螺钉过孔 124.固定盖 119.弹簧固定柱
125.内圈吸盘盖上的弹簧固定座 126.密封垫 具体实施方式
如图 10所示， 本发明擦玻璃装置包括吸附装置 1、 清洁单元 （图 10中未示）、 驱 动单元 4、 行走单元 2和控制单元 5， 行走单元 2和清洁单元均设置在擦玻璃装置 8 的底部， 控制单元 5与驱动单元 4连接， 在控制单元 5的作用下， 驱动单元 4控制行 走单元 2行走， 擦玻璃装置 8通过吸附装置 1中的吸盘装置吸附于玻璃表面。
需要说明的是， 行走单元 2、 清洁单元、 驱动单元 4和控制单元 5均为现有技术， 在此不再赘述。
本发明吸盘装置包含吸盘单元 11和吸盘底座 115，吸盘单元设有吸盘盖和吸盘垫， 吸盘盖通过吸盘垫密封连接吸盘底座 115， 吸盘单 11元和吸盘底座 115之间还设有弹 簧 116。 吸盘单元 11可以是单圈吸盘或双圈吸盘或多圈吸盘。 由于吸盘单元主用通过 吸盘垫与吸盘底座密封连接， 吸盘垫需采用密封性较好的材质； 且为了使得吸盘单元 和玻璃表面贴合， 吸盘垫也需具有较好的弹性。 因而， 吸盘垫可以采用硅胶、 橡胶等 密封性和弹性较好的弹性材料。
以下结合附图和实施例对吸盘装置的技术方案作进一步说明。
吸盘装置实施例 1
如图 1-4所示， 吸盘盖上设有弹簧固定座 117， 吸盘底座 115上设有与弹簧固定 座对应设置的弹簧固定孔 118， 弹簧 116容置于弹簧固定座和弹簧固定孔 118内。
进一步地， 所述吸盘装置设有的两个所述吸盘单元分别为内圈吸盘单元和外圈吸 盘单元， 内圈吸盘单元设置在外圈吸盘单元的内侧； 其中， 内圈吸盘单元包含内圈吸 盘盖 111和内圈吸盘垫 113， 外圈吸盘单元包含外圈吸盘盖 112和外圈吸盘垫 114。
外圈吸盘盖 112上的弹簧固定座 125朝向外圈吸盘盖 112的内周设置， 内圈吸盘 盖上的弹簧固定座 117朝向内圈吸盘盖 111的外周设置。 其中， 外圈吸盘盖上的弹簧 固定座 117和内圈吸盘盖上的弹簧固定座 125相互间隔设置。
通过在吸盘单元和吸盘底座之间设置弹簧 116， 能较好的分担内圈吸盘垫 113和 外圈吸盘垫 114的回弹力。 即时内圈吸盘垫 113和外圈吸盘垫 114经过多次的压縮和 反弹后， 其弹性慢慢变差， 由于弹簧 116仍能提供较好的回弹力， 仍使得吸盘单元很 好的贴合玻璃， 提高吸盘装置的可靠性。 如图 1所示， 螺钉通过螺钉过孔 123将吸盘 单元 11和吸盘底座 115固定连接。
本实施例中，内圈吸盘盖 111和外圈吸盘盖 112分别通过其底部的内圈吸盘垫 113 和外圈吸盘垫 114直接密封连接吸盘底座 115， 弹簧 116设置在内外吸盘盖之间的凹 腔中。
内、 外圈吸盘盖 111、 112采用硬胶材质， 用于支撑吸盘单元且可同时保护内、 外 圈吸盘盖 111、 112上部凹槽分别设置的内圈吸盘垫片 （图 2中未示）和外圈吸盘垫片 (图 2 中未示）。 该内圈吸盘垫片和外圈吸盘垫片可参考图 5 中的内、 外圈吸盘垫片 120、 121 ο 内圈吸盘垫 113和外圈吸盘垫 114采用弹性材质， 如橡胶， 硅胶等。
吸盘装置实施例 2
如图 5-8所示， 在实施例 2中， 所述吸盘底座 115设有弹簧固定柱 119， 弹簧 116 套设在弹簧固定柱 119上， 弹簧的顶端与吸盘单元 11的底部相抵。
其中， 内圈吸盘单元设有内圈吸盘盖 111和吸盘垫 122， 外圈吸盘单元设有外圈 吸盘盖 112和吸盘垫 122。 内圈吸盘盖 111与外圈吸盘盖 112 同时与吸盘垫 122固定 连接， 并通过螺钉穿过螺钉孔 123将固定盖 124压合在吸盘垫 122位于内、 外圈吸盘 盖之间的部位上， 从而使得内、 外圈吸盘单元与吸盘底座 115密封连接。 此时， 内、 外圈吸盘盖 111、 112也可分别与吸盘垫 122固定连接并围合形成至少部分凹腔， 吸盘 底座 115通过密封垫 126和擦玻璃机器装置底部的壳体连接。
内圈吸盘盖 111的上部凹槽设有内圈吸盘垫片 120， 外圈吸盘盖 112的上部凹槽 设有外圈吸盘垫片 121， 当吸盘装置工作时， 内圈吸盘垫片 120和外圈吸盘垫片 121 分别吸附贴合密封在玻璃上。
密封垫 126、 内圈吸盘垫片 120和外圈吸盘垫片 121均可采用密封性较好的硅胶 或橡胶等材质。
本实施例中，弹簧 116直接设置在内、外圈吸盘盖 111、 112或吸盘垫 122的底部， 完全承担或主要承担吸盘单元的回弹力， 使得吸盘单元压紧贴合在玻璃表面， 大大提 高吸盘装置的可靠性。 特别地， 当吸盘垫 122采用塑料等密封且非弹性材质时， 弹簧 116完全承担吸盘单元 116的回弹力。 其中， 吸盘垫 122通过注塑连接内、 外圈吸盘 盖， 并密封连接在吸盘底座 115位于内、 外圈吸盘盖的部位上， 使得内、 外圈吸盘单 元均与吸盘底座 115密封连接。 为安装方便， 吸盘垫 122做得较大， 同时注塑连接内、 外圈吸盘盖。 吸盘垫 122也可以按需要分成两部分， 分别连接内、 外圈吸盘盖， 从而 起到使得内、 外圈吸盘单元密封连接吸盘底座 115的效果。
内、外圈吸盘盖 111、 112采用硬胶材质， 用于支撑吸盘单元且可同时保护内圈吸 盘垫片 120和外圈吸盘垫片 121。 内圈吸盘垫片 120、 外圈吸盘垫片 121、 吸盘垫 122 和密封垫 126宜采用弹性材质， 如橡胶， 硅胶等。
在吸盘装置中设置弹簧，可以减小密封垫的变形量，且当吸盘装置从玻璃拿下时， 弹簧可以使吸盘单元迅速复位， 从而延长吸盘装置的使用寿命。
擦玻璃装置实施例 1
本发明擦玻璃装置包括吸附装置 1、 清洁单元 （图中未示）、 驱动单元 4、 行走单 元 2和控制单元 5， 控制单元 5控制驱动单元 4驱动行走单元 2行走， 擦玻璃装置 8 通过吸附装置 1吸附于玻璃表面， 所述吸附装置包括吸盘装置。 吸盘装置采用上述实 施例 1-2中的吸盘装置。
进一步地， 所述吸盘装置与擦玻璃装置底部的壳体固定连接。
其中， 吸附装置 1还包括抽气管 12和真空泵 13， 真空泵 13通过抽气管 12与所 述吸盘装置连接。
擦玻璃装置实施例 2
本发明还提供一种擦玻璃装置， 其包括吸附装置 1、 清洁单元、 驱动单元 4、 行 走单元 2和控制单元 5， 所述吸附装置 1包括与擦玻璃装置底部的壳体固定连接的吸 盘单元 11， 所述吸盘单元 11 包括吸盘盖和吸盘垫， 吸盘盖通过吸盘垫固定连接擦玻 璃装置底部的壳体， 所述吸盘盖上设有弹簧固定座， 擦玻璃装置底部的壳体设有与弹 簧固定座对应设置的弹簧固定孔， 弹簧容置于弹簧固定座和弹簧固定孔内。
在本实施例中， 吸附装置 1 不包括吸盘底座， 由吸盘单元 11 与擦玻璃装置底部 的壳体直接固定连接。
擦玻璃装置实施例 3
本发明另外提供一种擦玻璃装置， 其包括吸附装置、 清洁单元、 驱动单元、 行走 单元和控制单元， 所述吸附装置包括与擦玻璃装置底部的壳体固定连接的吸盘单元， 所述吸盘单元包括吸盘盖和吸盘垫， 吸盘盖通过吸盘垫固定连接底部的壳体， 底部的 壳体设有弹簧固定柱， 弹簧套设在弹簧固定柱上， 弹簧的顶端与吸盘单元相抵。
在本实施例中， 吸附装置 1 不包括吸盘底座， 由吸盘单元 11 与擦玻璃装置底部 的壳体固定连接， 并且弹簧是套设在弹簧固定柱上， 结构更加简单。
如图 9所示， 所述吸附装置 1包括吸盘 11、 抽气管 12和真空泵 13， 真空泵 13 通过抽气管 12与吸盘 11相连， 当真空泵 13开始工作时， 真空泵 13在吸盘 11内产生 负压， 吸盘 11产生吸力， 将擦玻璃装置 8吸附在玻璃 6上。
需要说明的是， 本发明设计思想主要通过弹簧部分承担或完全承担吸盘单元的回 弹力， 使得吸盘单元较好的贴合在玻璃表面。 弹簧可以采用其他各种方式设置在吸盘 单元和吸盘底座或擦玻璃装置底部的壳体， 如分别或组合使用弹簧固定柱、 弹簧固定 座或弹簧固定孔等， 本发明在此并不一一列举。 吸盘垫也可以通过其他各种方式将吸 盘单元密封连接吸盘底座或擦玻璃装置低壳。 以上介绍本发明的具体实施方式， 本发 明擦玻璃装置不受上述具体实施方式的限制， 凡在本发明的精神和原则之内， 所作的 任何修改、 等同替换、 改进等， 均应包含在本发明的保护范围之内。

Claims

权利要求书
1. 一种吸盘装置， 包含吸盘单元和吸盘底座， 吸盘单元设有吸盘盖和吸盘垫， 吸 盘盖通过吸盘垫密封连接吸盘底座， 其特征在于： 吸盘单元和吸盘底座之间还设有弹 簧。
2. 如权利要求 1所述的吸盘装置， 其特征在于： 吸盘盖上设有弹簧固定座， 吸盘 底座上设有与弹簧固定座对应设置的弹簧固定孔， 弹簧容置于弹簧固定座和弹簧固定 孔内。
3. 如权利要求 2所述的吸盘装置， 其特征在于： 所述吸盘装置设有的两个所述吸 盘单元分别为内圈吸盘单元和外圈吸盘单元， 内圈吸盘单元设置在外圈吸盘单元的内 侧； 其中， 内圈吸盘单元包含内圈吸盘盖和内圈吸盘垫， 外圈吸盘单元包含外圈吸盘 盖和外圈吸盘垫。
4. 如权利要求 3所述的吸盘装置， 其特征在于： 外圈吸盘盖上的弹簧固定座朝向 外圈吸盘盖的内周设置， 内圈吸盘盖上的弹簧固定座朝向内圈吸盘盖的外周设置。
5. 如权利要求 4所述的吸盘装置， 其特征在于： 外圈吸盘盖上的弹簧固定座和内 圈吸盘盖上的弹簧固定座相互间隔设置。
6. 如权利要求 1所述的吸盘装置， 其特征在于： 所述吸盘底座设有弹簧固定柱， 弹簧套设在弹簧固定柱上， 弹簧顶端与吸盘单元底部相抵。
7. 如权利要求 6所述的吸盘装置， 其特征在于： 所述吸盘装置设有的 2个所述吸 盘单元分别为内圈吸盘单元和外圈吸盘单元； 其中， 内圈吸盘单元设有内圈吸盘盖和 吸盘垫， 外圈吸盘单元设有外圈吸盘盖和吸盘垫， 内、 外圈吸盘盖分别与吸盘垫固定 连接， 吸盘垫位于内圈、 外圈吸盘盖之间的部分与吸盘底座密封连接。
8. 如权利要求 2或 6所述的吸盘装置， 其特征在于： 所述吸盘盖为硬胶材质， 所 述吸盘垫为弹性材质。
9. 如权利要求 2或 6所述的吸盘装置， 其特征在于： 所述吸盘盖与吸盘垫注塑连 接。
10. 一种擦玻璃装置， 包括吸附装置 （1 )、 清洁单元 （3 )、 驱动单元 （4)、 行走 单元 （2)和控制单元 （5 )， 控制单元控制驱动单元驱动行走单元行走， 擦玻璃装置通 过吸附装置吸附于玻璃表面， 其特征在于： 所述吸附装置包括如权利要求 1-7任一项 所述的吸盘装置。
11. 如权利要求 10所述的擦玻璃装置， 其特征在于： 所述吸盘装置与擦玻璃装置 底部的壳体固定连接。
12. 如权利要求 10所述的擦玻璃装置， 其特征在于： 吸附装置 （1 ) 还包括抽气 管 （12) 和真空泵 （13 )， 真空泵 （13 ) 通过抽气管 （12) 与所述吸盘装置连接。
13. 一种擦玻璃装置， 包括吸附装置 （1 )、 清洁单元、 驱动单元 （4)、 行走单元
( 2)和控制单元（5 )， 所述吸附装置包括与擦玻璃装置底部的壳体固定连接的吸盘单 元， 所述吸盘单元包括吸盘盖和吸盘垫， 吸盘盖通过吸盘垫固定连接壳体底部， 其特 征在于： 所述吸盘盖上设有弹簧固定座， 擦玻璃装置底部的壳体设有与弹簧固定座对 应设置的弹簧固定孔， 弹簧容置于弹簧固定座和弹簧固定孔内。
14. 一种擦玻璃装置， 包括吸附装置 （1 )、 清洁单元、 驱动单元 （4)、 行走单元 ( 2) 和控制单元 （5 )， 吸附装置包括与擦玻璃装置底部的壳体固定连接的吸盘单元， 吸盘单元包括吸盘盖和吸盘垫， 吸盘盖通过吸盘垫固定连接底部的壳体， 其特征在于： 底部的壳体设有弹簧固定柱， 弹簧套设在弹簧固定柱上， 弹簧的顶端与吸盘单元相抵。
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CN105361786B (zh) * 2014-07-25 2019-09-13 科沃斯家用机器人有限公司 吸附式自移动装置
CN106037576B (zh) * 2016-05-31 2018-09-04 南昌理工学院 吸附装置及应用该吸附装置的攀爬清洗机器人

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