WO2015074531A1 - 吸附式自移动装置 - Google Patents

吸附式自移动装置 Download PDF

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Publication number
WO2015074531A1
WO2015074531A1 PCT/CN2014/091379 CN2014091379W WO2015074531A1 WO 2015074531 A1 WO2015074531 A1 WO 2015074531A1 CN 2014091379 W CN2014091379 W CN 2014091379W WO 2015074531 A1 WO2015074531 A1 WO 2015074531A1
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WO
WIPO (PCT)
Prior art keywords
suction cup
moving device
support wheel
wheel assembly
type self
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Application number
PCT/CN2014/091379
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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 WO2015074531A1 publication Critical patent/WO2015074531A1/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
    • 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 present invention relates to the field of robot technology, and in particular, to an adsorption type self-moving device.
  • Robots that work on upright or sloping work surfaces typically rely on the suction force generated by the suction cup and the frictional force that is closely related to the suction force to ensure that it travels on the work surface.
  • the split wall cleaning robot when the front split machine travels, the rear split machine is fixed on the work surface, and when the split machine travels, the front split machine is fixed on the work surface;
  • the alternate travel of the rear splitter realizes the walking of the entire robot on the work surface.
  • the splitter advances, it is necessary to reduce the friction between the suction cup and the work surface, otherwise it will not only increase the energy consumption of the robot, but also reduce the service life of the suction system of the suction cup and the robot.
  • the air pressure difference between the inside and the outside of the suction cup is changed by adjusting the vacuum degree of the suction cup, thereby realizing the adjustment of the adsorption force and the frictional force between the suction cup and the working surface.
  • the adsorption force between the suction cup and the working surface can be reduced, and the decrease in the suction force can also cause the friction to decrease; similarly, by expanding the difference between the inside and the outside of the suction cup, Increase the suction and friction between the suction cup and the work surface.
  • the friction between the suction cup and the working surface can be reduced by narrowing the air pressure difference between the inside and the outside of the suction cup
  • the air pressure difference between the inside and the outside of the suction cup is one of the important conditions for ensuring the stable operation of the suction cup. Therefore, by narrowing the air pressure difference between the inside and the outside of the suction cup, The method of reducing the friction between the suction cup and the work surface is not very satisfactory in effect.
  • An adsorption self-moving device comprises a body, the body is provided with a suction cup, a driving unit and a control unit, the suction cup is arranged at the bottom of the body, and the driving unit drives the body to move on the working surface under the control of the control unit, the adsorption type self-moving device
  • the elastic support wheel assembly is disposed at the bottom of the body; the adsorption self-moving device is further The friction pad is configured to be pressed against the working surface as the suction cup is deflated, thereby increasing the friction between the body and the working surface; when the suction cup is in the negative pressure adsorption state, the elastic supporting wheel assembly is at Pressing the contracted first working position; when the suction cup is in a deflated state, the elastic supporting wheel assembly is in the extended second working position, and the friction pad is separated from the working surface.
  • the elastic support wheel assembly includes a support frame, an elastic member and a roller, the elastic member is sleeved on the support frame, and the roller is mounted on the roller at the bottom of the support frame; the support wheel assembly further includes a limit A limit mechanism that supports the downward movement of the wheel assembly.
  • the limiting mechanism in one embodiment includes a fixing screw, the top of the supporting frame is provided with an opening, and the opening extends downward to form a hollow portion, and the fixing screw is fixedly connected at the opening when the suction cup is in an unadsorbed state.
  • the fixing screw is engaged with the base of the body to restrict the downward movement of the support wheel assembly.
  • the elastic support wheel assembly further includes a support wheel fixing cover, the support frame is disposed in the support wheel fixing cover, and the support wheel fixing cover is fixedly connected with the body base;
  • the limiting mechanism comprises a support frame disposed on the support frame The upper boss, when the suction cup is in the unadsorbed state, the boss engages with the body base to restrict the downward movement of the support wheel assembly.
  • the elastic member is a return spring or a spring piece.
  • the friction pad is fixedly disposed on a top of the inner cavity of the suction cup; or the friction pad is fixedly disposed outside the suction cup and fixed to the body.
  • the material of the friction pad is rubber, preferably neoprene.
  • An embossing is provided on the contact surface of the friction pad.
  • the body is a split structure, comprising: a front body and a rear body, wherein the front body and the rear body are connected by a driving component, and the driving component is connected with the driving unit to drive the front body and the rear body relative to each other. Move and walk.
  • the drive assembly is: a lead screw or a screw pair, a rack and pinion pair or a cylinder piston pair.
  • the invention has the following beneficial effects: 1.
  • the friction between the suction cup and the working surface is reduced, thereby reducing the energy consumption of the robot during operation, and prolonging the service life of the suction cup and the driving system of the robot.
  • the structure is simple and easy to implement.
  • FIG. 1A is a schematic structural view of an adsorption type self-moving device in an unadsorbed state according to an embodiment of the present invention
  • FIG. 1B is a schematic structural view of an adsorption type self-moving device in an adsorption state according to an embodiment of the present invention
  • FIG. 2A is a schematic structural view of an adsorption type self-moving device in an unadsorbed state according to Embodiment 2 of the present invention
  • 2B is a schematic structural view of the adsorption type self-moving device in the state of adsorption according to the second embodiment of the present invention
  • FIG. 3 is a schematic view showing the position structure of a third friction pad according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural view of an adsorption type self-moving device according to a fourth embodiment of the present invention.
  • FIG. 1A is a schematic structural view of an adsorption type self-moving device in an unadsorbed state according to an embodiment of the present invention
  • FIG. 1B is a schematic structural view of an adsorption type self-moving device in an adsorption state according to an embodiment of the present invention.
  • the adsorption self-moving device provided in this embodiment includes a body 1, and the body is provided with a suction cup 2, an elastic supporting wheel assembly 3, a friction pad 4, and a driving unit (not shown).
  • the suction cup 2 is disposed at the bottom of the body 1, the driving unit drives the body 1 to move on the working surface under the control of the control unit; the elastic supporting wheel assembly 3 is disposed at the bottom of the body 1; the friction pad 4 fixedly disposed on the top of the inner cavity of the suction cup 2, the friction pad 4 can be pressed against the working surface as the suction cup 2 is deflated, thereby increasing the friction between the body 1 and the working surface, the friction pad 4
  • the material is rubber, preferably neoprene and has embossing on the contact surface thereof; when the suction cup 2 is in the negative pressure adsorption state, the elastic supporting wheel assembly 3 is in the first working position of compression and contraction; when the suction cup 2 When in a deflated state, the resilient support wheel assembly 3 is in the extended second working position and the friction pad is disengaged from the work surface.
  • the elastic support wheel assembly 3 includes a support frame 31, an elastic member 32, a roller 33, and a limiting mechanism for restricting downward movement of the support wheel assembly 3.
  • the elastic member 32 is sleeved on the support frame 31, and the elastic member 32 a return spring or a spring piece;
  • the roller 33 is mounted on the roller at the bottom of the support frame 31;
  • the limiting mechanism includes a fixing screw 34, and the top of the support frame 31 is provided with an opening, and the opening extends downward to form a hollow portion
  • the fixing screw 34 is fixedly connected to the opening.
  • the fixing screw 34 is pushed up while the elastic member 32 is pressed.
  • the elastic member 32 returns to the original state while lifting the body 1 (the friction pad of the suction cup is still tightly attached to the working surface without automatically separating from the working surface due to the weight of the robot and the suction cup is not completely deflated, etc.)
  • the friction pad 4 is disengaged from the surface to reduce friction, thereby reducing the pressure between the suction cup 2 and the suction surface.
  • the fixing screw 34 is engaged with the base of the body 1 to restrict the downward movement of the support wheel assembly 3.
  • FIG. 2A is a schematic view showing the structure of the adsorption type self-moving device in an unadsorbed state according to the second embodiment of the present invention
  • FIG. 2B is a schematic structural view showing the adsorption state of the adsorption type self-moving device according to the embodiment of the present invention.
  • the adsorption type self-moving device provided in this embodiment is basically the same as that in the first embodiment, except that the elastic supporting wheel assembly 3 of the present embodiment includes the supporting frame 31 and the elastic body.
  • the support wheel fixing cover 35 is further disposed in the support wheel fixing cover 35.
  • the support wheel fixing cover 35 is fixedly connected with the base of the body 1.
  • the limiting mechanism comprises The boss 36 on the support frame 31 engages with the base of the body 1 to restrict the downward movement of the support wheel assembly 3 when the suction cup 2 is in an unadsorbed state.
  • FIG. 3 is a schematic view showing the position structure of a third friction pad according to an embodiment of the present invention. As shown in FIG. 3, the position of the friction pad 4 in this embodiment is different from that in the first embodiment and the second embodiment.
  • the friction pad 4 in this embodiment is fixedly disposed outside the suction cup 2 and fixed to the body 1.
  • the adsorption type self-moving device in this embodiment is basically the same as that in the above embodiment, except that the body 1 is a split structure, including: a front body 11 and a rear body 12, the front The driving body 13 and the rear body 12 are connected by a driving unit 13 , and the driving unit 13 is connected to the driving unit to drive the front body 11 and the rear body 12 to move relative to the working surface.
  • the driving group 13 is: a screw or a screw pair. Gear rack pair or cylinder piston pair.
  • the present invention provides an adsorption type self-moving device, which reduces the friction between the suction cup and the working surface, thereby reducing the energy consumption of the robot during operation, and prolonging the service life of the suction cup and the driving system of the robot; Simple and easy to implement.

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

一种吸附式自移动装置，包括：机体（1），机体（1）设有吸盘（2）、驱动单元和控制单元，吸盘（2）设置在机体（1）底部，驱动单元在控制单元控制下驱动机体（1）在作业面上移动；弹性支撑轮组件（3），该组件（3）设置在机体（1）底部；还包括摩擦垫（4），该摩擦垫（4）能够随着吸盘（2）放气而与作业面紧压，从而增大机体（1）与作业面之间的摩擦力。当吸盘（2）处于负压吸附状态时，该弹性支撑轮组件（3）处于压紧收缩的第一工作位置：当吸盘（2）处于泄气状态时，该弹性支撑轮组件（3）处于伸展的第二工作位置，摩擦垫（4）脱离作业面。该吸附式自移动装置中弹性支撑轮组件（3）能减小吸盘（2）与作业面之间的摩擦力，从而降低机器人工作时的能耗，并延长吸盘（2）和机器人驱动系统的使用寿命。

Description

吸附式自移动装置 技术领域
本发明涉及机器人技术领域，特别涉及一种吸附式自移动装置。
背景技术
在直立的或者倾斜的作业面(亦称为工作面)上工作的机器人通常是依靠吸盘所产生的吸附力以及与吸附力密切相关的摩擦力来确保其在作业面上的行走。以分体式壁面清洁机器人为例，其前分体机行进时，其后分体机固定在作业面上，其后分体机行进时，其前分体机固定在作业面上；通过前、后分体机的交替行进，实现整个机器人在作业面上的行走。当分体机前进时，需要降低吸盘与作业面之间摩擦力，否则不仅会提高机器人的能耗，而且也会降低吸盘和机器人的驱动系统的使用寿命。当分体机固定在作业面上时，需要增大吸盘与作业面之间的摩擦力，否则，机器人会打滑，甚至有可能从作业面上坠落。由此可见，将吸盘与作业面之间的吸附力和摩擦力维持在适度的范围内，对于确保机器人的正常工作时非常重要的。
现有技术是通过调节吸盘的真空度来改变吸盘内外的气压差，从而实现对吸盘与作业面之间的吸附力和摩擦力的调节。具体地说，通过缩小吸盘内外的气压差，可降低吸盘与作业面之间的吸附力，而吸附力的降低，也会导致摩擦力的降低；同理，通过扩大吸盘内外的气压差，可增大吸盘与作业面之间的吸附力和摩擦力。
虽然通过缩小吸盘内外的气压差，可降低吸盘与作业面之间的摩擦力，但是，由于吸盘内外存在气压差，是确保吸盘稳定工作的重要条件之一，因此，通过缩小吸盘内外的气压差来降低吸盘与作业面之间的摩擦力的方法在效果上并不是十分理想。
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吸附式自移动装置，可降低其吸盘与作业面之间的摩擦力，从而克服上述现有技术的缺陷。
本发明的目的是通过下述技术方案实现的：
一种吸附式自移动装置，包括机体，机体设有吸盘、驱动单元和控制单元，吸盘设置在机体底部，驱动单元在控制单元控制下驱动机体在作业面上移动，所述吸附式自移动装置包括弹性支撑轮组件，该组件设置在机体底部；所述吸附式自移动装置还 包括摩擦垫，所述摩擦垫能够随着吸盘放气而与作业面紧压，从而增大机体与作业面之间的摩擦力；当吸盘处于负压吸附状态时，所述弹性支撑轮组件处于压紧收缩的第一工作位置；当吸盘处于泄气状态时，所述弹性支撑轮组件处于伸展的第二工作位置，摩擦垫脱离作业面。
具体地，所述弹性支撑轮组件包括支撑架、弹性部件和滚轮，所述弹性部件套设在支撑架上，滚轮安装在所述支撑架底部的滚轴上；所述支撑轮组件还包括限制支撑轮组件向下运动的限位机构。
其中一个实施例中的限位机构包括固定螺丝，所述支撑架顶部设有开口，开口向下延伸形成一中空部，所述固定螺丝固定连接在所述开口处，在吸盘处于未吸附状态时，所述固定螺丝与机体底座卡合而限制支撑轮组件向下运动。
另一个实施例，所述弹性支撑轮组件还包括支撑轮固定盖，支撑架设置在支撑轮固定盖内，支撑轮固定盖与机体底座固定连接；所述限位机构包括设置在所述支撑架上的凸台，在吸盘处于未吸附状态时，所述凸台与机体底座卡合而限制支撑轮组件向下运动。
所述弹性部件为复位弹簧或弹簧片。
所述摩擦垫固定设置在所述吸盘内腔的顶部；或者，所述摩擦垫固定设置在吸盘外侧，并与机体固定。
所述摩擦垫的材质为橡胶，优选为氯丁胶。
所述摩擦垫的接触表面上设置压纹。
本发明另一个实施例，所述机体为分体式结构，包括：前机体和后机体，前机体和后机体之间通过驱动组件连接，驱动组件与驱动单元连接，驱动前机体和后机体相对作业面移动行走。
更好地，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。
本发明具有以下有益效果：1、减小吸盘与作业面之间的摩擦力，从而降低机器人工作时的能耗，并延长吸盘和机器人的驱动系统的使用寿命。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1A是本发明实施例一吸附式自移动装置未吸附状态时的结构示意图；
图1B是本发明实施例一吸附式自移动装置吸附状态时的结构示意图；
图2A是本发明实施例二吸附式自移动装置未吸附状态时的结构示意图；
图2B是本发明实施例二吸附式自移动装置吸附状态时的结构示意图；
图3是本发明实施例三摩擦垫位置结构示意图；
图4是本发明实施例四吸附式自移动装置结构示意图。
具体实施方式
实施例一
图1A是本发明实施例一吸附式自移动装置未吸附状态时的结构示意图；图1B是本发明实施例一吸附式自移动装置吸附状态时的结构示意图。如图1A并参考图1B所示，本实施例提供的吸附式自移动装置，包括机体1，机体设有吸盘2、弹性支撑轮组件3、摩擦垫4、驱动单元(图中未示出)和控制单元(图中未示出)，吸盘2设置在机体1底部，驱动单元在控制单元控制下驱动机体1在作业面上移动；弹性支撑轮组件3设置在机体1底部；所述摩擦垫4固定设置在所述吸盘2内腔的顶部，该摩擦垫4能够随着吸盘2放气而与作业面紧压，从而增大机体1与作业面之间的摩擦力，所述摩擦垫4的材质为橡胶，优选为氯丁胶并且其接触表面上设有压纹；当吸盘2处于负压吸附状态时，所述弹性支撑轮组件3处于压紧收缩的第一工作位置；当吸盘2处于泄气状态时，所述弹性支撑轮组件3处于伸展的第二工作位置，摩擦垫脱离作业面。
所述弹性支撑轮组件3包括支撑架31、弹性部件32、滚轮33以及限制支撑轮组件3向下运动的限位机构，所述弹性部件32套设在支撑架31上，所述弹性部件32为复位弹簧或弹簧片；滚轮33安装在所述支撑架31底部的滚轴上；所述限位机构包括固定螺丝34，所述支撑架31顶部设有开口，开口向下延伸形成一中空部，所述固定螺丝34固定连接在所述开口处。
工作原理：
当吸盘2处于吸附状态时(请参考图1B所示，)所述固定螺丝34被顶起，同时所述弹性部件32被挤压。当吸盘2泄气时，弹性部件32回复原始状态的同时顶起机体1(因机器人的重量以及吸盘未完全泄气等原因，吸盘的摩擦垫仍与作业表面贴紧而不会自动脱离作业面)，使摩擦垫4脱离表面以减小摩擦力，进而减小吸盘2与吸附面间的压力。
当吸盘2处于未吸附状态时(请参考图1A所示)，所述固定螺丝34与机体1底座卡合而限制支撑轮组件3向下运动。
实施例二
图2A是本发明实施例二吸附式自移动装置未吸附状态时的结构示意图；图2B是本发明实施例一吸附式自移动装置吸附状态时的结构示意图。如图2A并参考图2B所示，本实施例提供的吸附式自移动装置与实施例一中的基本一致，不同之处在于，本实施中的弹性支撑轮组件3除了包括支撑架31、弹性部件32和滚轮33之外，还包括支撑轮固定盖35，支撑架31设置在支撑轮固定盖内35，支撑轮固定盖35与机体1底座固定连接；所述限位机构包括设置在所述支撑架31上的凸台36，在吸盘2处于未吸附状态时，所述凸台36与机体1底座卡合而限制支撑轮组件3向下运动。
实施例三
图3是本发明实施例三摩擦垫位置结构示意图。如图3所示，本实施例中摩擦垫4的位置与实施例一和实施例二中位置不同，本实施例中的摩擦垫4固定设置在吸盘2外侧，并与机体1固定。
实施例四
图4是本发明实施例四吸附式自移动装置结构示意图。如图4所示，本实施例中的吸附式自移动装置与上述实施例中的基本一致，不同之处在于，所述机体1为分体式结构，包括：前机体11和后机体12，前机体11和后机体12之间通过驱动组件13连接，驱动组件13与驱动单元连接，驱动前机体11和后机体12相对作业面移动行走，所述驱动组13件为：丝杠或螺杆副、齿轮齿条副或者气缸活塞副。
综上所述，本发明提供一种吸附式自移动装置，减小吸盘与作业面之间的摩擦力，从而降低机器人工作时的能耗，并延长吸盘和机器人的驱动系统的使用寿命；结构简单、便于实施。

Claims (10)

  1. 一种吸附式自移动装置，包括机体(1)，机体(1)设有吸盘(2)、驱动单元和控制单元，吸盘(2)设置在机体(1)底部，驱动单元在控制单元控制下驱动机体(1)在作业面上移动，其特征在于，所述吸附式自移动装置包括弹性支撑轮组件(3)，该弹性支撑轮组件(3)设置在机体(1)底部；所述吸附式自移动装置还包括摩擦垫(4)，所述摩擦垫(4)能够随着吸盘(2)放气而与作业面紧压，从而增大机体(1)与作业面之间的摩擦力；当吸盘(2)处于负压吸附状态时，所述弹性支撑轮组件(3)处于压紧收缩的第一工作位置；当吸盘(2)处于泄气状态时，所述弹性支撑轮组件(3)处于伸展的第二工作位置，摩擦垫(4)脱离作业面。
  2. 如权利要求1所述的吸附式自移动装置，其特征在于，所述弹性支撑轮组件(3)包括支撑架(31)、弹性部件(32)和滚轮(33)，所述弹性部件(32)套设在支撑架上(31)，滚轮(33)安装在所述支撑架(31)底部的滚轴上；
    所述支撑轮组件(3)还包括限制支撑轮组件(3)向下运动的限位机构。
  3. 如权利要求2所述的吸附式自移动装置，其特征在于，所述限位机构包括固定螺丝(34)，所述支撑架(31)顶部设有开口，开口向下延伸形成一中空部，所述固定螺丝(34)固定连接在所述开口处，在吸盘(2)处于未吸附状态时，所述固定螺丝(34)与机体(1)底座卡合而限制支撑轮组件(3)向下运动。
  4. 如权利要求2所述的吸附式自移动装置，其特征在于，所述弹性支撑轮组件(3)还包括支撑轮固定盖(35)，支撑架设(31)置在支撑轮固定盖(35)内，支撑轮固定盖(35)与机体(1)底座固定连接；所述限位机构包括设置在所述支撑架上的凸台(36)，在吸盘(2)处于未吸附状态时，所述凸台(36)与机体(1)底座卡合而限制支撑轮组件(3)向下运动。
  5. 如权利要求2-4任一项所述的吸附式自移动装置，其特征在于，所述弹性部件(32)为复位弹簧或弹簧片。
  6. 如权利要求1所述的吸附式自移动装置，其特征在于，所述摩擦垫(4)固定设置在所述吸盘(2)内腔的顶部；
    或者，所述摩擦垫(4)固定设置在吸盘(2)外侧，并与机体(1)固定。
  7. 如权利要求6所述的吸附式自移动装置，其特征在于，所述摩擦垫(4)的材质为橡胶，优选为氯丁胶。
  8. 如权利要求7所述的吸附式自移动装置，其特征在于，所述摩擦垫(4)的接触表面上设置压纹。
  9. 如权利要求1所述的吸附式自移动装置，其特征在于，所述机体(1)为分体式结构，包括：前机体(11)和后机体(12)，前机体(11)和后机体(12)之间通过驱动组件(13)连接，驱动组件(13)与驱动单元连接，驱动前机体(11)和后机体(12)相对作业面移动行走。
  10. 如权利要求9所述的吸附式自移动装置，其特征在于，所述驱动组件(13)为：丝杠或螺杆副、齿轮齿条副或者气缸活塞副。
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