WO2015074523A1 - 防翻吸盘以及使用防翻吸盘的吸附式自移动装置 - Google Patents

防翻吸盘以及使用防翻吸盘的吸附式自移动装置 Download PDF

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Publication number
WO2015074523A1
WO2015074523A1 PCT/CN2014/091249 CN2014091249W WO2015074523A1 WO 2015074523 A1 WO2015074523 A1 WO 2015074523A1 CN 2014091249 W CN2014091249 W CN 2014091249W WO 2015074523 A1 WO2015074523 A1 WO 2015074523A1
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Prior art keywords
suction cup
working surface
rollover
tray
moving device
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PCT/CN2014/091249
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English (en)
French (fr)
Inventor
杨敏敏
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苏州科沃斯商用机器人有限公司
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Publication of WO2015074523A1 publication Critical patent/WO2015074523A1/zh

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    • 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
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • the present invention relates to the field of robot technology, and in particular, to an anti-rolling disc and an adsorption self-moving device using the anti-rolling disc.
  • Figure 1 is a schematic view of a suction cup in the prior art.
  • the robot that performs the cleaning task such as the adsorption type automatic cleaning machine and the glass-cleaning robot, relies on the suction force generated by the suction cup at the bottom and the friction force closely related to the adsorption force to ensure that it is The work surface is free to walk, thus completing the corresponding cleaning task.
  • the conventional suction cup is usually a rotary body whose edge portion is thin and soft.
  • the edge portion of the suction cup is in close contact with the work surface in a manner parallel to the work surface.
  • the working surface is smooth and flat, for example, there is no upward convex frame and no downward concave groove, the existing suction cup can ensure that the robot can walk freely on the working surface.
  • the edge portion of the suction cup is highly likely to be overturned, stuck, or caught in the gap, causing the robot to malfunction.
  • an object of the present invention to provide an anti-rollover tray which can be used not only on a smooth and flat working surface but also in a raised object. Or/and the recessed working surface is free to overcome the drawbacks of the prior art described above.
  • An anti-rollover tray includes a bottom of a suction cup that can be sealed with a working surface, wherein the outer side of the bottom of the suction cup is provided with a tilting portion that is offset from the working surface.
  • the bottom of the suction cup which can be sealed with the working surface means that the bottom of the suction cup is in sealing contact with the working surface when the robot equipped with the anti-rolling cup of the present invention is operated on the working surface.
  • the invention is provided on the outer side of the bottom of the suction cup with a lifting portion deviating from the direction of the working surface, and the function is to prevent the edge portion of the suction cup from being overturned and jammed by the protrusion on the working surface, or the gap caught in the working surface is stuck. Thereby ensuring the normal operation of the robot.
  • the present invention can further add the following technical features to better solve the technical problem to be solved by the present invention:
  • the surface of the raised portion is disposed as an inclined surface, and the angle between the inclined surface and the working surface is 20°-50°, It is preferably 30°.
  • the surface of the raised portion may also be provided as a curved surface; further, the angle between the line connecting the two ends of the curved surface and the working surface is 30°-60°.
  • the top of the cock is provided with a blocking portion that extends upward from the top of the cocking portion.
  • the bottom of the suction cup, the raised portion and the blocking portion are integrally formed.
  • the present invention further provides an adsorption type self-moving device, which absorbs a working surface through a suction cup at the bottom thereof, and the suction cup adopts an anti-rolling suction disk in the above technical solution.
  • the adsorption type self-moving device comprises a front machine and a rear machine, the front machine and the rear machine are connected by a driving component, and the driving component drives the front machine or the rear machine to move relative to the working surface, the front machine or/and the rear machine
  • the anti-rollover tray is provided at the bottom.
  • the drive assembly is: a screw or a screw pair, a rack and pinion pair or a cylinder piston pair.
  • the anti-rolling tray is disposed in a cavity of the bottom of the adsorption type self-moving device.
  • the blocking portion is at least partially larger than the working surface and the sidewall of the concave cavity is the most The distance from the bottom to the work surface.
  • the invention has the following beneficial effects: 1. Effectively preventing the edge portion of the bottom of the suction cup from being overturned, stuck or caught in the gap by the protrusion, thereby ensuring the normal operation of the robot. 2.
  • the structure is simple and easy to implement.
  • Figure 1 is a schematic view of a suction cup in the prior art
  • Figure 2 is a schematic view of one embodiment of the anti-rollover tray of the present invention.
  • Fig. 3 is a schematic view of an adsorption type self-moving device in which an anti-rollover tray is mounted.
  • an anti-rollover tray 1 includes a suction cup bottom 2 sealed to a working surface 5, and an outer side of the suction cup bottom 2 is provided with a lifting portion 3 which is offset from the working surface 5. More preferably, the top of the cocking portion 3 is further provided with a blocking portion 4 which extends upward from the top of the cocking portion.
  • the surface of the tilting portion 3 is provided as an inclined surface, and the angle between the inclined surface and the working surface It is 20°-50°, preferably 30°.
  • the angle between the inclined surface and the working surface is small (for example, less than 20°)
  • the top end of the suction cup is easily lower than the highest point of the protrusion, so that the suction cup is stuck to the protrusion; and the inclined surface and the working surface are clamped If the angle is larger, it is similar to the right-angled surface, and it is easy to be stuck directly on the right-angle end face of the crack or the protrusion.
  • Fig. 2 also shows the mounting position of the anti-rollover tray of the present invention, which is the same as the mounting position of the suction cup of the prior art, and is also mounted on the machine base 6 of the robot in use.
  • the difference between the anti-rolling tray in the present embodiment and the existing suction cup will be further described in conjunction with FIG. 1.
  • the existing suction cup encounters a certain width gap on the working surface.
  • the edge portion of the bottom portion will sink.
  • the gap is over, the edge portion of the suction cup just enters the gap. Since the suction cup is in the pressed state (the upper surface is at atmospheric pressure, the lower surface is substantially equal to the negative pressure of the suction cup chamber), the suction cup entering the gap There is no support under the edge and it is deformed to the slit, causing the suction cup to be stuck.
  • the existing suction cup encounters a projection on the working surface (not shown), the bottom of the suction cup is also easily turned over and stuck by the projection.
  • the outer side of the suction cup bottom 2 of the anti-rollover tray 1 is provided with the tilting portion 3 which is offset from the working surface 5, when the projection is encountered, the raised portion 3 is opposed to the projection.
  • the bottom 2 of the suction cup and the raised portion 3 are gradually jacked up by the protrusions, and finally overcome the resistance over the protrusions so as not to be overturned or jammed by the protrusions on the working surface.
  • the tilting portion 3 can generally abut against the other end of the slit, preventing the bottom portion 2 of the suction cup from sinking into the gap. dead.
  • the bottom 2 of the suction cup passes through the warp.
  • the starting portion 3 is integrally connected with the blocking portion 4, and the blocking portion 4 is blocked by the machine base 6. More specifically, the blocking portion is blocked by the side wall of the cavity on the machine base on which the suction cup is mounted, so that the bottom portion 2 of the suction cup does not fall into the gap. The card is stuck to ensure the normal operation of the robot.
  • the distance from the top of the lifted portion 3 to the work surface 4 is greater than the distance between the machine base 6 and the work surface 4, this design enables the machine base 6 to more effectively block the barrier portion 4, thereby ensuring The anti-rollover tray 1 smoothly passes over a wider gap.
  • the blocking portion 4 can be upward. The distance of extension is set to be longer to ensure that the barrier 4 can be blocked by the machine base 6.
  • suction cup bottom 2, the tilting portion 3 and the blocking portion 4 may be integrally formed.
  • FIG. 3 is a schematic diagram of an adsorption type self-moving device equipped with an anti-rollover tray.
  • An adsorption type self-moving device as shown in FIG. 3 includes a front machine 7 and a rear machine 8, and the front machine 7 and the rear machine 8 are connected by a screw nut pair composed of a drive assembly nut 701 and a lead screw 702, and the drive assembly
  • the screw nut pair drives the front machine 7 or the rear machine 8 to move relative to the working surface, and the drive assembly is composed of a nut 701 and a lead screw
  • the screw nut pair formed by 702 may be other connection structures such as a rack and pinion pair and a cylinder piston pair.
  • the anti-rollover tray 1 is provided at the bottom of the rear machine 8, and the spiral motor 801 and the return spring 703 are also shown in FIG. It should be noted that, according to different characteristics of different types of adsorption type self-moving devices, the anti-rolling suction cup of the invention can be installed at the bottom of the front machine or at the bottom of the rear machine, or can be installed at the bottom of the front and rear machines. Suck the suction cup.
  • the anti-rollover tray is disposed in a cavity of the bottom of the adsorption self-moving device. When the top of the lifting portion 3 is provided with the blocking portion 4, the blocking portion is at least partially at a distance from the working surface larger than the bottommost portion of the sidewall of the concave cavity The distance to the work surface.
  • the embodiment of the present invention has been described above with reference to the accompanying drawings. It is to be understood that this embodiment is only one of the preferred embodiments of the present invention, and the scope of the present invention is not limited by the embodiment.
  • the raised portion 3 is set as a slope, and the surface of the slope may be set as a curved surface or a flat inclined surface.
  • the distance at which the blocking portion 4 extends upward may be determined according to a specific working object.
  • any deduction made on the basis of the technical solution claimed by the present invention is within the scope of the present invention.

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Abstract

一种防翻吸盘（1）以及使用防翻吸盘（1）的吸附式自移动装置，具有结构简单、便于实施的优点。所述防翻吸盘（1）包括可与作业面相密封的吸盘底部（2），所述吸盘底部（2）的外侧设有偏离作业面（5）方向的翘起部（3）。所述翘起部（3）的顶部可设置阻挡部（4）。该防翻吸盘（1）能有效防止吸盘底部（2）的边缘部分被凸起物顶翻、卡死或者陷入缝隙被卡死，从而确保装配有该防翻吸盘（1）的机器人正常工作。

Description

防翻吸盘以及使用防翻吸盘的吸附式自移动装置 技术领域
本发明涉及机器人技术领域，特别涉及一种防翻吸盘以及使用防翻吸盘的吸附式自移动装置。
背景技术
图1为现有技术中的吸盘示意图。如图1所示，吸附式自动清洁机、擦玻璃机器人等执行清洁任务的机器人工作时，是依靠其底部的吸盘所产生的吸附力以及与该吸附力密切相关的摩擦力，来确保其在作业面上行走自如，从而完成相应的清洁任务。
现有的吸盘通常为回转体，其边缘部分薄而柔软。机器人工作时，吸盘的边缘部分以与作业面平行的方式紧贴在作业面上。当作业面光滑平整，例如没有向上凸起的边框，也没有向下凹陷的缝隙时，现有的吸盘能够保障机器人在作业面上行走自如。然而，当作业面上有凸起物或者缝隙时，吸盘的边缘部分极有可能被凸起物顶翻、卡死或者陷入缝隙被卡死，致使机器人无法正常工作。
发明内容
鉴于上述现有技术所存在的缺陷，本发明的目的旨在提供一种防翻吸盘，使用所述防翻吸盘的机器人不仅能在光滑平整的作业面上工作，而且也能在有凸起物或/和凹陷的作业面上行走自如，从而克服上述现有技术所存在的缺陷。
本发明的目的是通过下述技术方案实现的：
一种防翻吸盘，包括可与作业面相密封的吸盘底部，其特征在于：所述吸盘底部的外侧设有偏离作业面方向的翘起部。
在上述技术方案中，所谓可与作业面相密封的吸盘底部，是指装配有本发明防翻吸盘的机器人在作业面上工作时，所述吸盘底部与作业面密封接触。本发明在吸盘底部的外侧设置偏离作业面方向的翘起部，其作用是防止吸盘的边缘部分被作业面上的凸起物顶翻、卡死，或者陷入作业面上的缝隙被卡死，从而确保机器人的正常工作。
在上述技术方案的基础上，本发明可进一步附加下述技术特征，以便更好地解决本发明所要解决的技术问题：
所述翘起部的表面设置为倾斜面，所述倾斜面与作业面之间的夹角为20°-50°， 优选30°。
在本发明防翻吸盘中，所述翘起部的表面也可设置为弧面；进一步地，所述弧面两端点连线与作业面之间的夹角为30°-60°。
作为对上述所有技术方案的进一步改进，所述翘起部的顶部设有阻挡部，所述阻挡部从翘起部的顶部向上伸展一段距离。
进一步地，所述吸盘底部、翘起部和阻挡部是一体成型的。
在上述技术方案的基础上，本发明还进一步提供了一种吸附式自移动装置，通过其底部的吸盘吸附作业面，所述吸盘采用上述技术方案中的防翻吸盘。
进一步地，所述吸附式自移动装置包括前机和后机，前机和后机通过驱动组件连接，驱动组件驱动前机或后机相对作业面移动，所述前机或/和后机的底部设有所述防翻吸盘。
所述驱动组件为：丝杠或螺杆副、齿轮齿条副或者气缸活塞副。
所述防翻吸盘设置在吸附式自移动装置底部的的凹腔中，当所述翘起部的顶部设有阻挡部时，所述阻挡部至少部分到作业面的距离大于凹腔侧壁最底处到作业面的距离。
本发明具有以下有益效果：1、有效防止吸盘底部的边缘部分被凸起物顶翻、卡死或者陷入缝隙被卡死，从而确保机器人的正常工作。2、结构简单、便于实施。
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是现有技术中的吸盘的示意图；
图2是本发明防翻吸盘的一个实施例的示意图；
图3是安装了防翻吸盘的吸附式自移动装置的示意图。
具体实施方式
以下结合附图介绍本发明防翻吸盘的一个实施例。
图2是本发明防翻吸盘的一个实施例的示意图。如图2所示，一种防翻吸盘1，包括与作业面5相密封的吸盘底部2，吸盘底部2的外侧设有偏离作业面5方向的翘起部3。更佳的，翘起部3的顶部还设有阻挡部4，阻挡部4从翘起部的顶部向上伸展一段距离。
在本实施例中，翘起部3的表面设置为倾斜面，所述倾斜面与作业面之间的夹角 为20°-50°，优选30°。当倾斜面与作业面夹角较小(如小于20°)，则吸盘翘起部的顶端易低于凸起物的最高处，使得吸盘卡死于凸起物；而倾斜面与作业面夹角较大，则类似于直角面，也易直接卡在裂缝或凸起物的直角端面上。
图2还示出了本发明防翻吸盘的安装位置，与现有技术中的吸盘的安装位置相同，本发明防翻吸盘使用时也是安装在机器人的机器底座6上的。
以下，结合图1进一步介绍本实施例中的防翻吸盘与现有的吸盘之间的区别：从图1人们可以直观地看出，现有的吸盘在作业面上遇到一定宽度的缝隙时，其底部的边缘部分会下陷——在过缝隙的时候，吸盘边缘部分刚进入缝隙，由于吸盘处于被压状态(上表面为大气压，下表面基本等于吸盘腔室负压)，进入缝隙的吸盘边缘下没有支撑而向缝隙处下陷变形，从而导致吸盘被卡死。此外，现有的吸盘遇到作业面上的凸起物(图中未示出)时，其底部也容易被凸起物顶翻、卡死。
与现有的吸盘不同，由于防翻吸盘1的吸盘底部2的外侧设有偏离作业面5方向的翘起部3，当遇到凸起物时，翘起部3与凸起物相抵，在机器驱动力的作用下，吸盘底部2和翘起部3逐渐被凸起物顶起，最终克服阻力越过凸起物，从而不会被作业面上的凸起物顶翻或卡死。当防翻吸盘1在作业面上遇到较窄的缝隙时，虽然吸盘底部2也会向下发生形变，翘起部3通常可抵顶在缝隙的另一端，防止吸盘底部2陷入缝隙中卡死。
当防翻吸盘1在作业面上遇到较宽的缝隙时，虽然吸盘底部2也会向下发生形变，当翘起部3不足以抵顶在缝隙的另一端时，由于吸盘底部2通过翘起部3与阻挡部4连为一体，而阻挡部4被机器底座6挡住，更具体的，阻挡部被安装吸盘的机器底座上的凹腔侧壁挡住，故吸盘底部2不会陷入缝隙中卡死，从而确保机器人的正常工作。在本实施例中，翘起部3的顶部到作业面4之间的距离大于机器底座6到作业面4之间距离，这种设计能使机器底座6更有效地阻挡阻挡部4，从而确保防翻吸盘1顺利越过较宽的缝隙。而在翘起部3的顶部到作业面4之间的距离小于机器底座6到作业面4之间距离的情况下，为了保障防翻吸盘1顺利越过较宽的缝隙，可将阻挡部4向上伸展的距离设置的长一些，以便确保阻挡部4能被机器底座6挡住。
尚需说明的是，所述吸盘底部2、翘起部3和阻挡部4可以是一体成型的。
本实施例中的防翻吸盘1可广泛应用于机器人领域，图3是安装了防翻吸盘的吸附式自移动装置的示意图。如图3所示的一种吸附式自移动装置，包括前机7和后机8，前机7和后机8通过由驱动组件螺母701和丝杠702构成的丝杆螺母副连接，驱动组件丝杆螺母副驱动前机7或后机8相对作业面移动，驱动组件是由螺母701和丝杠 702构成的丝杠螺母副，也可以是齿轮齿条副、气缸活塞副等其他连接结构。后机8的底部设有所述防翻吸盘1，图3还示出了螺旋电机801和复位弹簧703。另需说明的是，根据不同类型的吸附式自移动装置的不同特点，本发明防翻吸盘既可以安装在前机底部，也可以安装在后机底部，也可以在前后机的底部均安装防翻吸盘。防翻吸盘设置在吸附式自移动装置底部的的凹腔中，当翘起部3的顶部设有阻挡部4时，所述阻挡部至少部分到作业面的距离大于凹腔侧壁最底处到作业面的距离。
以上，结合附图介绍了本发明的一个实施例，需要强调的是，该实施例只是本发明优选的实施方式之一，本发明的保护范围不受该实施例的限制。在具体实施本发明的过程中，本领域技术人员可以根据工作对象的具体特点，选择适当的技术方案。例如，所述翘起部3设为斜坡，所述斜坡的表面可设置为弧面或平直斜面，又如，阻挡部4向上伸展的距离可根据具体的工作对象确定。总之，在本发明请求保护的技术方案的基础上所作的任何演绎，均属于本发明的保护范围。

Claims (11)

  1. 一种防翻吸盘，包括可与作业面相密封的吸盘底部，其特征在于：所述吸盘底部(2)的外侧设有偏离作业面方向的翘起部(3)。
  2. 如权利要求1所述的防翻吸盘，其特征在于：所述翘起部(3)的表面设置为倾斜面，所述倾斜面与作业面之间的夹角为20°-50°。
  3. 如权利要求2所述的防翻吸盘，其特征在于：所述倾斜面与作业面之间的夹角为30°。
  4. 如权利要求1所述的防翻吸盘，其特征在于：所述翘起部(3)的表面设置为弧面。
  5. 如权利要求4所述的防翻吸盘，其特征在于：所述弧面两端点连线与作业面之间的夹角为30°-60°。
  6. 如权利要求1所述的防翻吸盘，其特征在于：所述翘起部(3)的顶部设有阻挡部(4)，所述阻挡部(4)从翘起部(3)的顶部向上伸展一段距离。
  7. 如权利要求6所述的防翻吸盘，其特征在于：所述吸盘底部(2)、翘起部(3)和阻挡部(4)是一体成型的。
  8. 一种吸附式自移动装置，通过其底部的吸盘吸附作业面，其特征在于：所述吸盘采用如权利要求1-7任一项所述的防翻吸盘(1)。
  9. 如权利要求8所述的吸附式自移动装置，其特征在于：所述吸附式自移动装置包括前机(7)和后机(8)，前机(7)和后机(8)通过驱动组件连接，驱动组件驱动前机(7)或后机(8)相对作业面移动，所述前机(7)或/和后机(8)的底部设有所述防翻吸盘(1)。
  10. 如权利要求8所述的吸附式自移动装置，其特征在于：所述驱动组件为丝杠 或螺杆副、齿轮齿条副或者气缸活塞副。
  11. 如权利要求8所述的吸附式自移动装置，其特征在于：所述防翻吸盘设置在吸附式自移动装置底部的的凹腔中，当所述翘起部(3)的顶部设有阻挡部(4)时，所述阻挡部至少部分到作业面的距离大于凹腔侧壁最底处到作业面的距离。
PCT/CN2014/091249 2013-11-20 2014-11-17 防翻吸盘以及使用防翻吸盘的吸附式自移动装置 WO2015074523A1 (zh)

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