WO2015074560A1 - Robot d'adsorption sous vide doté d'un élément d'aspiration - Google Patents

Robot d'adsorption sous vide doté d'un élément d'aspiration Download PDF

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Publication number
WO2015074560A1
WO2015074560A1 PCT/CN2014/091622 CN2014091622W WO2015074560A1 WO 2015074560 A1 WO2015074560 A1 WO 2015074560A1 CN 2014091622 W CN2014091622 W CN 2014091622W WO 2015074560 A1 WO2015074560 A1 WO 2015074560A1
Authority
WO
WIPO (PCT)
Prior art keywords
vacuum
handle
adsorption robot
switch
vacuum adsorption
Prior art date
Application number
PCT/CN2014/091622
Other languages
English (en)
Chinese (zh)
Inventor
杨敏敏
Original Assignee
苏州科沃斯商用机器人有限公司
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
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 WO2015074560A1 publication Critical patent/WO2015074560A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0003—Home robots, i.e. small robots for domestic use
    • 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 robot with a vacuum adsorption component, in particular to a household cleaning robot, in particular to a vacuum adsorption robot with a vacuum suction cup.
  • the present invention discloses a vacuum adsorption robot having a triggering venting switch, which can improve the structure and can lift the force by the handle of the machine to recognize the operator's intention to trigger the vacuum chamber of the vacuum chuck. Automatically deflated, making it easy for the operator to remove the machine easily, safely and quickly.
  • a vacuum adsorption robot with a vacuum chuck comprising a body, a vacuum suction cup disposed at the bottom of the body, and a handle disposed at the top of the body, wherein the vacuum suction cup is connected to a deflation mechanism, and the handle or the body is provided with a vent switch The lift of the handle triggers the deflated switch to deflate the deflation mechanism.
  • any mechanically feasible structural means can be employed as the deflation mechanism, the deflation switch, the mechanical connection structure, the electrified connection structure or the magnetic connection structure, etc., which can be used in the present invention.
  • the air release switch is a protrusion located at the bottom of the handle, and the air release mechanism is a air leakage hole provided on the vacuum suction cup corresponding to the protrusion.
  • the opening and sealing of the vacuum chamber can be completed by operating the handle protrusion to disengage or block the vent hole, so that the suction cup is released from the adsorption or the adsorption state of the adsorbed surface.
  • the protrusion is located at the center of the bottom of the body, and the vent hole is located at the center of the top of the vacuum chuck.
  • the deflation mechanism is an automatic bleed valve connected to the vacuum chuck, and the vent switch is an electronic switch electrically connected to the automatic bleed valve.
  • the automatic deflation valve can be activated or deactivated by the touch of the deflated switch when the handle is lifted, and the vacuum suction cup is deflated or adsorbed.
  • a reset unit is disposed between the handle and the body.
  • the above-mentioned resetting unit refers to a device capable of pulling the handle to re-orient toward the vacuum chuck, and various mechanical means in the fields of mechanics and electromagnetism can satisfy such requirements, such as elastic force, electromagnetic force and the like.
  • the reset unit is a spring, one end of the spring is connected to the bottom of the handle, and the other end is connected to the top of the body.
  • the automatic reset operation can be realized by the action of the spring force.
  • the springs are in multiple groups and are evenly distributed between the handle and the body.
  • the vacuum adsorption robot of the present invention can trigger the vacuum suction cup to deflate by the action of lifting the handle by the user, is convenient to operate, and effectively reduces the probability of the machine falling and being damaged.
  • FIG. 1 is a schematic structural view of a vacuum adsorption robot having a mechanical trigger gas vent switch according to the present invention
  • FIG. 2 is a schematic view showing the structure of a vacuum adsorption robot having an electric trigger air release switch according to the present invention.
  • the top of the body is further provided with a handle 11 for lifting the machine.
  • the vacuum cup 2 forms a vacuum chamber with the adsorbed surface during operation.
  • the working process is as follows: during normal operation, the protrusion blocks the vent hole to ensure a sealed state between the vacuum suction cup and the adsorbed surface, and when the handle is lifted in a direction perpendicular to the adsorption surface, the protrusion is separated from the vent hole, so that The vacuum chamber is open to the atmosphere and the operator can easily remove the machine.
  • FIG. 2 is a schematic view showing the structure of a vacuum adsorption robot having an electric trigger air release switch according to the present invention.
  • the body 1 is provided with an automatic deflation valve 22 connected to the vacuum chuck 2, and a deflation switch 13 is provided at a corresponding position of the handle.
  • the working process is as follows: when the handle is lifted, the deflated switch 13 is activated, and the automatic deflation valve is activated to deflate the vacuum suction cup, and the operator can easily remove the machine.
  • the automatic venting valve can be a solenoid valve of the prior art.
  • a return spring 3 is further disposed between the handle and the body, and the vacuum suction cup is resealed under the spring force after the handle is released.
  • the spring force causes the projection to re-block the venting opening; in the configuration shown in Figure 2, the spring force causes the venting switch to reset and the automatic venting valve to close.
  • the magnitude of the tension of the return spring 3 can affect the amount of the handle lifting force F that causes the automatic vent valve to open.
  • the above process can also be completed by a magnetic structure, for example, two attracting magnets can realize the functions instead of the above-mentioned mechanical structure, and details are not described herein.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)

Abstract

La présente invention concerne un robot d'adsorption sous vide doté d'un élément d'aspiration comportant : un corps de machine (1), un élément d'aspiration (2) disposé au niveau d'une partie inférieure du corps de machine (1), et une poignée (11) disposée sur une partie supérieure du corps de machine (1). L'élément d'aspiration (2) est relié à un mécanisme d'aération. La poignée ou le corps de machine est pourvu(e) d'un commutateur d'aération déclenché en levant la poignée (11), pour permettre au mécanisme d'aération de libérer le gaz. Le robot d'adsorption sous vide permet à un opérateur de démonter facilement le robot après utilisation, de façon à éviter les dégâts provoqués par la chute du robot.
PCT/CN2014/091622 2013-11-20 2014-11-19 Robot d'adsorption sous vide doté d'un élément d'aspiration WO2015074560A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201310590980.0 2013-11-20
CN201310590980.0A CN104647381B (zh) 2013-11-20 2013-11-20 一种具有真空吸盘的真空吸附机器人

Publications (1)

Publication Number Publication Date
WO2015074560A1 true WO2015074560A1 (fr) 2015-05-28

Family

ID=53178958

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2014/091622 WO2015074560A1 (fr) 2013-11-20 2014-11-19 Robot d'adsorption sous vide doté d'un élément d'aspiration

Country Status (2)

Country Link
CN (1) CN104647381B (fr)
WO (1) WO2015074560A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112716349A (zh) * 2020-12-30 2021-04-30 张云 高处玻璃用清洁刷

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105966489B (zh) * 2016-06-03 2018-09-11 中国计量大学 能弹跳且足端可吸附的机器人腿
CN106183579B (zh) * 2016-07-08 2018-12-04 青岛理工大学 一种触发式双面真空吸附装置、系统及方法
CN106774141B (zh) * 2017-02-28 2024-01-05 曼盛包装（上海）有限公司 一种自动组装机重新启动控制改进系统

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2715946A (en) * 1954-01-14 1955-08-23 Electrolux Corp Adjustable control for automatic vacuum cleaners
JPH04327815A (ja) * 1991-04-30 1992-11-17 Tokyo Electric Co Ltd 電気掃除機
US6018845A (en) * 1997-08-29 2000-02-01 Sharp Kabushiki Kaisha Vacuum cleaner and suction member thereof
DE102010030222B3 (de) * 2010-06-17 2011-07-28 BSH Bosch und Siemens Hausgeräte GmbH, 81739 Staubsauger mit Nebenluftventil
CN202908616U (zh) * 2012-09-26 2013-05-01 科沃斯机器人科技(苏州)有限公司 带有泄气装置的擦玻璃机器人
CN203611248U (zh) * 2013-11-20 2014-05-28 苏州科沃斯商用机器人有限公司 一种具有真空吸盘的真空吸附机器人

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2148122Y (zh) * 1992-12-31 1993-12-01 王兴汉 玻璃安装固位器
KR20090037726A (ko) * 2007-10-12 2009-04-16 최현규 유리창 청소기
CN101632546B (zh) * 2009-04-25 2012-04-18 卫家宣 瓷砖及玻璃墙用吸盘挂钩
CN102657492A (zh) * 2012-05-01 2012-09-12 成都理工大学 一种自动化玻璃擦洗器

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2715946A (en) * 1954-01-14 1955-08-23 Electrolux Corp Adjustable control for automatic vacuum cleaners
JPH04327815A (ja) * 1991-04-30 1992-11-17 Tokyo Electric Co Ltd 電気掃除機
US6018845A (en) * 1997-08-29 2000-02-01 Sharp Kabushiki Kaisha Vacuum cleaner and suction member thereof
DE102010030222B3 (de) * 2010-06-17 2011-07-28 BSH Bosch und Siemens Hausgeräte GmbH, 81739 Staubsauger mit Nebenluftventil
CN202908616U (zh) * 2012-09-26 2013-05-01 科沃斯机器人科技(苏州)有限公司 带有泄气装置的擦玻璃机器人
CN203611248U (zh) * 2013-11-20 2014-05-28 苏州科沃斯商用机器人有限公司 一种具有真空吸盘的真空吸附机器人

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112716349A (zh) * 2020-12-30 2021-04-30 张云 高处玻璃用清洁刷

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Publication number Publication date
CN104647381B (zh) 2017-02-08
CN104647381A (zh) 2015-05-27

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