WO2016004854A1 - 用于吸附装置的吸盘及装有该吸盘的吸附装置 - Google Patents

用于吸附装置的吸盘及装有该吸盘的吸附装置 Download PDF

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Publication number
WO2016004854A1
WO2016004854A1 PCT/CN2015/083455 CN2015083455W WO2016004854A1 WO 2016004854 A1 WO2016004854 A1 WO 2016004854A1 CN 2015083455 W CN2015083455 W CN 2015083455W WO 2016004854 A1 WO2016004854 A1 WO 2016004854A1
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WO
WIPO (PCT)
Prior art keywords
suction cup
permanent magnet
coil
fixed
mechanism according
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PCT/CN2015/083455
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English (en)
French (fr)
Inventor
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 WO2016004854A1 publication Critical patent/WO2016004854A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means

Definitions

  • the present invention relates to a suction cup, and more particularly to a suction cup for an adsorption device, and to an adsorption device equipped with the suction cup, which belongs to the field of mechanical manufacturing.
  • the suction mechanism is essential, and the vacuum suction cup is the main form of the adsorption mechanism.
  • robots rely on their own conventional fixed suction cups to make the fuselage adhere to the plane, but they can generally be applied to smooth planes. In the real environment, most of the adsorbable surfaces are discontinuous, or For pits and bumps, the robots that use fixed suction cups are not suitable for this situation.
  • the technical problem to be solved by the present invention is to provide a suction cup for a height-adjustable adsorption device and an adsorption device equipped with the suction cup, which can be lifted and lowered according to the condition of the adsorption surface to meet the defects existing in the prior art.
  • the uneven surface enhances the adaptability of the suction cup to the adsorption surface and expands the application range and performance of the adsorption robot.
  • a suction cup mechanism for an adsorption device comprising: a suction cup body and an air flow passage communicating therewith, wherein the suction cup mechanism further comprises an electromagnetic action component, the electromagnetic action component comprising:
  • a movable member that is relatively fixed to the body of the suction cup
  • magnetic interaction between the movable member and the magnetic member may be caused by electromagnetic action to drive the suction cup body to move relative to the body.
  • the movable member includes a permanent magnet
  • the magnetic member includes a coil that, when energized, generates a magnetic field that repels the permanent magnet to push the suction cup body out.
  • the suction cup mechanism of the present invention is further provided with an auxiliary reset permanent magnet that is attracted to the permanent magnet at a position directly above the permanent magnet, and the auxiliary reset permanent magnet is fixed to the body.
  • the auxiliary reset permanent magnet assists in pulling the suction cup body back when the suction cup is retracted.
  • the suction cup body is fixedly connected to the guide tube, the permanent magnet is disposed in the guide tube, and the body is provided with a guide groove for accommodating the guide tube, and the guide tube can be in the guide groove.
  • Transport The body extends from the top to the slot to form a tubular portion.
  • the permanent magnet is disposed in the tubular portion, and the coil is fixed to the outer circumference of the tubular portion.
  • a linear bearing is disposed between the outer side of the guide tube and the guide groove, and the linear bearing is fixed to the inner wall of the guide groove and is in sliding contact with the guide tube.
  • a plurality of sets of balls are disposed inside the linear bearing for reducing friction of linear movement of the guide tube, and the balls are enclosed by the ball seal in the linear bearing.
  • the suction cup of the present invention further includes a seal assembly and an outlet pipe joint through which the outlet pipe joint communicates with the suction cup body and is relatively fixed.
  • a seal assembly and an outlet pipe joint through which the outlet pipe joint communicates with the suction cup body and is relatively fixed.
  • at least one seal ring that is fixed relative to the seal assembly is provided on the outer periphery of the portion.
  • the material of the guide tube is preferably a hard material that is not easily deformed.
  • the material of the guide tube is steel; and the material of the inner body of the suction cup is preferably silica gel.
  • the upper portion of the coil is fixed to a portion extending downward from the top of the fuselage.
  • the suction cup of the present invention further includes a resetting means for retracting the suction cup body.
  • the resetting device in the suction cup of the present invention comprises a return spring and a return spring cover, the outlet pipe joint is snapped onto the return spring cover and relatively fixed, and the return spring is sleeved outside the guiding groove And positioned between the return spring cover and the fuselage.
  • the resetting device includes a reset tension spring, and two ends of the reset tension spring are respectively fixed at the top wall of the guide tube and the guide groove.
  • the coil further has a reset function to apply a reverse current to the coil when the chuck body needs to be retracted, such that the coil generates a magnetic field that attracts the permanent magnet, thereby retracting the chuck body.
  • the movable member of the suction cup mechanism of the present invention includes a movable iron core; the magnetic member includes a coil and a permanent magnet fixed to the body of the suction cup mechanism; wherein the coil is energized to generate a coil a magnetic field that drives the chuck body to move relative to the body under a magnetic force of the permanent magnet and the coil magnetic field.
  • the invention also relates to an adsorption device incorporating the suction cup of the present invention.
  • the adsorption device of the present invention is any one of a cleaning robot, a polishing robot, and a wiping robot.
  • the suction cup for the adsorption device provided by the invention has the structure that the suction cup can be pushed out or withdrawn as needed, and can be more effectively applied to various adsorption surfaces, thereby expanding the application range of the adsorption device and improving the working performance thereof.
  • FIG. 1 to 2 are schematic views showing the structure of a first embodiment of the suction cup of the present invention, respectively showing the working state of the suction cup of the present invention at the time of retraction and ejection;
  • Figure 3 is a schematic exploded view of the suction cup of Figures 1 - 2;
  • FIGS. 4 to 5 are schematic structural views of a second embodiment of the suction cup of the present invention, respectively showing the working state of the suction cup of the embodiment when retracting and pushing out;
  • Figure 6 is a schematic exploded view of the suction cup shown in Figures 4-5;
  • FIG. 7 to 8 are schematic views showing the operation of the third embodiment of the suction cup of the present invention, respectively showing the working state of the suction cup of the embodiment when retracting and pushing out;
  • 9 to 10 are schematic views showing the operation of the fourth embodiment of the suction cup of the present invention, respectively showing the working state of the suction cup of the embodiment when it is retracted and pushed out.
  • FIG. 1 to 2 are schematic views showing the structure of a first embodiment of the suction cup of the present invention, respectively showing the working state of the suction cup of the present invention at the time of retraction and ejection; and
  • FIG. 3 is a schematic exploded view of the embodiment.
  • the suction cup of the present invention comprises a suction cup body 1, a permanent magnet 2, a coil 3, a fuselage 4, a guide tube 6, a guide groove 7, a linear bearing 8, a seal assembly 9, an air outlet joint 10,
  • the return spring 11 and the return spring cover 12 are provided with a guiding groove 7 for accommodating the guiding tube 6.
  • the guiding tube 6 is located inside the guiding groove 7, and can move up and down in the guiding groove 7, and the guiding groove 7 is provided with a linear bearing.
  • the linear bearing 8 is fixed to the inner wall of the guide groove 7 and is in sliding contact with the guide tube 6.
  • the suction cup body 1 is located below the guide tube 6 and is fixed opposite to the guide tube 6, and a cavity for adsorption is formed inside the permanent magnet 2, and the permanent magnet 2 is fixed on the inner side of the guide tube 6, and can be moved up and down along with the guide tube 6 and the suction cup body 1 to guide
  • the middle of the tube is hollow and communicates with the adsorption chamber of the suction cup body.
  • the body 4 extends from the top to the slot 7 to form a tubular portion.
  • the permanent magnet 2 is disposed in the tubular portion, and the coil 3 is fixed to the outer circumference of the cylindrical portion. The magnetic field generated by the coil 3 and the permanent magnet are generated.
  • the magnetic field of 2 is repelled, and the generated repulsive force can push out the suction cup body 1;
  • the sealing assembly 9 is located in the guiding tube 6, and is fixed by the step of the collar and the guiding tube 6, and
  • the suction cup body moves synchronously, and the return spring 11 is located outside the linear bearing 8, one end of which is fixed by the return spring cover 12, and the other end is fixed to the fuselage 4;
  • the return spring cover 12 is connected and fixed to the air outlet pipe joint 10, and the air outlet pipe joint 10
  • the suction chamber of the suction cup body is formed as a vacuum source of negative pressure by the external suction pipe connection, that is, the guide tube 6, the suction cup body 1, the permanent magnet 2, the sealing assembly 9, the return spring cover 12 and the outlet pipe joint 10 are relatively fixed, and
  • the linear bearing 8 and the coil 3 are fixed to the body 4, and the two most of the relative movements cause the return spring 11 to be compressed or restored.
  • the coil 3 when the coil 3 is energized, the coil 3 generates magnetism repelling the permanent magnet 2 fixed to the inner side of the guide tube 6, and the repulsive force generated pushes the chuck body 1 out, and the chuck body 1 is pushed out while being sealed.
  • the assembly 9 is pulled down together, and the sealing assembly 9 simultaneously pulls down the return spring cover 12 through the air outlet fitting 10 which is sealedly connected thereto, and the pulled return spring cover 12 simultaneously presses the return spring 11 to complete the suction process of the suction cup.
  • FIG. 4 to 5 show a second embodiment of the suction cup of the present invention, which respectively shows the working state of the suction cup of the embodiment, and
  • FIG. 6 is an exploded perspective view of the suction cup of the embodiment.
  • the suction cup of this embodiment is different from the above-described first embodiment only in that an auxiliary reset permanent magnet 5 is added. As shown in FIGS. 4 and 6, the auxiliary reset permanent magnet 5 is located directly above the permanent magnet 2, and is also fixed to the body, and is attracted to the permanent magnet 2.
  • the coil 3 when the coil 3 is energized, the coil 3 generates magnetism repelling the permanent magnet 2 fixed to the inner side of the guide tube 6, and the repulsive force generated overcomes the restoring force of the return spring 11 and the permanent magnet 2 and the auxiliary reset
  • the attraction between the magnets 5 pushes the chuck body 1 out.
  • the suction cup body 1 is pushed out to drive the seal assembly 9, the air outlet pipe joint 10 and the return spring cover 12, and simultaneously pull it down, and the pulled down return spring cover 12 simultaneously presses the return spring 11 Next, complete the launch process of the sucker. As shown in FIG.
  • the chuck body 1 is in the lifted state when the return spring 11 is in the relaxed state.
  • it can also be set in the opposite state, that is, when the return spring 11 is in the relaxed state, the suction cup body is in the pushed-out state, and when the coil 3 is energized, the return spring 11 is in the compressed state, and at this time, the suction cup body 1 is in the retracted state.
  • the above arrangement can be realized by changing the positions of the return spring 11 and the coil 3, and such a modification can be easily realized by those skilled in the art on the basis of the above embodiments.
  • the reset device of the present invention may be a reset tension spring in addition to the return spring, and both ends of the reset tension spring are respectively fixed to the top wall of the guide tube 6 and the guide groove 7.
  • FIG. 7 to 8 show a third embodiment of the suction cup of the present invention, in which the coil 3 further has a reset function: a reverse current can be supplied to the coil 3, so that the coil 3 is generated with the permanent magnet 2 The magnetic field is attracted to retract the suction cup body 1.
  • the suction cup of this embodiment is different from the second embodiment described above in that the arrangement of the return spring and the return spring cover is eliminated, and the current direction in the coil 3 is variable.
  • the coil 3 when a forward current is supplied to the coil 3, the coil 3 generates magnetism repelling the permanent magnet 2 fixed to the inner side of the guide tube, and the repulsive force generated overcomes the permanent magnet 2 and the auxiliary reset. The attraction between the permanent magnets 5 pushes the chuck body 1 out.
  • a reverse current is applied to the coil 3
  • the coil 3 generates magnetism that is attracted to the permanent magnet 2, and the generated attraction force retracts the chuck body 1.
  • the suction cup body 1 can be smoothly retracted by assisting the attraction between the reset magnet 5 and the permanent magnet 2.
  • the magnetic member includes a permanent magnet 2 and a coil 3 which are fixed to the body, and is added to the suction body 1 so as to be relatively fixed.
  • the cylindrical iron core 13 located inside the permanent magnet 2 serves as a movable member; when the coil 3 is energized, a coil magnetic field is generated, and under the magnetic force of the permanent magnet 2 and the coil magnetic field, the movable iron core 13 drives the chuck body 1 to move relative to the body.
  • the suction cup of this embodiment is different from the above-described third embodiment in that the permanent magnet 2 is not fixed to the suction cup body 1 but is fixed to the body; accordingly, a cylinder fixed to the suction cup body 1 is added.
  • Iron core As shown in Fig. 9, the magnetic field of the permanent magnet 2 acts on the iron core 13, and when the coil 3 is not energized, the iron core 13 receives a force in a direction close to the permanent magnet 2, and the force is fixed relative to the iron core 13. The suction cup body 1 is lifted up to complete the suction process of the suction cup.
  • the coil 3 when a current is supplied into the coil 3, the coil 3 generates a magnetic field opposite to the direction of the magnetic field of the permanent magnet 2, so that the force applied to the core 13 after the coupling is reduced or completely canceled, and the suction cup is at this time.
  • Body 1 in its own weight The action falls down and comes into contact with the adsorption surface, thereby completing the suction process of the suction cup.
  • the position or the number of turns of the coil 3 or the current flow of the variable coil can be appropriately changed, or the position or type of the permanent magnet 2 can be changed, or the coil 3 or the permanent magnet 2 can be changed correspondingly, so that the iron core 13 is automatically pushed out. And / or retracted.
  • the material of the guiding tube may be steel, and the portion forming the inner cavity of the suction cup body 1 may be made of silica gel.
  • the inner side of the linear bearing 8 is provided with a plurality of sets of balls for reducing the frictional resistance of the vertical movement of the guide tube 6, and the balls are enclosed by the ball seals in the linear bearings 8.
  • At least one seal ring is provided on the outer periphery of the portion, the seal ring being received in the recess in the outer periphery of the seal assembly.
  • the present invention also relates to an adsorption device comprising a drive unit and a walking unit connected to each other, the drive unit being controlled by a control unit, and the adsorption device being provided with the liftable suction cup described in the above embodiment.
  • the adsorption device of the present invention may be any one of a cleaning robot, a polishing robot, and a wiping robot, as needed.
  • the suction cup for the adsorption device provided by the invention has the structure that the suction cup can be pushed out or withdrawn as needed, and can be more effectively applied to various adsorption surfaces, thereby expanding the application range of the adsorption device and improving the working performance thereof.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)

Abstract

一种用于吸附装置的吸盘机构及装有该吸盘的吸附装置，所述的吸盘机构具有吸盘本体（1）及与之相连通的气流通道；该吸盘机构还包括电磁作用组件，所述电磁作用组件包含如下部分：活动件，其与所述吸盘本体（1）相对固定；磁性件，其固定于所述吸盘机构的机身（4）上；其中，可通过电磁作用使得所述活动件与所述磁性件之间产生磁相互作用，从而驱动吸盘本体（1）相对于机身（4）运动。

Description

用于吸附装置的吸盘及装有该吸盘的吸附装置 技术领域
本发明涉及一种吸盘，具体而言涉及一种用于吸附装置的吸盘，还涉及一种装有该吸盘的吸附装置，属于机械制造领域。
背景技术
对于需要在吸附于平面上工作的机器人、例如擦玻璃机器人而言，吸附机构是必不可少的，而真空吸盘则是吸附机构的主要形式。目前，机器人依靠自身所带的常规固定式吸盘可以使机身吸附于平面上，但其一般可应用于光滑平面，而现实环境中，宏观上大多可吸附面皆为不连续的，或带有凹坑及凸起，对于这种情况，现有采用固定式吸盘的机器人尚无法适应。
发明内容
本发明所要解决的技术问题在于针对现有技术中存在的缺陷，提供一种可调整高度的吸附装置用吸盘以及装有该吸盘的吸附装置，该吸盘可以根据吸附表面的状况进行升降，以适应不平整的表面，从而提高吸盘对于吸附表面的适应性，并扩大吸附机器人的应用范围及其性能。
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吸盘机构，其具有吸盘本体及与之相连通的气流通道，其特征在于，该吸盘机构还包括电磁作用组件，所述电磁作用组件包含：
活动件，其与吸盘本体相对固定；
磁性件，其固定于吸盘机构的机身上；
其中，可通过电磁作用使得所述活动件与所述磁性件之间产生磁相互作用，从而驱动所述吸盘本体相对于所述机身运动。
在一个实施方式中，所述活动件包括永磁铁，所述磁性件包括线圈，所述线圈在通电时产生与所述永磁铁相斥的磁场，从而将吸盘本体推出。
在一个实施方式中，本发明的吸盘机构在永磁铁正上方的位置还设有与永磁铁相吸的辅助复位永磁铁，该辅助复位永磁铁固定在机身上。该辅助复位永磁铁可在收回吸盘时辅助将吸盘本体拉回。
优选地，在本发明的吸盘中，吸盘本体与导向管相对固定连接，所述永磁铁设置于导向管内，机身设置有用于容置所述导向管的导向槽，导向管可在导向槽内上下运 动，机身自其顶部向导向槽内延伸形成一筒状部，永磁铁设置于所述筒状部内，线圈固定于所述筒状部外周。通过导向管与导向槽间的相互约束，增强了本发明的吸盘的工作稳定性。
优选地，在本发明的吸盘中，在导向管外侧与导向槽之间设有直线轴承，所述直线轴承固定于导向槽内壁，且与所述导向管滑动接触。在直线轴承内侧设置有多组滚珠，以用于减少导向管直线移动的摩擦，所述滚珠由滚珠密封圈封闭于所述直线轴承内。
优选地，本发明的吸盘还包括密封组件和出气管接头，所述出气管接头通过该密封组件与吸盘本体连通并相对固定。对于该密封组件伸入导向管内的部分，在该部分的外周设有至少一个与所述密封组件相对固定的密封圈。由此，吸盘本体与气流通道间实现密封连接，在吸盘工作时保证牢固吸附。
在本发明的吸盘中，导向管的材质优选为不易变形的硬质材料，优选地，导向管的材质为钢质；另外，吸盘本体内腔体的材质优选为硅胶。
优选地，在本发明的吸盘中，线圈的上部与由机身顶部向下延伸的部分相固定。
优选地，本发明的吸盘还包括用于将吸盘本体收回的复位装置。
在一个实施方式中，本发明的吸盘中的所述复位装置包括复位弹簧和复位弹簧盖，所述出气管接头卡接在复位弹簧盖上并相对固定，所述复位弹簧套设在导向槽外，并定位于所述复位弹簧盖和机身之间。
在另一个实施方式中，所述复位装置包括复位拉簧，该复位拉簧的两端分别固定于导向管与导向槽内的顶壁处。
在又一个实施方式中，所述线圈还具有复位功能，在需要收回吸盘本体时向线圈中通入反向电流，使得线圈产生与永磁铁相吸引的磁场，从而将吸盘本体收回。
在又一个实施方式中，本发明的吸盘机构的活动件包括活动铁芯；所述磁性件包含固定于所述吸盘机构的机身上的线圈和永磁铁；其中，所述线圈通电后产生线圈磁场，在所述永磁铁及所述线圈磁场的磁力作用力下，所述活动铁芯驱动所述吸盘本体相对于机身运动。
在另一方面，本发明还涉及一种吸附装置，该吸附装置装有本发明所述的吸盘。优选地，本发明的吸附装置为扫地机器人、抛光机器人、擦拭机器人的任意一种。
本发明提供的吸附装置用吸盘，其具有能根据需要将吸盘推出或收回的结构，可更加有效地适用于各种不同的吸附表面，从而扩大了吸附装置的应用范围、提高了其工作性能。
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-图2为本发明的吸盘的第一实施例的结构示意图，分别示出了本发明的吸盘的收回与推出时的工作状态；
图3为图1-图2所示吸盘的分解结构示意图；
图4-图5为本发明的吸盘的第二实施例的结构示意图，分别示出了该实施方式的吸盘的收回与推出时的工作状态；
图6为图4-图5所示的吸盘的分解结构示意图；
图7-图8为本发明的吸盘的第三实施例的工作示意图，分别示出了该实施方式的吸盘的收回与推出时的工作状态；
图9-图10为本发明的吸盘的第四实施例的工作示意图，分别示出了该实施方式的吸盘的收回与推出时的工作状态。
以上附图中，各标记表示下列部件：
1.吸盘本体；2.永磁铁；3.线圈；4.机身 5.辅助复位永磁铁；6.导向管；7.导向槽；8.直线轴承；9.密封组件；10.出气管接头；11.复位弹簧；12.复位弹簧盖；13.铁芯。
具体实施方式
图1-图2为本发明吸盘的第一个实施方式的结构示意图，分别示出了本发明的吸盘在收回与推出时的工作状态；图3为该实施例的分解结构示意图。
如图1和图3所示，本发明的吸盘包括吸盘本体1、永磁铁2、线圈3、机身4、导向管6、导向槽7、直线轴承8、密封组件9、出气管接头10、复位弹簧11及复位弹簧盖12，机身4设置有容置导向管6的导向槽7，导向管6位于导向槽7内部，可在导向槽7内上下移动，导向槽7内设有直线轴承8，所述直线轴承8固定于导向槽7内壁，且与导向管6滑动接触。吸盘本体1位于导向管6下方并与导向管6相对固定，其内部形成用于吸附的腔体，永磁铁2固定于导向管6内侧，可随导向管6和吸盘本体1一起上下移动，导向管中部为中空且与吸盘本体的吸附腔体连通。机身4自其顶部向导向槽7内延伸形成一筒状部，永磁铁2设置于所述筒状部内，线圈3固定于所述筒状部外周，线圈3通电后产生的磁场与永磁铁2的磁场相斥，产生的斥力可将吸盘本体1推出；密封组件9位于导向管6内，通过卡圈与导向管6内的台阶固定，与 吸盘本体同步运动，复位弹簧11位于直线轴承8外侧，其一端由复位弹簧盖12固定，另一端固定在机身4上；复位弹簧盖12与出气管接头10相连并固定，且出气管接头10通过外接抽气管连接使吸盘本体的吸附腔体形成负压的真空源，即，导向管6、吸盘本体1、永磁铁2、密封组件9、复位弹簧盖12和出气管接头10相对固定，而直线轴承8和线圈3固定在机身4上，这两大部分相对运动时可使得复位弹簧11被压缩或恢复。
如图2所示，当线圈3通电时，线圈3产生与固定于导向管6内侧的永磁铁2相斥的磁性，产生的排斥力将吸盘本体1推出，吸盘本体1被推出的同时将密封组件9一并拉下，密封组件9通过与其密封连接的出气管接头10将复位弹簧盖12同时拉下，被拉下的复位弹簧盖12同时将复位弹簧11压下，完成吸盘的推出过程。
如图1所示，当线圈3断电时，线圈3产生的磁场消失，将吸盘推出的排斥力消失，即复位弹簧盖12失去了将复位弹簧11压下的力，此时，复位弹簧11恢复原状的同时将复位弹簧盖12向上推，由于复位弹簧盖12通过出气管接头10与密封组件9相连，密封组件9也被向上拉，向上运动的密封组件9将吸盘本体1向上拉回，完成吸盘的收回过程。
图4-图5示出了本发明吸盘的第二个实施方式，分别示出了该实施方式的吸盘的收回与推出时的工作状态；图6为该实施方式的吸盘的分解结构示意图。
该实施方式的吸盘与上述第一个实施方式的不同之处仅在于增加了一个辅助复位永磁铁5。如图4和图6所示，辅助复位永磁铁5位于永磁铁2正上方，也固定在机身上，其与永磁铁2相吸引。
如图4所示，当线圈3通电时，线圈3产生与固定于导向管6内侧的永磁铁2相斥的磁性，产生的排斥力克服复位弹簧11的回复力和永磁铁2与辅助复位永磁铁5之间的吸引力，将吸盘本体1推出。与上述实施方式相类似，吸盘本体1被推出的同时带动密封组件9、出气管接头10和复位弹簧盖12，将其同时拉下，被拉下的复位弹簧盖12同时也将复位弹簧11压下，完成吸盘的推出过程。如图5所示，与上述实施方式相类似，当线圈3断电时，复位弹簧11恢复原状的同时将复位弹簧盖12向上推，带动出气管接头10、密封组件9和吸盘本体1向上拉回，随着复位弹簧11的变形量减小，吸盘回复力也减小，在吸盘收回的最后阶段，复位弹簧11的回复力会显得“力不从心”，无法将吸盘本体1很轻松的完全收回。
此时由于辅助复位磁铁5与吸盘本体1上的永磁铁2的接近，其间产生的吸引力将起到辅助作用，协助复位弹簧11将吸盘本体1拉回，以便更顺利地完成吸盘的收回 过程。
在以上实施例中，复位弹簧11处于松弛状态时吸盘本体1均处于提起状态。很显然，也可以按照相反状态进行设置，即当复位弹簧11处于松弛状态时使吸盘本体处于推出状态，而当线圈3通电时，使复位弹簧11处于压缩状态，此时吸盘本体1处于收回状态。只要改变复位弹簧11及线圈3的位置即可实现上述设置，在以上实施例的基础上本领域普通技术人员很容易实现这种变形。
本发明的复位装置除了复位弹簧以外，也可为复位拉簧，该复位拉簧的两端分别固定于导向管6与导向槽7内的顶壁。当线圈3通电时，线圈3与永磁铁2间的排斥力克服复位拉簧的回复力将吸盘本体1推出；线圈3断电时，则通过复位拉簧的回复力将吸盘本体1收回。
图7-图8示出了本发明吸盘的第三个实施方式，在该实施方式中，线圈3还具有复位功能：可向线圈3中通入反向电流，使得线圈3产生与永磁铁2相吸引的磁场，从而将所述吸盘本体1收回。
该实施方式的吸盘与上述第二个实施方式的不同之处在于，取消了复位弹簧和复位弹簧盖的设置，而且线圈3中电流方向是可变的。如图7和图8所示，当向线圈3中通入正向电流时，线圈3产生与固定于导向管内侧的永磁铁2相斥的磁性，产生的排斥力克服永磁铁2与辅助复位永磁铁5之间的吸引力，将吸盘本体1推出。当向线圈3中通入反向电流时，线圈3产生与永磁铁2相吸引的磁性，产生的吸引力将吸盘本体1收回。与上述第二个实施方式类似，在收回吸盘本体1的最后阶段，可通过辅助复位磁铁5与永磁铁2间的吸引力，协助将吸盘本体1顺利收回。
图9-图10示出了本发明吸盘的第四个实施方式，在该实施方式中，磁性件包括与机身相对固定的永磁铁2与线圈3，并增加了与吸盘本体1相对固定、位于永磁铁2内侧的筒状铁芯13作为活动件；线圈3通电后产生线圈磁场，在永磁铁2及线圈磁场的磁力作用力下，活动铁芯13驱动吸盘本体1相对于机身运动。
该实施方式的吸盘与上述第三个实施方式的不同之处在于，永磁铁2并非与吸盘本体1相对固定，而是固定于机身上；相应地，增加了与吸盘本体1相对固定的筒状铁芯。如图9所示，永磁铁2的磁场作用在铁芯13上，在线圈3未通电时，铁芯13受到使其靠近永磁铁2的方向的力，该作用力使得与铁芯13相对固定的吸盘本体1向上提起，完成吸盘的收回过程。
如图10所示，向线圈3中通入电流时，线圈3产生与永磁铁2磁场方向相反的磁场，使得两者耦合后对铁芯13的作用力减小或被完全抵消，此时吸盘本体1在自重的 作用下落下，并与吸附面接触，从而完成吸盘的推出过程。根据实际需求，还可适当改变线圈3的位置或匝数或该变线圈的电流流向，或改变永磁铁2的位置或类型，或线圈3或永磁铁2相应改变，来使得铁芯13自动推出和/或收回。
在以上四个实施方式中，导向管的材质可以为钢质，形成吸盘本体1内腔体的部分可选用硅胶。
直线轴承8内侧设有多组滚珠，用于减小导向管6上下运动的摩擦阻力，滚珠由滚珠密封圈封闭在直线轴承8内。
为了实现密封，对于密封组件9伸入导向管6内部的部分，需在该部分的外周设置至少一个密封圈，该密封圈容置于密封组件外周的凹槽内。
本发明还涉及一种吸附装置，包括相互连接的驱动单元和行走单元，所述驱动单元受控制单元控制，并且，该吸附装置装有上述实施例所述的可升降的吸盘。
根据需要，本发明的吸附装置可以为扫地机器人、抛光机器人、擦拭机器人的任意一种。
本发明提供的吸附装置用吸盘，其具有能根据需要将吸盘推出或收回的结构，可更加有效地适用于各种不同的吸附表面，从而扩大了吸附装置的应用范围、提高了其工作性能。

Claims (12)

  1. 一种用于吸附装置的吸盘机构，其具有吸盘本体(1)及与之相连通的气流通道，其特征在于，该吸盘机构还包括电磁作用组件，所述电磁作用组件包含：
    活动件，其与所述吸盘本体(1)相对固定；
    磁性件，其固定于所述吸盘机构的机身(4)上；
    其中，可通过电磁作用使得所述活动件与所述磁性件之间产生磁相互作用，从而驱动所述吸盘本体(1)相对于所述机身(4)运动。
  2. 如权利要求1所述的吸盘机构，其特征在于，所述活动件包括永磁铁(2)，所述磁性件包括线圈(3)，所述线圈(3)在通电时产生与所述永磁铁(2)相斥的磁场，从而将所述吸盘本体(1)推出。
  3. 如权利要求2所述的吸盘机构，其特征在于，在所述永磁铁(2)正上方的位置还设有与所述永磁铁(2)相吸引的辅助复位永磁铁(5)，该辅助复位永磁铁(5)固定在所述机身(4)上。
  4. 如权利要求2或3所述的吸盘机构，其特征在于，所述吸盘本体(1)与导向管(6)相对固定连接，所述永磁铁(2)设置于所述导向管(6)内，所述机身(4)设置有用于容置所述导向管(6)的导向槽(7)，所述导向管(6)可在所述导向槽(7)内上下运动，所述机身(4)自其顶部向所述导向槽(7)内延伸形成一筒状部，所述永磁铁(2)设置于所述筒状部内，所述线圈(3)固定于所述筒状部外周。
  5. 如权利要求4所述的吸盘机构，其特征在于，所述导向槽(7)内设有直线轴承(8)，所述直线轴承(8)固定于所述导向槽(7)内壁，且与所述导向管(6)滑动接触。
  6. 如权利要求4所述的吸盘机构，其特征在于，所述吸盘机构还包括密封组件(9)和出气管接头(10)，所述出气管接头(10)通过所述密封组件(9)与所述导向管(6)连通并相对固定，所述密封组件(9)的一部分伸入所述导向管(6)内，在该部分的外周设有至少一个与所述密封组件(9)相对固定的密封圈。
  7. 如权利要求6所述的吸盘机构，其特征在于，还包括用于将吸盘本体(1)收回的复位装置。
  8. 如权利要求7所述的吸盘机构，其特征在于，所述复位装置包括复位弹簧(11)和复位弹簧盖(12)，所述出气管接头(10)卡接在所述复位弹簧盖(12)上并相对固定，所述复位弹簧(11)套设在所述导向槽(7)外围的机壳上，并定位于所述复位弹簧盖(12)和所述机身(4)之间。
  9. 如权利要求7所述的吸盘机构，其特征在于，所述复位装置包括复位拉簧，该复位拉簧的两端分别固定于所述导向管(6)与所述导向槽(7)内的顶壁。
  10. 如权利要求2所述的吸盘机构，其特征在于，所述线圈(3)还具有复位功能，在需要将所述吸盘本体(1)收回时，向所述线圈(3)中通入反向电流，使得所述线圈(3)产生与所述永磁铁(2)相吸引的磁场，从而将所述吸盘本体(1)收回。
  11. 如权利要求1所述的吸盘机构，其特征在于，所述活动件包括活动铁芯(13)；所述磁性件包含固定于所述吸盘机构的机身(4)上的线圈(3)和永磁铁(2)；其中，所述线圈(3)通电后产生线圈磁场，在所述永磁铁(2)及所述线圈磁场的磁力作用力下，所述活动铁芯(13)驱动所述吸盘本体(1)相对于机身(4)运动。
  12. 一种吸附装置，包括相互连接的驱动单元和行走单元，所述驱动单元受控制单元控制，其特征在于，所述吸附装置为扫地机器人、抛光机器人、擦拭机器人的任意一种；所述吸附装置还包括权利要求1-11中任一项所述的吸盘机构。
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