WO2015074556A1 - Appareil de détection et relâchement de pression et robot d'adsorption le comportant - Google Patents

Appareil de détection et relâchement de pression et robot d'adsorption le comportant Download PDF

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Publication number
WO2015074556A1
WO2015074556A1 PCT/CN2014/091591 CN2014091591W WO2015074556A1 WO 2015074556 A1 WO2015074556 A1 WO 2015074556A1 CN 2014091591 W CN2014091591 W CN 2014091591W WO 2015074556 A1 WO2015074556 A1 WO 2015074556A1
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WO
WIPO (PCT)
Prior art keywords
sealing
pressure detecting
deflation
adsorption
base
Prior art date
Application number
PCT/CN2014/091591
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English (en)
Chinese (zh)
Inventor
杨敏敏
Original Assignee
苏州科沃斯商用机器人有限公司
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Filing date
Publication date
Application filed by 苏州科沃斯商用机器人有限公司 filed Critical 苏州科沃斯商用机器人有限公司
Publication of WO2015074556A1 publication Critical patent/WO2015074556A1/fr

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    • 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

Definitions

  • the principle of the existing pressure detecting device is that the pressure detecting element is directly disposed on the sealing surface of the sealing chamber of the adsorption device (such as the suction cup sealing surface), thereby measuring the pressure required to seal the inside of the cavity (so-called vacuum).
  • Most of the existing venting devices are connected to a venting device on a vacuum chamber (such as a suction cup), and the sealing chamber is deflated by manual or automatic control to achieve the effect of venting the cavity.
  • the front suction cup at the bottom of the front body or the rear suction cup at the bottom of the rear body alternately adsorbs the working surface to walk, and an integral device capable of simultaneously detecting the vacuum degree of the suction cup and deflation of the suction cup is required.
  • the technical problem to be solved by the present invention is to provide a pressure detecting and deflation device and an adsorption type robot with the same according to the deficiencies of the prior art, which is compact in structure, requires less space, and has low cost, and is realized.
  • the adsorption robot controls the pressure detection and the deflation.
  • a pressure detecting and deflation device comprises: a pressure detecting circuit board and a sealing base, wherein a sealing cavity is arranged in the sealing base, the pressure detecting circuit board is sealingly connected with the sealing cavity, and the pressure detecting circuit board a pressure detecting element is provided for detecting the air pressure in the sealed chamber, the sealing base surface is provided with a through hole, the through hole is communicated with the sealing cavity, and the sealing base is provided with a deflation mechanism, and the venting mechanism The reciprocating motion seals or closes the through hole.
  • the air deflation mechanism includes: a deflation linear motor and a sealing piece bracket pivotally connected to one side of the venting base, wherein the sealing piece holder is provided with an air suction port corresponding to the through hole provided by the sealing base, The deflated straight The wire motor abuts against the sealing piece holder.
  • a seal ring is disposed between the pressure detecting circuit board and the sealing cavity in the sealing base.
  • the number of the through holes corresponds to the number of sealed chambers, and the number of the pressure detecting elements corresponds to the number of the sealed cavities.
  • the surface of the sealing base is further provided with a suction cup connecting hole, and the suction cup connecting hole is in communication with the sealing cavity.
  • the air venting mechanism includes: a deflation linear motor and a sealing sheet bracket, wherein the sealing sheet bracket is provided with a sealing member fixed by the cover plate, and the sealing member is disposed at a position corresponding to the through hole,
  • the deflated linear motor is connected to the top or the bottom of the sealing piece holder.
  • the number of the through holes and the suction cup connection holes corresponds to the number of the sealed cavities, and the number of the pressure detecting elements corresponds to the number of the sealed cavities.
  • the present invention also provides an adsorption type robot comprising: a body, a cleaning unit, a driving unit, an adsorption device and a control unit, wherein the control unit is respectively connected to the cleaning unit and the driving unit, and the pressure is included on the body
  • the detection and deflating device is connected to the control unit, and the adsorption device is connected to the air pump and the sealing base.
  • the adsorption robot is an integrated adsorption robot, and the body further includes: a walking unit, the control unit controls the driving unit to drive the walking unit to walk.
  • the present invention provides a pressure detecting and deflation device and an absorbing robot with the same, which is compact in structure, requires less space, and has low cost, and realizes control of pressure detection and deflation of the robot. .
  • FIG. 1B is a schematic structural view of a sealing base according to Embodiment 1 of the present invention.
  • FIG. 2 is a schematic view showing an explosive structure of a pressure detecting and deflation device according to Embodiment 2 of the present invention
  • FIG. 3A is a schematic structural view of a pressure detecting and deflation device according to a third embodiment of the present invention.
  • FIG. 3B is a schematic view showing the internal structure of a pressure detecting and deflation device according to Embodiment 3 of the present invention.
  • FIG. 5 is a schematic structural view of a person of a suction type cleaner according to a fifth embodiment of the present invention.
  • FIG. 6 is a schematic structural view of a person of a suction type cleaner according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural view of a person of an adsorption type cleaner according to Embodiment 7 of the present invention.
  • FIG. 1A is a schematic view showing the structure of an explosion type of a pressure detecting and deflation device according to an embodiment of the present invention
  • FIG. 1B is a schematic structural view of a sealing base according to Embodiment 1 of the present invention. As shown in FIG. 1A and FIG.
  • the present embodiment provides a pressure detecting and deflation device, comprising: a pressure detecting circuit board 1 and a sealing base 2, and a sealing cavity 21 is disposed in the sealing base 2,
  • the pressure detecting circuit board 1 is sealingly connected to the sealing cavity, and the pressure detecting circuit board 1 is provided with a pressure detecting element 11 for detecting the air pressure in the sealing cavity 21, and the pressure detecting circuit board 1 and the sealing base 2 are
  • a sealing ring 3 is disposed between the sealing chambers 21, and a surface of the sealing base 2 is provided with a through hole 22, the through hole 22 is in communication with the sealing cavity 21, and the sealing base 2 is provided with a deflation mechanism Reciprocating movement of the venting mechanism causes the through hole 22 to be sealed or opened; the number of the through holes 22 corresponds to the number of the sealing chambers 21, and the number of the pressure detecting elements 11 corresponds to the number of the sealed chambers 21 .
  • the air venting mechanism includes: a deflated linear motor 4 and a sealing piece holder 5, the sealing piece holder 5 is pivotally connected to one side of the through hole 22, and the sealing piece holder 5 is provided with a connection with the sealing base 2
  • the air inlet port 51 corresponding to the hole 22 is further provided with a motor placement through hole 23 in the sealing base 2, and the air leakage linear motor 4 is abutted against the sealing sheet holder 5 through the motor placement through hole 23.
  • the inner wall of the suction port 51 is further provided with a seal ring 6.
  • the sealing cavity 21 communicates with the air suction port 51 through the through hole 22, that is, the through hole 22 is sealed through the air suction port 51, and the air suction port 51 is connected to the air suction pump and the sealing cavity 21 is evacuated.
  • the pressure detecting element 11 disposed on the pressure detecting circuit board 1 performs pressure detection on the sealed chamber; when the detecting is completed, the air pump is turned off, and the deflated linear motor 4 starts to operate, the deflated linear motor 4 and the sealing sheet holder 5 are offset.
  • the top end is extended to separate one end of the sealing sheet holder 5 from the sealing base 2, and at this time, the sealing cavity 21 communicates with the atmosphere through the through hole 22 to achieve the effect of deflation.
  • FIG. 2 is a schematic view showing the explosive structure of the pressure detecting and deflation device according to the second embodiment of the present invention.
  • the device of the embodiment is substantially the same as that of the first embodiment, except that the surface of the sealing base 2 is further provided with a suction cup connecting hole 24, the suction cup connecting hole 24 and the sealing cavity. Body connectivity.
  • the number of the through holes 22 and the suction cup connecting holes 24 corresponds to the number of the sealed cavities, and the number of the pressure detecting elements 11 corresponds to the number of the sealed cavities.
  • the air deflation mechanism in this embodiment includes: a deflation linear motor 4 and a sealing sheet holder 5, and the sealing sheet holder 5 is provided with a sealing member 53 fixed by the cover 52, and the sealing position of the sealing member 53 is Corresponding to the through hole 22, the sealing base 2 is further provided with a motor placement through hole 23 through which the blowdown linear motor 4 abuts against the sealing sheet holder 5.
  • the suction cup connecting hole 24 is connected to the air suction device.
  • the air suction device is an air pump.
  • the pressure detecting element 11 performs pressure detection on the sealed cavity. After the detection is completed, the air pump is turned off.
  • the deflated linear motor 4 starts to operate, the deflated linear motor 4 and the sealing piece holder 5 abut against the top end, so that one end of the sealing piece holder 5 is separated from the sealing pedestal 2, and the sealing cavity communicates with the atmosphere through the through hole 22 at this time. , to achieve the effect of discarding.
  • the sealing sheet holder 5 comprises two bracket elements arranged symmetrically, each of which is of the "L" type.
  • FIG. 3A is a schematic structural view of a pressure detecting and deflation device according to a third embodiment of the present invention
  • FIG. 3B is a schematic view showing the internal structure of a pressure detecting and deflation device according to Embodiment 3 of the present invention.
  • the pressure detecting and deflation device of the present invention comprises a sealing base 2, a sealing cavity is formed in the sealing base 2, and a pressure detecting circuit board 1 is mounted on the sealing base 2,
  • the pressure detecting circuit board 1 is provided with a pressure detecting element 11 for detecting the pressure inside the sealed chamber; the sealed cavity is connected to the vent hole 22' and the suction cup connecting port 24' located on the sealing base 2.
  • a venting linear motor 4 is disposed on the sealing base 2, and the deflation linear motor 4 is connected to the sealing cavity.
  • the deflation linear motor 4 includes a base (not shown), a coil bracket 42 mounted on the base, and a coil bracket.
  • the coil 42 is wound with an energizable coil (not shown), and an iron core 43 and an armature 44 are sequentially arranged in the coil holder 42 .
  • a return spring 45 is disposed between the iron core 43 and the armature 44.
  • the armature 44 is provided. The top portion secures the connection seal 46 through the upper cover, which seal 46 seals the venting opening 22'.
  • the working principle is as follows: when the power is applied, the magnetic field is generated in the coil holder 42 to make the core 43 magnetic, and the armature 44 is used. Adsorption, because the armature 44 and the sealing member 46 are fixed, the sealing member 46 is pulled outward, and the air vent 44' is opened; when the power is off, the sealing member 46 is pushed back to close the venting opening 44' by the return spring 45.
  • FIG. 4 is a schematic structural view of a person of a suction type cleaner according to an embodiment of the present invention.
  • the embodiment provides an adsorption cleaning robot, comprising: a body 31, a cleaning unit (not shown), a driving unit (not shown), an adsorption device, an embodiment 1 or an implementation.
  • the pressure detecting and deflating device 33 and the control unit (not shown) in the second embodiment are connected to the control unit driving unit, and a cleaning unit is provided at the bottom of the body (not shown in the drawing).
  • the body 31 includes: a front body 311
  • the rear body 312 and the driving assembly 313 can be provided with a screw nut pair.
  • the front body 311 and the rear body 312 are connected by a driving assembly 313, and the front body 311 and the rear body 312 are respectively provided with a front adsorption device 321 and
  • the rear adsorption device 322 is provided with a pressure detecting and deflation device 33 on the front body 313.
  • the pressure detecting circuit board in the pressure detecting and deflation device 33 is connected to a control unit, and the front adsorption device 321 and an air pump ( The drawing is not labeled) and is connected to the sealed cavity of the sealing base.
  • the adsorption device can be a suction cup.
  • the suction device is connected to the air suction port 51 in the sealing bracket 5 in the air pump and the sealing base 2. .
  • the deflated linear motor 4 When the air pump operates to pump the sealed cavity 21, the deflated linear motor 4 is in the first working position, at which time the pressure detecting component 11 detects the pressure value in the sealed cavity 21, that is, simultaneously detects the pressure value in the adsorption device. And sending the pressure value to the control unit, if the pressure value signal is too small, it can be judged that the adsorption device leaks.
  • the deflated linear motor 4 When the deflated linear motor 4 is operated to the second working position, the deflated linear motor 4 and the sealing piece holder 5 are protruded from the top end, so that one end of the sealing piece holder 5 provided with the suction port 51 is separated from the sealing base 2, The sealed cavity 21 communicates with the atmosphere through the through hole 22 to achieve the effect of venting the adsorption device 321 .
  • the suction cup connecting hole 24 is connected to the air suction device and the adsorption device 321 , and the air suction device is an air pump, and when the air pump is turned on,
  • the suction device 321 and the sealing cavity 221 are evacuated, and the pressure detecting element 211 can perform air pressure detection on the sealing cavity 211 in real time; when the detection is completed, the air pump can be turned off, and the air leakage linear motor 4 starts to operate, the air leakage linear motor 4, the top end of the sealing sheet holder 5 is extended, and the sealing piece 53 of the sealing sheet holder 5 is separated from the through hole 22 of the sealing base 2.
  • the sealing cavity communicates with the atmosphere through the through hole 22 to reach the adsorption device 321 The effect of discouragement.
  • FIG. 5 is a schematic structural view of a person of a suction type cleaner according to a fifth embodiment of the present invention.
  • the adsorption type robot in this embodiment is basically the same as the structure in the fourth embodiment, except that the pressure detecting and deflating device 33 is disposed on the rear body 312.
  • the working principle of the adsorption robot in this embodiment is the same as that in the fourth embodiment, and details are not described herein again.
  • FIG. 6 is a schematic structural view of an adsorption robot according to a sixth embodiment of the present invention.
  • the adsorption robot in the embodiment is basically the same as the structure in the fourth embodiment and the fifth embodiment, except that the front body 312 and the rear body 312 are respectively provided with front pressure detection and
  • the venting device 33 and the rear pressure detecting and deflation device 33 are the same as those in the fourth embodiment, and will not be described again.
  • FIG. 7 is a schematic structural view of a person of an adsorption type cleaner according to Embodiment 7 of the present invention.
  • the embodiment provides a single-cell adsorption robot, comprising: a body 31, a cleaning unit (not shown), a driving unit (not shown), an adsorption device 32, and a first embodiment.
  • the pressure detecting and deflating device 33, the control unit (not shown) and the walking unit 34 in the second embodiment the control unit is respectively connected to the cleaning unit and the driving unit, and the control unit controls the driving unit to drive the walking unit 34 walking.
  • An adsorption device 32 is provided on the body 31, and the pressure detecting circuit board in the pressure detecting and deflating device 33 is connected to a control unit, and the front adsorption device 32 is connected to the sealing base through an air pump.
  • the adsorption device 32 is a suction cup.
  • the present invention provides a pressure detecting and deflation device and an absorbing robot with the same, which is compact in structure, requires less space, and has low cost, and realizes control of pressure detection and deflation of the robot. .

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

Abstract

L'invention concerne un appareil de détection et relâchement de pression et un robot d'adsorption le comportant, l'appareil de détection et relâchement de pression comprenant : une carte de circuit de détection de pression (1) et une base de scellage (2); une cavité de scellage (21) est disposée à l'intérieur de la base de scellage (2); la carte de circuit de détection de pression (1) est en communication étanche avec la cavité de scellage (21); un élément de détection de pression (11) utilisé pour détecter la pression d'air interne de la cavité de scellage (21) est disposé sur la carte de circuit de détection de pression (1); des orifices traversants (22) sont disposés sur la surface de la base de scellage (2), lesdits orifices traversants (22) étant en communication avec la cavité de scellage (21); et un mécanisme de relâchement de pression est disposé sur la base de scellage (2); le mouvement alternatif dudit mécanisme de relâchement de pression ouvre et scelle les orifices traversants (22). La structure de l'appareil de détection et relâchement de pression et du robot d'adsorption le comportant est compacte et prend peu de place, les coûts sont faibles et l'appareil permet la commande intégrée de détection et relâchement de pression dans un robot d'adsorption.
PCT/CN2014/091591 2013-11-20 2014-11-19 Appareil de détection et relâchement de pression et robot d'adsorption le comportant WO2015074556A1 (fr)

Applications Claiming Priority (2)

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CN201310590021.9A CN104644065B (zh) 2013-11-20 2013-11-20 压力检测与泄气装置及带有该装置的吸附式机器人
CN201310590021.9 2013-11-20

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109394075A (zh) * 2018-12-17 2019-03-01 南京林业大学 一种全自动沙发保养机器人

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN217408651U (zh) * 2022-03-16 2022-09-13 北京赫特智慧科技有限公司 一种清洁装置

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US4797969A (en) * 1987-01-09 1989-01-17 Caduff Edward A Building exterior cleaning apparatus
JPS6436586A (en) * 1987-07-31 1989-02-07 Yokohama Rubber Co Ltd Wall surface walking machine
CN201790749U (zh) * 2010-08-30 2011-04-13 山东科技大学 一种用于清洗玻璃幕的清洗机器人
CN202194802U (zh) * 2011-06-23 2012-04-18 宁波布拉沃冲气具制造有限公司 一种智能充排气装置
CN103110396A (zh) * 2013-03-12 2013-05-22 贵州大学 高层建筑自动清洗机
CN203828852U (zh) * 2013-11-20 2014-09-17 苏州科沃斯商用机器人有限公司 压力检测与泄气装置及带有该装置的吸附式机器人

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JP2657655B2 (ja) * 1988-01-18 1997-09-24 八千代マイクロサイエンス株式会社 航空機窓研磨装置
EP0391340B1 (fr) * 1989-04-05 1992-12-16 KUKA Schweissanlagen GmbH Procédé et dispositif pour nettoyer des pièces de véhicule, notamment vitres de véhicule
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Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4797969A (en) * 1987-01-09 1989-01-17 Caduff Edward A Building exterior cleaning apparatus
JPS6436586A (en) * 1987-07-31 1989-02-07 Yokohama Rubber Co Ltd Wall surface walking machine
CN201790749U (zh) * 2010-08-30 2011-04-13 山东科技大学 一种用于清洗玻璃幕的清洗机器人
CN202194802U (zh) * 2011-06-23 2012-04-18 宁波布拉沃冲气具制造有限公司 一种智能充排气装置
CN103110396A (zh) * 2013-03-12 2013-05-22 贵州大学 高层建筑自动清洗机
CN203828852U (zh) * 2013-11-20 2014-09-17 苏州科沃斯商用机器人有限公司 压力检测与泄气装置及带有该装置的吸附式机器人

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109394075A (zh) * 2018-12-17 2019-03-01 南京林业大学 一种全自动沙发保养机器人

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CN104644065B (zh) 2017-09-19

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