WO2015139614A1 - 用于吸附装置的泄气阀及具有该泄气阀的吸附机器人 - Google Patents

用于吸附装置的泄气阀及具有该泄气阀的吸附机器人 Download PDF

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Publication number
WO2015139614A1
WO2015139614A1 PCT/CN2015/074388 CN2015074388W WO2015139614A1 WO 2015139614 A1 WO2015139614 A1 WO 2015139614A1 CN 2015074388 W CN2015074388 W CN 2015074388W WO 2015139614 A1 WO2015139614 A1 WO 2015139614A1
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WIPO (PCT)
Prior art keywords
valve
switch
adsorption
unit
vent
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PCT/CN2015/074388
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English (en)
French (fr)
Inventor
周飞
吕小明
冯林强
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科沃斯机器人有限公司
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Application filed by 科沃斯机器人有限公司 filed Critical 科沃斯机器人有限公司
Priority to JP2016558053A priority Critical patent/JP6663354B2/ja
Priority to US15/127,005 priority patent/US10016103B2/en
Priority to EP15765783.4A priority patent/EP3128213B1/en
Publication of WO2015139614A1 publication Critical patent/WO2015139614A1/zh

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    • 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
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K17/00—Safety valves; Equalising valves, e.g. pressure relief valves
    • 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
    • A47L5/00—Structural features of suction cleaners
    • A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
    • A47L5/14—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum cleaning by blowing-off, also combined with suction cleaning
    • 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
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K31/00—Actuating devices; Operating means; Releasing devices
    • F16K31/12—Actuating devices; Operating means; Releasing devices actuated by fluid
    • F16K31/16—Actuating devices; Operating means; Releasing devices actuated by fluid with a mechanism, other than pulling-or pushing-rod, between fluid motor and closure member
    • 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 relates to a gas release valve, in particular to a gas release valve suitable for an adsorption robot, belonging to the technical field of small household appliances.
  • the present invention provides a novel adsorption robot deflation valve and an adsorption robot equipped with the vent valve.
  • the venting valve can close the vacuuming device while deflation, so that the suction venting can be quickly realized.
  • a deflation valve for an adsorption device comprising an activation unit and a vent valve fixing seat, wherein the vent valve fixing seat is provided with a vent hole communicating with a negative pressure chamber of the adsorption device, and the activation unit is disposed at the The vent valve fixing seat is movable relative to the venting valve fixing seat to open and close the venting hole, and the venting valve fixing seat further comprises a switch.
  • the activation unit is under the external force Relative to the movement of the venting valve mount, the switch is triggered while the venting opening is opened to close the vacuuming device of the absorbing device.
  • the air release valve further includes a switch cap connected to the activation unit, a switch spring is disposed between the switch and the switch cap, and the activation unit triggers the switch through the switch cap to close the vacuum of the adsorption device Device.
  • the switch may be an inductive switch that sends a switch signal to the control unit of the adsorption device when the deflation valve is deflated, thereby closing the vacuuming device.
  • the sensing switch is a stroke switch, a Hall switch, and a pressure sensing switch.
  • the switch may also be a disconnect switch that cuts off the current of the vacuuming device when the activation unit is deflated.
  • the activation unit includes a deflation valve pull ring, a bleed valve pull ring insert and a deflation valve bracket, and the vent valve pull ring passes through a detachable vent valve pull ring insert and a deflation valve bracket Connection, vent valve
  • the frame is connected to the switch cap.
  • a bleed valve spring is disposed between the switch cap and the vent valve fixing seat.
  • the upper end of the vent valve bracket has an outer edge extending downward to form a guide post corresponding to the vent hole, the diameter of the guide post is smaller than the diameter of the vent hole, and the outer edge is provided with a seal
  • the gasket, the deflation valve bracket is engaged with the vent valve fixing seat, and the two are abutted together by the damper spring.
  • the air release valve fixing seat is provided with a gas guiding joint that communicates with the air leakage hole, and the air guiding joint is connected to the negative pressure chamber through a hose.
  • An adsorption robot comprises a control unit, a driving unit, an adsorption unit and a walking unit, the control unit is connected with the driving unit, and the driving unit drives the walking unit, the adsorption unit comprises a suction cup and a vacuuming device, wherein the vacuuming device is connected with the control unit
  • the suction cup is vacuumed by the vacuuming device to form a negative pressure, so that the adsorption robot is adsorbed on the working surface, and further includes the above-mentioned vent valve, the vent valve is connected with the suction cup, and the switch is connected with the control unit, and when the deflation valve is deflated
  • the switch is activated, the switch transmitting a signal to the control unit to turn off the vacuuming device.
  • the present invention also provides another deflation valve for an adsorption device, comprising an activation unit and a deflation unit, the deflation unit having a vent hole communicating with the negative pressure chamber of the adsorption device, and acting on the activation unit when deflation is required Next, when the vent hole is opened, the vacuuming device of the adsorption device is simultaneously turned off.
  • the invention also provides another adsorption robot, comprising a control unit, a driving unit, an adsorption unit and a walking unit, the control unit is connected with the driving unit, and the driving unit drives the walking unit, the adsorption unit comprises a suction cup and a vacuuming device, wherein the vacuuming is performed The device is connected to the control unit, and the suction cup is vacuumed by the vacuuming device to form a negative pressure chamber, so that the adsorption robot is adsorbed on the working surface, and the adsorption robot further includes the above-mentioned air release valve, the air release valve is connected with the suction cup, and the control unit is connected The activation unit.
  • the venting valve of the present invention can quickly deflate the machine, so that the machine can be easily removed from the window, and the vacuuming device of the machine can be shut down in time, and the operation is convenient.
  • Figure 1 is a perspective view of an embodiment of a gas venting valve of the present invention
  • Figure 2 is a front elevational view of the vent valve of Figure 1;
  • Figure 3 is a plan view of the vent valve of Figure 1;
  • Figure 4 is a cross-sectional view of the A-A of the vent valve shown in Figure 3;
  • Figure 5 is a cross-sectional view of the B-B of the vent valve shown in Figure 3;
  • FIG. 6 is a schematic cross-sectional view of the C-C of the vent valve shown in FIG. 3 when the adsorption absorbing robot is in operation;
  • Figure 7 is an enlarged view of a portion A of the adsorption type adsorption robot shown in Figure 6;
  • FIG. 8 is a schematic cross-sectional view of the C-C of the vent valve shown in FIG. 3 when the adsorption type adsorption robot is deflated;
  • Fig. 9 is an enlarged view of a portion B of the robot shown in Fig. 8.
  • the invention provides a deflation valve for an adsorption device, comprising an activation unit and a vent valve fixing seat, wherein the vent valve fixing seat is provided with a vent hole communicating with a negative pressure chamber of the adsorption device; And on the vent valve fixing seat and movable relative to the vent valve fixing seat to open or close the vent hole; the vent valve fixing seat is further provided with a switch, when the venting is required, the activation unit The movement of the air release valve seat is performed by an external force, and the switch is triggered while the air leakage hole is opened to close the vacuuming device of the adsorption device.
  • FIG. 1 is a perspective view of an embodiment of a bleed valve of the present invention
  • FIG. 2 is a front view of the bleed valve of FIG. 1
  • FIG. 3 is a plan view of the bleed valve of FIG.
  • the adsorption device provides an adsorption force that the adsorption robot adsorbs on the working surface
  • the air release valve used in the adsorption device includes a gas release valve pull ring 1 and a gas release valve bracket 2 .
  • the vent valve pull ring 1, the bleed valve bracket 2 and the bleed valve pull ring insert 8 described below constitute the activation unit.
  • the switch 4 is a pressure sensing switch that is mounted on the vent valve holder 3 and is connected to a control unit of the absorbing robot (not shown).
  • the switch spring 5 and the bleed valve spring 6 are located between the vent valve fixing seat 3 and the switch cap 7.
  • the switch spring 5 is a compression spring, and when it is deformed to a certain extent by force, the switch 4 is activated, thereby generating a switching signal and transmitting it to control unit.
  • FIG. 4 and FIG. 5 are respectively a cross-sectional view of the A-A of the vent valve shown in FIG. 3 and a cross-sectional view taken along line B-B.
  • the vent valve pull ring 1 is inserted through a detachable vent valve.
  • the piece 8 is connected to the vent valve bracket 2, of course, the bleed valve tab 1 and the vent valve bracket 2 can also be integrally formed directly.
  • the vent valve bracket 2 is fixedly connected to the switch cap 7 to interlock the vent valve pull ring 1 with the switch cap 7.
  • the vent valve bracket 2 is engaged with the vent valve fixing seat 3, and the switch cap 7 is at least partially embedded in the vent valve fixing seat 3.
  • the main body of the deflation valve bracket 2 is embedded in the vent valve holder 3 with a gap therebetween for inserting a portion of the switch cap 7 for a fixed connection with the vent valve bracket 2.
  • the upper end of the vent valve bracket 2 has an outer edge 9, and the two ends of the outer rim 9 extend downwardly from the two guide posts 10.
  • the vent valve fixing seat 3 below the guide post 10 has two vent holes 11 corresponding thereto.
  • the diameter of the guide post 10 is smaller than the diameter of the vent hole 11, and the two guide posts 10 are respectively inserted into the vent holes 11 corresponding thereto.
  • a side of the outer edge 9 opposite to the air venting opening 11 is further provided with a gasket 12 for sealing the venting opening 11.
  • Vent valve spring 6 is installed between the venting valve fixing seat 3 and the switch cap 7, and the normal state is in a compressed state. Under the elastic force, the switch cap 7 is subjected to a downward force. Since the switch cap 7 is fixedly connected with the deflation valve bracket 2, the vent valve The bracket 2 will also be subjected to a downward force to abut against the deflation valve mount 3. At this time, the guide post 10 at both ends of the vent valve bracket 2 is also subjected to a downward force, so that the outer edge 9 of the vent valve bracket can accurately press the vent valve gasket 12, and the vent hole 11 is sealed under the action of the vent valve gasket 12. The guide post 10 acts as a limit here. At this time, the vent hole 11 is in a sealed state, and the vent valve is closed.
  • FIG. 6 is a schematic cross-sectional view of the C-C of the vent valve shown in FIG. 3 when the adsorption absorbing robot is in operation, at which time the vent valve is in a closed state
  • FIG. 7 is an enlarged view of a portion A of the adsorption absorbing robot shown in FIG. 6;
  • FIG. 8 is a schematic cross-sectional view of the C-C of the vent valve shown in FIG. 3 when the adsorption type adsorption robot is deflated
  • FIG. 9 is an enlarged view of the portion B of the robot shown in FIG.
  • the adsorption robot shown in Figs. 6 and 8 has the above-described deflation valve, and its cutting direction is along the C-C direction of the bleed valve shown in Fig. 3.
  • the robot includes a casing 13, a venting valve and a vacuuming device 14 located in the casing, a driving wheel 15, a rag 16, a negative pressure chamber 18, and a negative pressure chamber 18 and a vent valve.
  • the hose 19 and the hose 20 connecting the negative pressure chamber 18 and the vacuuming device 14 additionally include a control unit and a driving unit (not shown).
  • the bottom of the robot is provided with a suction cup, the bottom surface of the suction cup, the bottom surface of the robot and the surface to be worked constitute a negative pressure chamber 18, the suction cup and the vacuuming device 14 constitute an adsorption unit, the driving wheel constitutes a walking unit, and the driving unit drives the Walking unit.
  • the venting valve is connected to the suction cup.
  • the hose 19 is connected to the air guiding joint 21 on the vent valve fixing seat 3 to realize the communication between the venting valve and the negative pressure chamber 18, wherein the air guiding joint 21 and the venting opening are provided. 11 connected.
  • the switch 4 is connected to a control unit which is connected to the vacuuming device 14.
  • the robot When the robot is working, the robot is first attached to the glass 17, and then the vacuuming device 14 is activated. Since the bleed valve is normally closed and the airflow cannot flow (as shown in FIG. 7), the negative pressure chamber 18 is only in communication with the vacuuming device 14. At this time, the vacuuming device 14 can extract the air in the negative pressure chamber 18 to form a negative pressure, so that the robot is attached to the glass 17 without falling.
  • the vent valve pull ring 1 When the robot needs to deflate (as shown in FIG. 8), the vent valve pull ring 1 is lifted, and the vent valve bracket 2 is lifted up, the gasket 12 loses the sealing function, and the vent valve is deflated (as shown in FIG. 9). Air flows into the hose 19 through the vent hole 11, and then flows into the negative pressure chamber 18 to deflate the suction cup. While pulling up the vent valve pull ring 1, since the vent valve pull ring 1 is interlocked with the switch cap 7, the switch cap 7 will also be lifted, the switch spring 5 is compressed, and when compressed to a certain extent, the switch 4 will be activated. (Refer to Fig. 4), the switch 4 is caused to generate a switching signal and transmitted to the control unit to turn off the vacuuming device 14.
  • the robot When the air pressure of the negative pressure chamber 18 is balanced with the external atmospheric pressure, the robot loses its adsorption capacity and can be successfully taken down. Since the vacuuming device is turned off while deflated, the adsorption robot can not only quickly deflate but also save energy.
  • vent valve pull ring 1 is put down, and the deflation valve is returned to the normal state or the closed state under the action of the bleed valve spring 6.
  • the bleed valve of the present invention can close the vacuuming device while deflation for the absorbing robot, thereby being able to quickly deflate the machine and allowing the robot to be easily removed from the window.
  • the switch 4 is a pressure sensing switch, in addition to other sensing switches, including a travel switch, a Hall switch and the like.
  • the specific implementation manner of the activation unit is not limited to the above specific embodiment, for example, it can be operated by a simple electromagnet mechanism or a cam mechanism, so that the opening of the venting hole and the opening of the venting device are triggered to close the vacuuming device of the adsorption device. .
  • the present invention also discloses a deflation valve for an adsorption device, comprising an activation unit and a deflation unit, the deflation unit having a venting hole communicating with the negative pressure chamber of the adsorption device, and under the action of the activation unit, when the venting opening is deflated
  • the vacuuming device of the adsorption device is simultaneously turned off.
  • the activation unit includes an interaction unit (such as a button, a touch screen, a voice input device, etc.) disposed on the adsorption robot housing, when the user operates the interaction unit, the control unit controls to turn off the venting of the vent hole while controlling to close the vacuum.
  • the device such as controlling the electromagnet mechanism, the cam mechanism to open the venting hole to deflate; directly disconnecting the power supply circuit of the vacuuming device).
  • the present invention also discloses an adsorption robot, comprising a control unit, a driving unit, an adsorption unit and a walking unit.
  • the control unit is connected with the driving unit, and the driving unit drives the walking unit
  • the adsorption unit comprises a suction cup and a vacuuming device, wherein
  • the vacuuming device is connected to the control unit, and the suction cup is vacuumed by the vacuuming device to form a negative pressure chamber, so that the adsorption robot is adsorbed on the working surface, and further includes the above-mentioned air release valve, the air release valve is connected with the suction cup, and the control unit is connected The activation unit.
  • control signal may not be transmitted to the control unit, and the current of the vacuuming device may be directly cut off by a disconnecting switch and/or the activation unit, thereby stopping the vacuuming device.
  • two air guiding joints 21 are provided, which can be connected to the same negative pressure chamber 18 to shorten the pressure relief time; for the double body robot, the two air guiding joints can also be negatively loaded before and after.
  • the pressure chambers are connected, that is, the pressure is released simultaneously to the front and rear bodies through a gas release valve.

Abstract

一种用于吸附装置的泄气阀及具有该泄气阀的吸附机器人，所述泄气阀包括激活单元和一泄气阀固定座（３），所述泄气阀固定座（３）上具有与吸附装置的负压室（１８）相连通的泄气孔（１１），所述激活单元设置于所述泄气阀固定座（３）上并可相对于所述泄气阀固定座（３）移动，以实现对所述泄气孔（１１）的打开，所述泄气阀固定座（３）上设有一开关（４）；当所述激活单元打开所述泄气孔（１１），所述激活单元触发所述开关（４）以关闭吸附装置的抽真空装置（１４）。所属泄气阀可快速的给吸附装置放气，及时关闭抽真空装置（１４）。

Description

用于吸附装置的泄气阀及具有该泄气阀的吸附机器人 技术领域
本发明涉及一种泄气阀，特别是涉及一种适用于吸附机器人的泄气阀，属于小家电技术领域。
背景技术
随着吸附机器人如擦窗机器人的问世，擦窗这项工作变得越来越方便简捷。现在市面上的擦窗机器人多采用真空吸附的方式将机器吸附在窗户上，为了防止机器跌落，吸附在窗户上的力比较大，当需要将机器人取下时就需要较长时间给吸盘泄气。现有的机器人在泄压时抽真空装置仍在继续工作，这样既影响了吸盘放气的速度，又浪费能量。
发明内容
针对现有技术的不足，本发明提供一种新型的吸附机器人泄气阀及装有该泄气阀的吸附机器人。该泄气阀在泄气的同时可以关闭抽真空装置，以快速实现吸盘放气。
本发明所要解决的技术问题是通过如下技术方案实现的：
一种用于吸附装置的泄气阀，包括激活单元和泄气阀固定座，该泄气阀固定座上设有与所述吸附装置的负压室相连通的泄气孔，所述激活单元设置于所述泄气阀固定座上并可相对于该泄气阀固定座移动，以启闭所述的泄气孔，所述泄气阀固定座上还设有一开关，当需要泄气时，所述激活单元在外力作用下相对于所述泄气阀固定座运动，在打开所述泄气孔的同时触发所述开关，以关闭吸附装置的抽真空装置。
所述泄气阀还包括一开关帽，所述开关帽与所述激活单元连接，所述开关与开关帽之间设有开关弹簧，所述激活单元通过开关帽触发开关以关闭吸附装置的抽真空装置。
所述开关可以为感应开关，当所述泄气阀泄气时，所述开关发送开关信号到吸附装置的控制单元，从而关闭抽真空装置。
所述的感应开关为行程开关、霍尔开关、压力感应开关。
所述开关也可以为断路开关，当所述激活单元被提升泄气时，所述断路开关切断所述抽真空装置的电流。
在本发明的实施例中，所述激活单元包括泄气阀拉环，泄气阀拉环嵌件和泄气阀支架，所述泄气阀拉环通过一可拆卸的泄气阀拉环嵌件与泄气阀支架连接，泄气阀支 架与所述开关帽连接。
所述开关帽与泄气阀固定座之间设有泄气阀弹簧。
优选的，所述泄气阀支架上端具有一外沿，其向下延伸形成与所述泄气孔相对应的导柱，所述导柱的直径小于泄气孔的直径，所述外沿上设有密封垫，泄气阀支架卡合在泄气阀固定座上，在所述泄气阀弹簧的作用下使两者抵靠在一起。
所述泄气阀固定座上设有连通所述泄气孔的导气接头，所述导气接头通过软管与负压室连接。
一种吸附机器人，包括控制单元、驱动单元、吸附单元和行走单元，控制单元与驱动单元连接，驱动单元驱动行走单元，所述吸附单元包括吸盘和抽真空装置，其中抽真空装置与控制单元连接，吸盘通过抽真空装置抽真空形成负压，使吸附机器人吸附在作业面上，此外还包括上述泄气阀，所述泄气阀与吸盘连接，所述开关与控制单元连接，当所述泄气阀泄气时，触动所述开关，所述开关传递信号给所述控制单元以关闭抽真空装置。
本发明还提供另一种用于吸附装置的泄气阀，包括激活单元和泄气单元，所述的泄气单元具有与吸附装置的负压室相连通的泄气孔，当需要泄气时，在激活单元作用下，当打开泄气孔泄气时,吸附装置的抽真空装置同时被关闭。
本发明还提供另一种吸附机器人，包括控制单元、驱动单元、吸附单元和行走单元，控制单元与驱动单元连接，驱动单元驱动行走单元，所述吸附单元包括吸盘和抽真空装置，其中抽真空装置与控制单元连接，吸盘通过抽真空装置抽真空形成负压室，使吸附机器人吸附在作业面上，吸附机器人还包括上述的泄气阀，所述泄气阀与吸盘连接，所述控制单元连接所述激活单元。
综上所述，本发明的泄气阀能够快速给机器泄气，使机器能够很轻松的从窗户取下，同时能够及时关闭机器的抽真空装置，操作方便。
附图说明
图1为本发明泄气阀一个实施例的立体示意图；
图2为图1所示泄气阀的主视图；
图3为图1所示泄气阀的俯视图；
图4为图3所示泄气阀的A－A剖面示意图；
图5为图3所示泄气阀的B－B剖面示意图；
图6为吸附式吸附机器人工作时沿图3所示泄气阀的C－C剖面示意图；
图7为图6所示吸附式吸附机器人局部A的放大图；
图8为吸附式吸附机器人泄气时沿图3所示泄气阀的C－C剖面示意图；
图9为图8所示机器人局部B的放大图。
具体实施方式
以下结合附图对本发明吸附机器人泄气阀的一个具体实施例做详细说明。
本发明提供一种用于吸附装置的泄气阀，包括激活单元和泄气阀固定座，该泄气阀固定座上设有与所述吸附装置的负压室相连通的泄气孔；所述激活单元设置于所述泄气阀固定座上并可相对于所述泄气阀固定座移动，以开启或关闭所述泄气孔；所述泄气阀固定座上还设有一开关，当需要泄气时，所述激活单元在外力作用下相对于所述泄气阀固定座运动，在打开所述泄气孔的同时触发所述开关，以关闭吸附装置的抽真空装置。
图1为本发明泄气阀一个实施例的立体示意图，图2为图1所示泄气阀的主视图，图3为图1所示泄气阀的俯视图。
结合图1、图2和图3所示，具体到本实施例，吸附装置提供吸附机器人吸附于作业面的吸附力，用于吸附装置的泄气阀包括泄气阀拉环1，泄气阀支架2，泄气阀固定座3，开关4，开关弹簧5，泄气阀弹簧6，开关帽7。其中泄气阀拉环1，泄气阀支架2和下述的泄气阀拉环嵌件8构成所述的激活单元。开关4为一压力感应开关，安装在泄气阀固定座3上，且与吸附机器人的控制单元连接(未图示)。开关弹簧5和泄气阀弹簧6位于泄气阀固定座3与开关帽7之间，开关弹簧5为一压缩弹簧，当它受力变形到一定程度时将触动开关4，进而产生开关信号并传递给控制单元。
图4和图5分别是图3所示泄气阀的A－A剖面示意图和B－B剖面示意图，如图4和图5所示，泄气阀拉环1通过一可拆卸的泄气阀拉环嵌件8与泄气阀支架2相连接，当然，泄气阀拉环1与泄气阀支架2也可直接一体成型。泄气阀支架2与开关帽7固定连接，使泄气阀拉环1与开关帽7实现连动。其中泄气阀支架2卡合在泄气阀固定座3上，开关帽7至少部分嵌入泄气阀固定座3内定位。具体来说，泄气阀支架2主体嵌入泄气阀固定座3内，它们之间有一缝隙用于插入部分开关帽7以便实现与泄气阀支架2的固定连接。泄气阀支架2上端具有一外沿9，该外沿9的两端向下延伸出两个导柱10，该导柱10下面的泄气阀固定座3上有两个与之对应的泄气孔11，导柱10的直径小于泄气孔11的直径，两个导柱10分别插在与之对应的泄气孔11中。外沿9上与泄气孔11相对的一面还设有密封垫12，用以密封泄气孔11。泄气阀弹簧 6安装于泄气阀固定座3和开关帽7之间，常态处于压缩状态，在其弹力作用下，开关帽7受到向下的作用力，由于开关帽7与泄气阀支架2固定连接，泄气阀支架2也将受到向下的作用力进而与泄气阀固定座3抵靠在一起。此时泄气阀支架2两端的导柱10同样受到向下的作用力，使泄气阀支架的外沿9得以准确压住泄气阀密封垫12，在泄气阀密封垫12的作用下泄气孔11被密封，导柱10在这里起限位作用。这时泄气孔11处于密封状态，泄气阀关闭。
图6为吸附式吸附机器人工作时沿图3所示泄气阀的C－C剖面示意图，此时泄气阀处于关闭状态，图7为图6所示吸附式吸附机器人局部A的放大图；
图8为吸附式吸附机器人泄气时沿图3所示泄气阀的C－C剖面示意图，图9为图8所示机器人局部B的放大图。
图6和图8所示的吸附机器人具有上述泄气阀，其剖切方向沿图3所示泄气阀的C－C向。如图6和图8所示，该机器人包括机壳13，以及位于机壳内的泄气阀和抽真空装置14，驱动轮15，抹布16，负压室18，连接负压室18与泄气阀的软管19，以及连接负压室18与抽真空装置14的软管20，另外还包括未图示的控制单元和驱动单元。机器人底部设有吸盘，所述吸盘、机器人底面和待工作的表面围成的空间构成负压室18，所述吸盘和抽真空装置14组成吸附单元，驱动轮构成行走单元，驱动单元驱动所述行走单元。泄气阀与所述吸盘连接，具体来说，软管19通过接在泄气阀固定座3上的导气接头21上，实现泄气阀与负压室18的连通，其中导气接头21与泄气孔11连通。开关4与控制单元连接，控制单元与抽真空装置14连接。
当机器人工作时，先将机器人贴附在玻璃17上，然后启动抽真空装置14。由于常态下泄气阀处于关闭状态，气流无法流入(如图7所示)，负压室18只与抽真空装置14连通。此时抽真空装置14能够将负压室18里的空气抽出形成负压，使机器人贴附在玻璃17上而不掉落。
当机器人需要泄气时(如图8所示)，提起泄气阀拉环1，带动泄气阀支架2上提，密封垫12失去密封作用，泄气阀泄气(如图9所示)。空气通过泄气孔11流入软管19，再流入负压室18，使吸盘泄气。在拉起泄气阀拉环1的同时，由于泄气阀拉环1与开关帽7连动，开关帽7也将被连带提起，开关弹簧5被压缩，当压缩到一定程度时，将触动开关4(参照图4)，使开关4产生一开关信号并传递给控制单元，将抽真空装置14关闭。当负压室18的气压与外界大气压平衡时，机器人失去吸附能力，可顺利拿下。由于在泄气的同时关闭了抽真空装置，不仅使得吸附机器人可以快速泄气，还节约了能源。
泄气完毕后，放下泄气阀拉环1，泄气阀在泄气阀弹簧6的作用下又恢复常态即关闭状态。
如上所述，本发明的泄气阀能在为吸附机器人泄气的同时关闭抽真空装置，从而能够快速给机器泄气，使机器人能够很轻松的从窗户取下。
以上仅结合一个具体实施例对本发明做了说明，其中的开关4为压力感应开关，除此之外还可以是其它感应开关，包括行程开关、霍尔开关等。激活单元的具体实现方式也并不以上述具体实施例为限，如可以通过简单的电磁铁机构，或凸轮机构来动作，使得打开泄气孔泄气的同时，触发开关来关闭吸附装置的抽真空装置。
因而，本发明还公开一种用于吸附装置的泄气阀，包括激活单元和泄气单元，泄气单元具有与吸附装置的负压室相连通的泄气孔，在激活单元作用下，当打开泄气孔泄气时,吸附装置的抽真空装置同时被关闭。具体的，如激活单元包含设置在吸附机器人壳体上的交互单元(如按钮，触摸屏，语音输入装置等等)，当用户操作交互单元，控制单元对应控制打开泄气孔泄气的同时控制关闭抽真空装置(如控制电磁铁机构、凸轮机构来打开泄气孔泄气；直接断开抽真空装置的供电电路)。
对应的，本发明还公开一种吸附机器人，包括控制单元、驱动单元、吸附单元和行走单元，控制单元与驱动单元连接，驱动单元驱动行走单元，所述吸附单元包括吸盘和抽真空装置，其中抽真空装置与控制单元连接，吸盘通过抽真空装置抽真空形成负压室，使吸附机器人吸附在作业面上，还包括上述的泄气阀，所述泄气阀与吸盘连接，所述控制单元连接所述激活单元。
另外，还可以不将控制信号传递给控制单元，而通过一断路开关和/或所述的激活单元直接将抽真空装置的电流切断，从而使抽真空装置停止工作。
在上述实施例中，设置了两个导气接头21，它们可以与同一个负压室18相连接，以缩短泄压时间；对于双体式机器人，也可以将两个导气接头分别与其前后负压室相连接，即通过一个泄气阀对前后机体同时实现泄压。

Claims (13)

  1. 一种用于吸附装置的泄气阀，包括激活单元和泄气单元，所述的泄气单元具有与吸附装置的负压室相连通的泄气孔，其特征在于，在激活单元作用下，当打开泄气孔泄气时,吸附装置的抽真空装置同时被关闭。
  2. 如权利要求1所述的用于吸附装置的泄气阀，其特征在于，所述泄气单元包括泄气阀固定座(3)，所述泄气孔(11)位于该泄气阀固定座(3)上并与所述吸附装置的负压室(18)相连通，所述激活单元设置于所述泄气阀固定座(3)上并可相对于该泄气阀固定座(3)移动，以启闭所述的泄气孔(11)。
  3. 如权利要求2所述的用于吸附装置的泄气阀，其特征在于，所述泄气阀固定座(3)上还设有一开关(4)，当需要泄气时，所述激活单元在外力作用下相对于所述泄气阀固定座(3)运动，在打开所述泄气孔(11)的同时触发所述开关(4)，以关闭吸附装置的抽真空装置(14)。
  4. 如权利要求3所述的用于吸附装置的泄气阀，其特征在于，该泄气阀还包括一开关帽(7)，所述开关帽(7)与所述激活单元连接，所述开关(4)与开关帽(7)之间设有开关弹簧(5)，所述激活单元通过开关帽(7)触发开关(4)以关闭吸附装置的抽真空装置(14)。
  5. 如权利要求3所述的用于吸附装置的泄气阀，其特征在于，所述开关(4)为感应开关，当所述泄气阀泄气时，所述开关(4)发送开关信号到吸附装置的控制单元，从而关闭抽真空装置(14)。
  6. 如权利要求5所述的用于吸附装置的泄气阀，其特征在于，所述的感应开关为行程开关、霍尔开关或压力感应开关。
  7. 如权利要求3所述的用于吸附装置的泄气阀，其特征在于，所述开关(4)为断路开关，当所述激活单元被提升泄气时，所述断路开关切断所述抽真空装置的电流。
  8. 如权利要求4所述的用于吸附装置的泄气阀，其特征在于，所述激活单元包括 泄气阀拉环(1)，泄气阀拉环嵌件(8)和泄气阀支架(2)，所述泄气阀拉环(1)通过一可拆卸的泄气阀拉环嵌件(8)与泄气阀支架(2)连接，泄气阀支架(2)与所述开关帽(7)连接。
  9. 如权利要求8所述的用于吸附装置的泄气阀，其特征在于，所述开关帽(7)与泄气阀固定座(3)之间设有泄气阀弹簧(6)。
  10. 如权利要求9所述的用于吸附装置的泄气阀，其特征在于，所述泄气阀支架(2)上端具有一外沿(9)，其向下延伸形成与所述泄气孔(11)相对应的导柱(10)，所述导柱(10)的直径小于泄气孔(11)的直径，所述外沿(9)上设有密封垫(12)，泄气阀支架(2)卡合在泄气阀固定座(3)上，在所述泄气阀弹簧(6)的作用下使两者抵靠在一起。
  11. 如权利要求10所述的用于吸附装置的泄气阀，其特征在于，所述泄气阀固定座(3)上设有连通所述泄气孔(11)的导气接头(21)，所述导气接头(21)通过软管(19)与负压室(18)连接。
  12. 一种吸附机器人，包括控制单元、驱动单元、吸附单元和行走单元，控制单元与驱动单元连接，驱动单元驱动行走单元，所述吸附单元包括吸盘和抽真空装置(14)，其中抽真空装置(14)与控制单元连接，吸盘通过抽真空装置抽真空形成负压室，使吸附机器人吸附在作业面上，其特征在于，还包括如权利要求1-11任一项所述的泄气阀。
  13. 如权利要求12所述的吸附机器人，其特征在于，所述控制单元连接所述激活单元。
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