WO2015197020A1 - 吸附装置及带有该吸附装置的表面处理装置 - Google Patents

吸附装置及带有该吸附装置的表面处理装置 Download PDF

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Publication number
WO2015197020A1
WO2015197020A1 PCT/CN2015/082506 CN2015082506W WO2015197020A1 WO 2015197020 A1 WO2015197020 A1 WO 2015197020A1 CN 2015082506 W CN2015082506 W CN 2015082506W WO 2015197020 A1 WO2015197020 A1 WO 2015197020A1
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Prior art keywords
chamber
adsorption
suction cup
cup body
adsorption device
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PCT/CN2015/082506
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English (en)
French (fr)
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周红波
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苏州科沃斯商用机器人有限公司
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Publication of WO2015197020A1 publication Critical patent/WO2015197020A1/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

Definitions

  • the invention relates to an adsorption device and a surface treatment device with the same, belonging to the technical field of small household appliances.
  • the glass-cleaning robot on the market currently uses a fixed suction cup at the bottom of the robot.
  • the chamber in the fixed suction cup is evacuated to form a negative pressure chamber, and the glass cleaning robot is adsorbed on the glass surface through the negative pressure chamber.
  • the glass cleaning device can be removed from the glass surface after the air pressure in the negative pressure chamber is slowly released.
  • Another split glass-cleaning device is separately adsorbed on the glass surface by the front and rear fixed suction cups respectively, and the front body machine or the rear body machine is moved to move.
  • the adsorption or removal of the front and rear fixed suction cups on the glass surface is accomplished by two sets of control systems, respectively.
  • the two sets of control systems are not coordinated, the fixed suction cups cannot be adsorbed or left in time when the robot is working, which makes the robot fall and fall.
  • the split machine moves, the front fixed suction cup or the rear fixed suction cup always abuts against the glass surface, causing great wear on the fixed suction cup, and the friction between the suction cup and the glass surface greatly hinders the movement of the robot.
  • the surface treatment robot in the prior art uses the above-mentioned fixed suction cup to adsorb the body on a smooth plane, and in the actual environment, most of the working surfaces are discontinuous and have pits or protrusions. If the fixed suction cup cannot be in close contact or disengaged from the work surface in time, it is easy to cause the suction cup to wear and hinder the movement of the robot.
  • the technical problem to be solved by the present invention is to provide an adsorption device and a surface treatment device with the same according to the deficiencies of the prior art, so that the surface treatment device can firmly adsorb or leave the work surface in time, and is free from pits or Raised interference.
  • the present invention provides an adsorption device comprising a suction cup body, the suction cup body comprising a first chamber for adsorbing on a working surface, the side portion of the suction cup body being disposed around an outer circumference of the first chamber, a second chamber having a groove shape is formed in a side portion of the suction cup body.
  • the first chamber When the adsorption body is in an adsorption working surface state, the first chamber is evacuated, and the second chamber is deflated, so that the suction cup The bottom surface of the side of the body is pressed against the work surface; when the suction cup When the body is in a state of being separated from the working surface, the first chamber is deflated, and the second chamber is evacuated such that a bottom surface of the side of the suction cup body is separated from the working surface.
  • the number of the second chambers is one, and the second chamber is a closed loop disposed in a circumferential direction of the side of the suction cup body.
  • the number of the second chambers is plural, and the plurality of second chambers are evenly distributed in the side of the adsorption body.
  • the first chamber and the second chamber are both connected to the same vacuuming device through a two-position five-way solenoid valve for timely evacuation and deflation.
  • the first chamber is connected to the vacuum device through a two-position five-way solenoid valve for pumping
  • the second chamber is connected to the atmosphere through a two-position five-way solenoid valve;
  • the suction cup body is in the state of being separated from the working surface
  • the second chamber is connected to the vacuuming device through the two-position five-way solenoid valve for pumping
  • the first chamber is connected to the atmosphere through the two-position five-way electromagnetic valve.
  • first chamber and the second chamber are connected to the first vacuuming device and the second vacuuming device, respectively.
  • an elastic support member is provided in the inner side wall and/or the outer side wall of the second chamber.
  • the elastic support member is a spiral wire.
  • the side of the suction cup body is made of rubber or silica gel.
  • the present invention also provides a surface treatment apparatus including a body, and a driving unit, a traveling unit, and an adsorption unit disposed on the body, the driving unit driving the walking unit to travel, and the surface treatment device is adsorbed to the operation by the adsorption unit In the surface, the adsorption unit employs the above adsorption device.
  • the adsorption device of the present invention and the surface treatment device with the adsorption device enable the suction cup to suck the working surface when the surface treatment device needs to be adsorbed; the suction cup can leave the working surface in time without being adsorbed, and is not affected by the pit or the protrusion Interference.
  • FIG. 1 is a schematic structural view showing an adsorption state of a suction cup body according to Embodiment 1 of the adsorption device of the present invention
  • FIG. 2 is a schematic structural view showing a state in which the suction cup body is raised in the first embodiment of the adsorption device of the present invention
  • FIG. 3 is a schematic structural view of a suction cup body of the adsorption device of the present invention.
  • FIG. 4 is a schematic view showing the structure of another suction cup body of the adsorption device of the present invention.
  • FIG. 1 is a schematic structural view showing the suction state of the suction cup body of the first embodiment of the adsorption device of the present invention
  • FIG. 2 is a schematic structural view showing the suction tray body of the first embodiment of the present invention
  • FIG. 3 is a suction cup body of the adsorption device of the present invention
  • the embodiment provides an adsorption device comprising a suction cup body and a vacuuming device connected to the suction cup body.
  • the side of the suction cup body is made of a soft material such as rubber or Silicone; in the present embodiment, the vacuuming device is a vacuum pump 3.
  • FIG. 1 is a schematic structural view showing the suction state of the suction cup body of the first embodiment of the adsorption device of the present invention
  • FIG. 2 is a schematic structural view showing the suction tray body of the first embodiment of the present invention
  • FIG. 3 is a suction cup body of the adsorption device of the present invention
  • the embodiment provides an adsorption device comprising
  • the chuck body includes a first chamber 11 for adsorbing on a working surface, and the side of the chuck body is surrounded by In the outer circumference of the first chamber 11, a second chamber 12 having a groove shape is formed in a side portion of the suction cup body, and the second chamber 12 is a closed loop provided in a circumferential direction of a side portion of the suction cup body.
  • the second chamber 12 may also include four independent chambers uniformly distributed on the side of the suction cup body in the circumferential direction of the first chamber 11, and the four independent chambers are connected through a pipe. The vacuum pump or the four independent chambers are connected to the vacuum pump directly through the pipe.
  • Those skilled in the art can also set the number of chambers constituting the second chamber 12 as needed.
  • the first chamber 11 and the second chamber 12 are respectively connected to the same vacuum pump 3 through a two-position five-way solenoid valve 2, specifically, as shown in FIG.
  • the first adsorption unit connection port A and the second adsorption unit connection port B of the valve 2 are respectively communicated with the second chamber 12 and the first chamber 11, and the first atmospheric connection port R and the second atmospheric connection port S are in communication with the atmosphere.
  • the vacuum pump connection port P is in communication with the vacuum pump 3.
  • the first chamber 11 is connected to the vacuum pump 3 through the electromagnetic valve 2 for pumping, and the second chamber 12 passes through the electromagnetic valve 2 Connecting the atmosphere to deflate, so that the bottom surface of the side of the suction cup body is pressed against the working surface; when the suction cup body is in the state of being separated from the working surface, the first chamber 11 is connected to the atmosphere through the electromagnetic valve 2 for deflation.
  • the second chamber 12 is connected to the vacuum pump 3 through the solenoid valve 2 for pumping, so that the bottom surface of the side portion of the chuck body is separated from the working surface.
  • an elastic support member 13 may be disposed in the inner side wall and/or the outer side wall of the side portion of the suction cup body in which the second chamber 12 is opened, and the elastic support member 13 is provided.
  • a spiral wire can be used.
  • the side of the suction cup body surrounding the first chamber 11 is largely compressed in the axial direction (perpendicular to the working surface), and the radial direction is hardly reduced, ensuring The suction cup body can be firmly attached to the work surface.
  • the elastic support member 13 can be other materials having elastic support functions in addition to the rotating metal wire, and those skilled in the art can change the material and type of the elastic support frame according to the needs.
  • the control valve (21, 22) is simultaneously adjusted to connect the second adsorption unit connection port B communicating with the first chamber 11 with the vacuum pump. Port P connected,
  • the first adsorption unit connection port A communicating with the second chamber 12 is in communication with the first atmospheric connection port R, at which time the first chamber 11 is evacuated by the vacuum pump 3, and the second chamber 12 is connected to the outside atmosphere.
  • the bottom surface of the side surface of the suction cup body is equal to the atmospheric pressure of the second chamber 12, and the air pressure below the bottom surface of the side portion of the suction cup body is substantially equal to the vacuum pressure of the first chamber 11, and the combined force of the upper and lower air pressures makes the suction cup body side
  • the bottom surface of the portion is firmly adhered to the work surface. If the side of the suction cup body is provided with the elastic support member 13, the bottom surface of the side portion of the suction cup body is further adhered to the cooperation surface under the elastic pressure of the elastic support member 13.
  • the control valve (21, 22) is simultaneously adjusted to connect the second adsorption unit connection port B communicating with the first chamber 11 with the second atmospheric connection port S, and communicate with the second chamber 12
  • An adsorption unit connection port A communicates with the vacuum pump connection port P.
  • the first chamber 11 communicates with the outside atmosphere, and the second chamber 12 is evacuated by the vacuum pump 3.
  • the bottom surface of the side surface of the suction cup body is equal to the vacuum pressure of the second chamber 12, and the air pressure below the bottom surface of the side portion of the suction cup body is substantially equal to the atmospheric pressure of the first chamber 11, and the combined force of the upper and lower air pressures makes the suction cup body side
  • the bottom surface of the part is separated from the work surface. If the elastic support member 13 is provided on the side of the suction cup body, the bottom surface of the side portion of the suction cup body also needs to be separated from the working surface against the elastic force of the elastic support member 13.
  • the structure of the adsorption device provided in this embodiment is substantially the same as that of the adsorption device of the first embodiment, except that the vacuuming device in the embodiment includes: a first vacuuming device and a second vacuuming device, the first The chamber 11 and the second chamber 12 are respectively connected to the first vacuuming device and the second vacuuming device; the first vacuuming device comprises: a first vacuum pump and a first venting valve connected to the first chamber 11, the second pumping The vacuum device includes: a second vacuum pump and a second air release valve connected to the second chamber 12, when the adsorption device needs to be adsorbed on the working surface, opening the first vacuum pump and the second air release valve, and closing the second vacuum pump and the first When the adsorption device is separated from the working surface, the opposite operation is performed, so that the first chamber 11 and the second chamber 12 are alternately pumped and discharged, and the working principle of the adsorption device on the working surface is the same as that in the first embodiment. This will not be repeated here.
  • the present invention also provides a surface treatment apparatus including a body, and a driving unit, a traveling unit, and an adsorption unit disposed on the body, the driving unit driving the walking unit to travel, and the surface treatment device is adsorbed to the operation by the adsorption unit
  • the adsorption unit employs the adsorption device in any of the above embodiments.
  • the surface treatment device realizes different functions by providing different functional modules.
  • the surface treatment device may be an adsorption wall cleaning machine or an adsorption wall polishing machine, an adsorption type glass cleaning device, and an adsorption type wallpapering machine. and many more.

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  • Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)

Abstract

一种吸附装置及带有该吸附装置的表面处理装置，该吸附装置包括吸盘本体，所述吸盘本体包括用于吸附在作业面上的第一腔室（11），所述吸盘本体侧部围设在所述第一腔室（11）的外周，在所述吸盘本体侧部内开设有呈槽状的第二腔室（12），当所述吸盘本体处于吸附作业面状态时，所述第一腔室（11）抽气，所述第二腔室（12）放气，使得所述吸盘本体侧部的底面紧压于作业面；当所述吸盘本体处于脱离作业面状态时，所述第一腔室（11）放气，所述第二腔室（12）抽气，使得所述吸盘本体侧部的底面离开作业面。该吸附装置使带有该吸附装置的表面处理装置在工作时能够准确地吸附或离开作业面，并且可以不受凹坑或凸起的干扰吸附在不连续表面。

Description

吸附装置及带有该吸附装置的表面处理装置 技术领域
本发明涉及一种吸附装置及带有该吸附装置的表面处理装置，属于小家电技术领域。
背景技术
目前市场上的擦玻璃机器人为了能够吸附在玻璃表面，大多采用在机器人底部设置有固定吸盘。工作时，固定吸盘内的腔室抽真空形成负压室，擦玻璃机器人通过该负压室吸附于玻璃表面。然而，工作结束后，负压室内的气压缓慢释放后，才能将擦玻璃装置从玻璃表面取下。
另一种分体擦玻璃装置通过前体机和后体机分别内置前固定吸盘和后固定吸盘交替吸附于玻璃表面，来推动前体机或拉动后体机进行移动。然而，该前、后固定吸盘在玻璃表面的吸附或离开分别通过两套控制系统来完成。在机器人工作时，若两套控制系统配合不协调导致机器人在工作时固定吸盘不能及时的吸附或离开，易使机器人坠落摔坏。且分体机移动时，前固定吸盘或后固定吸盘一直抵在玻璃表面，对固定吸盘造成极大的磨损，且吸盘与玻璃表面的摩擦极大阻碍机器人的移动。
另外，在现有技术中的表面处理机器人采用上述固定式吸盘使机身吸附于光滑平面上，而在实际环境中，大部分作业面皆为不连续的，且带有凹坑或凸起，若固定吸盘不能紧贴或及时脱离作业面，易造成吸盘的磨损且阻碍机器人的移动。
因此，在无需吸附时，一种对作业面无/低压力或能迅速离开作业面的吸盘亟待出现。
发明内容
本发明所要解决的技术问题在于，针对现有技术的不足提供一种吸附装置及带有该吸附装置的表面处理装置，使表面处理装置能够牢固吸附或及时离开作业面，并且不受凹坑或凸起的干扰。
本发明所要解决的技术问题是通过如下技术方案实现的：
本发明提供一种吸附装置，包括吸盘本体，所述吸盘本体包括用于吸附在作业面上的第一腔室，所述吸盘本体侧部围设在所述第一腔室的外周，在所述吸盘本体侧部内开设有呈槽状的第二腔室，当所述吸附本体处于吸附作业面状态时，所述第一腔室抽气，所述第二腔室放气，使得所述吸盘本体侧部的底面紧压于作业面；当所述吸盘 本体处于脱离作业面状态时，所述第一腔室放气，所述第二腔室抽气，使得所述吸盘本体侧部的底面离开作业面。
优选地，所述第二腔室的数量为一个，所述第二腔室为设置在吸盘本体侧部周向上的闭环。或者，所述第二腔室的数量为多个，所述多个第二腔室均布于所述吸附本体侧部内。
为了及时抽气和放气所述第一腔室和第二腔室均通过一个二位五通电磁阀与同一所述抽真空装置连接。当所述吸附本体处于吸附作业面状态时，所述第一腔室通过二位五通电磁阀连接抽真空装置进行抽气，所述第二腔室通过二位五通电磁阀连通大气；当所述吸盘本体处于脱离作业面状态时，所述第二腔室通过二位五通电磁阀连接抽真空装置进行抽气，所述第一腔室通过二位五通电磁阀连通大气。
或者，所述第一腔室和第二腔室分别连接第一抽真空装置和第二抽真空装置。
为了达到更好的吸附或脱离的状态，所述第二腔室的内侧壁和/或外侧壁内设有弹性支撑件。
更好地，所述的弹性支撑件为螺旋金属丝。
优选地，所述吸盘本体侧部采用橡胶、硅胶。
本发明还提供一种表面处理装置，包括本体，以及设置在本体上的驱动单元、行走单元和吸附单元，所述驱动单元驱动行走单元行走，所述表面处理装置通过所述吸附单元吸附于作业面，所述吸附单元采用上述的吸附装置。
本发明的吸附装置及带有该吸附装置的表面处理装置，使表面处理装置需要吸附时，吸盘能够吸牢作业面；无需吸附时，吸盘能及时离开作业面，并且不受凹坑或凸起的干扰。
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为本发明吸附装置实施例一的吸盘本体吸附状态的结构示意图；
图2为本发明吸附装置实施例一的吸盘本体升起状态的结构示意图；
图3为本发明吸附装置一种吸盘本体结构示意图；
图4为本发明吸附装置另一种吸盘本体结构示意图。
具体实施方式
实施例一
图1为本发明吸附装置实施例一的吸盘本体吸附状态的结构示意图；图2为本发明吸附装置实施例一的吸盘本体升起状态的结构示意图；图3为本发明吸附装置一种吸盘本体结构示意图；如图1并参考图2和图3所示，本实施例提供一种吸附装置，包括吸盘本体以及与吸盘本体连接的抽真空装置，吸盘本体侧部采用软质材质，如橡胶或硅胶；在本实施例中抽真空装置为真空泵3，具体地，如图1所示，吸盘本体包括用于吸附在作业面上的第一腔室11，所述吸盘本体侧部围设在所述第一腔室11的外周，在所述吸盘本体侧部内开设有呈槽状的第二腔室12，所述第二腔室12为设置在吸盘本体侧部周向上的闭环。如图4所示，所述第二腔室12也可是包括4个均布在第一腔室11周向的吸盘本体侧部上的独立腔室，所述4个独立腔室通过管道相连通后连接真空泵或4个独立腔室通过管道直接连接真空泵。本技术领域的技术人员还可以根据需要自行设定构成第二腔室12的腔室个数。
本实施例中，所述第一腔室11和第二腔室12分别通过一个二位五通的电磁阀2与同一个真空泵3连接，具体地说，请参考图1所示，所述电磁阀2的第一吸附单元连接口A和第二吸附单元连接口B分别与第二腔室12和第一腔室11连通，第一大气连接口R与第二大气连接口S与大气连通，真空泵连接口P与真空泵3连通。通过控制阀(21，22)的调节，当吸附本体处于吸附作业面状态时，所述第一腔室11通过电磁阀2连接真空泵3进行抽气，所述第二腔室12通过电磁阀2连通大气进行放气，使得所述吸盘本体侧部的底面紧压于作业面；当吸盘本体处于脱离作业面状态时，所述第一腔室11通过电磁阀2连通大气进行放气，所述第二腔室12通过电磁阀2连接真空泵3进行抽气，使得所述吸盘本体侧部的底面离开作业面。
为了使吸盘本体更好的紧贴在作业面上，在开设第二腔室12的吸盘本体侧部的内侧壁和/或外侧壁内还可设有弹性支撑件13，所述弹性支撑件13可采用螺旋金属丝。当第一腔室11和第二腔室均处于大气压的初始状态时，弹性支撑件13处于压缩状态，其产生扩展弹力使得吸盘本体侧部的底面压抵于作业面。特别的，当第一腔室11在被抽真空时，围设第一腔室11的吸盘本体侧部在轴向(垂直于作业面方向)发生较大压缩，径向几乎不缩小，确保了吸盘本体能够牢固吸附在作业面上。需要说明的是，弹性支撑件13除了可以为旋转金属丝以外，还可以为其他具有弹性支撑功能的材质，本领域技术人员可根据需要自行变换弹性支撑架的材质和种类。
工作原理：
请再次参考图1和图2所示，当吸附装置需要吸附在作业面上时，同时调节控制阀(21,22)使与第一腔室11连通的第二吸附单元连接口B与真空泵连接口P连通， 与第二腔室12连通的第一吸附单元连接口A与第一大气连接口R连通，此时第一腔室11内通过真空泵3抽气，第二腔室12连通外界大气。此时，吸盘本体侧部的底面上方为等于第二腔室12的大气压，吸盘本体侧部的底面下方气压为基本等于第一腔室11的真空气压，上、下气压的合力使吸盘本体侧部的底面牢固地吸附在作业面上。若吸盘本体侧部设有弹性支撑件13，则吸盘本体侧部的底面还会在弹性支撑件13的弹性压力下更加贴合作业面。
当吸附装置需要脱离作业面时，同时调节控制阀(21,22)使连通第一腔室11的第二吸附单元连接口B与第二大气连接口S连通，连通第二腔室12的第一吸附单元连接口A与真空泵连接口P连通，此时第一腔室11与外界大气连通，第二腔室12内通过真空泵3抽气。此时，吸盘本体侧部的底面上方为等于第二腔室12的真空气压，吸盘本体侧部的底面下方气压为基本等于第一腔室11的大气压，上、下气压的合力使得吸盘本体侧部的底面脱离作业面。若吸盘本体侧部设有弹性支撑件13，则吸盘本体侧部的底面还需克服弹性支撑件13的弹力下离开作业面。
实施例二
本实施例提供的吸附装置结构与实施例一的吸附装置结构基本一致，不同之处在于，本实施例中的抽真空装置包括：第一抽真空装置和第二抽真空装置，所述第一腔室11和第二腔室12分别连接第一抽真空装置和第二抽真空装置；第一抽真空装置包括：与第一腔室11连接的第一真空泵和第一泄气阀，第二抽真空装置包括：与第二腔室12连接的第二真空泵和第二泄气阀，当吸附装置需要吸附在作业面上时，打开第一真空泵和第二泄气阀，且关闭第二真空泵和第一泄气阀；当吸附装置脱离作业面时，进行相反操作，从而实现第一腔室11和第二腔室12交替抽放气，其吸附装置在作业面上的工作原理与实施例一相同，在此不再赘述。
实施例三
本发明还提供一种表面处理装置，包括本体，以及设置在本体上的驱动单元、行走单元和吸附单元，所述驱动单元驱动行走单元行走，所述表面处理装置通过所述吸附单元吸附于作业面，所述吸附单元采用上述实施例中的任一实施例中的吸附装置。
具体的，该表面处理装置通过设置不同的功能模块实现不同的功能，如所述的表面处理装置可以是吸附式壁面清洁机或吸附式壁面抛光机、吸附式擦玻璃装置、吸附式贴墙纸机等等。

Claims (10)

  1. 一种吸附装置，包括吸盘本体，所述吸盘本体包括用于吸附在作业面上的第一腔室(11)，所述吸盘本体侧部围设在所述第一腔室(11)的外周，其特征在于，在所述吸盘本体侧部内开设有呈槽状的第二腔室(12)，当所述吸附本体处于吸附作业面状态时，所述第一腔室(11)抽气，所述第二腔室(12)放气，使得所述吸盘本体侧部的底面紧压于作业面；当所述吸盘本体处于脱离作业面状态时，所述第一腔室(11)放气，所述第二腔室(12)抽气，使得所述吸盘本体侧部的底面离开作业面。
  2. 如权利要求1所述的吸附装置，其特征在于，所述第二腔室(12)的数量为一个，所述第二腔室(12)为设置在吸盘本体侧部周向上的闭环。
  3. 如权利要求1所述的吸附装置，其特征在于，所述第二腔室(12)的数量为多个，所述多个第二腔室(12)均布于所述吸附本体侧部内。
  4. 如权利要求1所述的吸附装置，其特征在于，所述吸附装置还包括：抽真空装置，所述第一腔室(11)和第二腔室(12)均通过一个二位五通电磁阀(2)与同一所述抽真空装置连接。
  5. 如权利要求4所述的吸附装置，其特征在于，
    当所述吸附本体处于吸附作业面状态时，所述第一腔室(11)通过二位五通电磁阀(2)连接抽真空装置进行抽气，所述第二腔室(12)通过二位五通电磁阀(2)连通大气；
    当所述吸盘本体处于脱离作业面状态时，所述第二腔室通(12)过二位五通电磁阀(2)连接抽真空装置进行抽气，所述第一腔室(11)通过二位五通电磁阀(2)连通大气。
  6. 如权利要求1所述的吸附装置，其特征在于，所述吸附装置还包括：第一抽真空装置和第二抽真空装置，所述第一腔室(11)和第二腔室(12)分别连接第一抽真空装置和第二抽真空装置。
  7. 如权利要求1所述的吸附装置，其特征在于，所述第二腔室(12)的内侧壁和 /或外侧壁内设有弹性支撑件(13)。
  8. 如权利要求7所述的吸附装置，其特征在于，所述的弹性支撑件(13)为螺旋金属丝。
  9. 如权利要求1所述的吸附装置，其特征在于，所述吸盘本体侧部采用橡胶、硅胶。
  10. 一种表面处理装置，包括本体，以及设置在本体上的驱动单元、行走单元和吸附单元，所述驱动单元驱动行走单元行走，所述表面处理装置通过所述吸附单元吸附于作业面，其特征在于，所述吸附单元采用权利要求1-6任一项所述的吸附装置。
PCT/CN2015/082506 2014-06-27 2015-06-26 吸附装置及带有该吸附装置的表面处理装置 WO2015197020A1 (zh)

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