WO2016011985A1 - 吸附式自移动装置 - Google Patents
吸附式自移动装置 Download PDFInfo
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- WO2016011985A1 WO2016011985A1 PCT/CN2015/085194 CN2015085194W WO2016011985A1 WO 2016011985 A1 WO2016011985 A1 WO 2016011985A1 CN 2015085194 W CN2015085194 W CN 2015085194W WO 2016011985 A1 WO2016011985 A1 WO 2016011985A1
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- adsorption
- moving device
- base
- type self
- sealing assembly
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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 self-moving device, belonging to the technical field of small household appliances manufacturing.
- FIG. 1 is a schematic structural view of a conventional window cleaning robot.
- the existing window cleaning robot A mainly includes a base 100 and a rag 200 disposed on the base 100. Under the action of the vacuum source 400, it is adsorbed on the surface of the glass, and is supported by the walking unit 300 and The outer timing belt (not shown) completes the walking action.
- the window cleaning robot A wants to walk on the glass surface B, it is obviously necessary to satisfy the following conditions: 1.
- the window cleaning robot maintains sufficient vacuum and flow in the cabin to make the body Tightly adsorbed on the glass surface B; 2, the timing belt coated on the outer surface of the walking unit 300 must provide sufficient power, namely: friction, to overcome the body weight, rag and glass friction resistance and other resistance, to ensure the body Walk on the glass surface without falling off.
- friction to overcome the body weight, rag and glass friction resistance and other resistance
- the technical problem to be solved by the present invention is to provide an adsorption type self-moving device by providing an elastic stretching member between the sealing assembly and the base to ensure that the sealing assembly is subjected to the adsorption surface when the degree of vacuum is increased.
- the increment of the supporting force is smaller than the increment of the supporting force of the walking unit by the adsorption surface; at the same time, by the arrangement of the skirt structure and the selection of the flexible material with a small friction coefficient, the skirt surface is poorly sealed in the sealing environment Directly under the action of atmospheric pressure, the sealing of the vacuum chamber is improved, and the movement of the adsorption type self-moving device is not hindered; the invention has the advantages of simple structure but can effectively absorb excess pressure, and balances the adsorption force and the friction force in normal walking and safe adsorption. .
- the utility model relates to an adsorption self-moving device, which is provided with a base, a walking unit and a functional unit.
- the bottom of the base comprises a cavity, the cavity is connected with a vacuum source, and an outer surface of the cavity is provided for the adsorption surface.
- the sealed sealing assembly after sealing between the sealing assembly and the adsorption surface, forms a vacuum chamber with the cavity, and the sealing assembly is in contact with the bottom of the base through an elastic expansion member.
- the walking unit is disposed inside the cavity.
- the elastically stretchable member is located inside the vacuum chamber.
- the adsorption self-moving device is a glass-wiping robot
- the functional unit is a rag
- the sealing assembly is sealed to the adsorption surface by a rag.
- the seal assembly extends toward the exterior of the vacuum chamber to form a skirt, the skirt facing the adsorption surface being sealed to the adsorption surface and the side facing away from the adsorption surface being exposed to the atmosphere.
- the skirt When the skirt is directly attached to the adsorption surface, the skirt is made of a flexible material having a small coefficient of friction.
- the skirt can also be sealed to the suction surface by a rag.
- the sealing assembly mainly includes a movable bracket, and the movable bracket is composed of a straight portion and a convex portion, and a through hole is opened in the convex portion, and a protruding pillar at the bottom of the base passes through
- the fastener is fixed to the base through the through hole
- the elastic expansion member is a spring, and is sleeved on the outside of the protrusion, the upper side of the spring The lower ends are respectively abutted against the bottom of the base and the upper surface of the boss.
- the flat portion is further provided with a positioning groove, one end of the sealing ring is embedded in the positioning groove, and the other end is sealed against the bottom of the base, so that the base and the sealing assembly are embedded.
- the outer seal of the sleeve is connected.
- the adsorption-type self-moving device may also be a wall coating robot or a waxing robot.
- the present invention provides an increase in the support force of the seal assembly by the suction surface when the degree of vacuum is increased by providing an elastic expansion member between the seal assembly and the base.
- the skirt structure through the setting of the skirt structure and the selection of the flexible material with small friction coefficient, in the sealing surface with poor sealing environment, the skirt is directly subjected to the atmospheric pressure, and the sealing of the vacuum chamber is improved, and the adsorption is not hindered.
- the walking of the self-moving device; the invention has a simple structure but can effectively absorb excess pressure, and balances the adsorption force and the friction force in normal walking and safe adsorption.
- FIG. 1 is a schematic structural view of a conventional window cleaning robot
- FIGS. 2 and 3 are schematic diagrams showing positions of a window cleaning robot in two states according to an embodiment of the present invention
- Figure 4 is a schematic view of the partial M structure of Figure 2;
- Figure 5 is a schematic view showing the bottom structure of the window cleaning robot of the present invention.
- FIG. 6 is a schematic structural view of a window cleaning robot according to an embodiment of the present invention.
- FIG. 7 is a schematic structural view of a third window cleaning robot according to an embodiment of the present invention.
- FIG. 2 and FIG. 3 are respectively schematic views of the position of the window cleaning robot in two states according to the present invention
- FIG. 4 is a partial structural view of the M of FIG. 2
- FIG. 5 is a schematic structural view of the bottom of the window cleaning robot of the present invention.
- the adsorption self-moving device is a window cleaning robot, including a robot body, the body includes an organic base 100, and the base 100 is provided with a walking unit 300 and A timing belt 310 coated on the outside thereof.
- the bottom of the base 100 includes a cavity 110 that communicates with a vacuum source phase 400.
- a sealing assembly for sealing against the adsorption surface, ie, the glass surface B, is enclosed.
- the sealing assembly and the adsorption surface form a vacuum chamber with the cavity 110, and the sealing assembly is in contact with the bottom of the base 100 through an elastic expansion member.
- the walking unit 300 is disposed inside the cavity 110 in order to facilitate the walking of the adsorption type self-moving device.
- the elastically stretchable member is also located inside the vacuum chamber.
- a rag 200 is further disposed on the base 100, and the rag 200 is connected to the base 100 through the movable bracket 500. 2, and in conjunction with FIG. 4, the sealing assembly mainly includes a movable bracket 500.
- the movable bracket 500 is composed of a flat portion 511 and a convex portion 512, and a through hole is formed in the convex portion 512. 5121, the protrusion 101 protruding from the base 100 passes through the through hole 5121, and the fastener 520 passes through the through hole 5121 to fix the movable bracket 500 to the base 100.
- the fastener 520 Self-tapping screws or other commonly used standard parts can be used.
- the elastic expansion member is a spring, and a bracket spring 530 is sleeved on the outer side of the protrusion 101. The upper and lower ends of the bracket spring 530 are respectively abutted against the inner side of the base 100 and the upper surface of the boss 512.
- a vacuum chamber is formed between the base 100, the movable bracket 500, the lower surface of the body, and the glass surface B, and the vacuum source 400 is used to evacuate the vacuum chamber.
- the positioning portion 513 is further disposed on the straight portion 511.
- One end of the sealing ring 540 is embedded in the positioning groove 513, and the other end is sealed against the inner portion of the base 100, so that the base 100 and the movable bracket 500 are nested.
- the outer seal is used to protect the vacuum of the vacuum chamber.
- a protruding post may be disposed on the convex portion 512, and a through hole is defined in the base 100, and the protruding post is fixed through the through hole through the fastener, and the same can be Acting as a flexible connection between the movable bracket and the base use.
- the adsorption type self-moving device in the embodiment is a glass-wiping robot
- the lower surface of the flat portion 511 of the movable bracket 500 is further provided with a working unit, the working unit is a rag 200, and the rag 200 is adhered to the movable bracket.
- the lower surface of the 500, the specific adhesive position is on the lower surface of the flat portion 511, and the vacuum is sealed with the cavity after the rag is sealed with the adsorption surface.
- the present embodiment allows the rag 200 to be subjected to an increase in the supporting force of the glass surface B by less than the support force of the timing belt 310 by the glass surface B by the bracket spring 530 disposed in the movable bracket 500.
- the increase in suction of the vacuum source 400 can be fully distributed to the increment of the support force of the timing belt 310 by the glass surface B to resolve the slip of the timing belt 310, which hampers the problem of the window cleaning robot A walking. Since the magnitude of the support force of the timing belt 310 by the glass surface B directly affects the walking of the window cleaning robot A, the timing belt 310 is subjected to the frictional force of the glass surface B, and this frictional force is the power for providing the window cleaning robot A to travel.
- the suction force of the vacuum source 400 when the suction force of the vacuum source 400 is increased, the increment of the power that the timing belt 310 supplies to the window cleaning robot A is significant, and the increase in the frictional force of the rag 200 by the glass surface B is not significant. Further, on the basis that the window cleaning robot A does not fall on the glass surface B, the suction force of the vacuum source 400 is increased, and the pressure difference between the inner and outer portions of the vacuum chamber formed between the base 100 and the glass surface B is increased.
- the window cleaning robot A will be more closely attached to the glass surface B, that is, the window cleaning robot A generates a certain deformation, which causes the upper surface of the window cleaning robot A to be closer to the glass surface B, of course, this deformation The amount is very small.
- the support of the timing belt 310 and the rag 200 by the glass surface B also increases.
- the timing belt 310 and the rag 200 can be regarded as a single rigid body.
- the rigid body with the timing belt and the rag as a whole is regarded as an ideal situation.
- the support force of the timing belt 310 and the rag 200 by the glass surface B is increased in the same proportion.
- the window cleaning robot A is more closely attached to the glass surface B under the action of the vacuum chamber and the external pressure difference.
- the window cleaning robot A generates a certain deformation, but at this time, the deformation of the window cleaning robot A is mainly reflected in the deformation of the timing belt 310, and the deformation of the timing belt 310 causes the bracket spring 530 to be deformed.
- the bracket spring 530 then produces a corresponding deformation elastic force, which is inconspicuously applied to the rag 200 via the movable bracket 500, and the rag 200 receives a total of two forces, one is the spring force of the bracket spring 530, and the other is Is the support of the glass surface B to it, and the two are equal, therefore, wipe
- the amount by which the cloth 200 is subjected to the support force of the glass surface B due to the increase in the suction force of the vacuum source 400 is not significant.
- the stent spring 530 disposed in the movable bracket 500 becomes substantially unchanged after being deformed to a certain extent, and the rag 200 is subjected to the continuously increasing atmospheric pressure by the timing belt 310.
- FIG. 6 is a schematic structural view of a window cleaning robot according to an embodiment of the present invention.
- the structure of the window cleaning robot of this embodiment is basically the same as that of the first embodiment, except that the flat portion 511 of the movable bracket 500 extends a skirt toward the outside of the vacuum chamber as needed. 550, the skirt 550 is attached to the adsorption surface with a seal.
- the rag 200 may have the same length as the movable bracket 500. That is to say, in the embodiment, the rag 200 is adhered to the lower surface of the movable bracket 500, and the sticking length is equal to that of the movable bracket 500.
- the total length of the straight portion 511, the raised portion 512, and the skirt 550 is the same.
- the rag 200 is adhered to the lower surface of the movable bracket 500, and at the same time functions as a cleaning and sealing. If the sealing environment of the adsorption surface is good, such as a relatively smooth glass surface, the rag 200 and the adsorption surface are Only a small pressure is required to meet the sealing requirements. However, if the sealing environment of the adsorption surface is poor, such as a rough wall, a large pressure is required between the rag 200 and the adsorption surface to meet the sealing requirements.
- a skirt 550 is attached to the outer edge of the sealing assembly, ie, the movable bracket 500, and the rag 200 is adhered to the skirt of the movable bracket and the outer edge thereof.
- the lower surface of the side 550 is in direct contact with the glass surface B.
- the skirt 550 and the rag 200 adhered to the lower surface thereof are directly subjected to atmospheric pressure, and a large pressure is generated between the rag 200 and the glass surface B, and the vacuum chamber is sealed to a large extent. Sex.
- FIG. 7 is a schematic structural view of a third window cleaning robot according to an embodiment of the present invention.
- this embodiment is an improvement based on the above-described second embodiment.
- a skirt 550 is attached to the outer edge of the movable bracket 500, but the position of the rag 200 on the movable bracket 500 is different from that of the second embodiment.
- the set length of the rag 200 is the same as the sum of the lengths of the straight portion 511 and the convex portion 512 of the movable bracket, and one end of the rag 200 is embedded in the skirt.
- the rag 200 and the bottom surface of the skirt 550 are flush.
- the contact area is also increased by the skirt structure, but the difference is that in the present embodiment, the portion in contact with the glass surface B includes the rag 200 and the skirt 550. section.
- the skirt 550 can adopt a flexible material with a small coefficient of friction, so that the skirt 550 is directly subjected to atmospheric pressure, and a large pressure is generated between the skirt 550 and the glass surface B, which is relatively low.
- the sealing property of the vacuum chamber is improved, and because the friction coefficient of the skirt 550 is small, the glazing robot and the glass surface B are not obstructed by the frictional force on the glass surface B due to the generation of a very large frictional force. Walk normally.
- adsorption type self-moving devices there are many types of adsorption type self-moving devices, and may include, in addition to the glass-wiping robot involved in the above embodiments, a wall-surface painting robot or a waxing robot. Regardless of the type of adsorption self-moving device, it is structurally necessary to include a base and a walking unit.
- the base of the base includes a cavity, and the cavity is in communication with a vacuum source, outside the cavity.
- a sealing assembly is provided for sealing the adsorption surface, and the sealing assembly forms a vacuum chamber with the cavity after sealing with the adsorption surface, and the sealing assembly is in contact with the bottom of the housing through an elastic expansion member.
- the specific structure of the work unit may vary.
- the rag can be used as both a working unit and a part of a sealing assembly or a sealing assembly.
- the working unit may be separately provided from the sealing assembly.
- the present invention provides an adsorption type self-moving device.
- the friction between the rag and the glass surface is controlled by the movable bracket disposed between the base and the rag. It will increase with the increase of the linearity of the vacuum, that is, when the suction of the fan is increased, the synchronous belt provides the incremental increase of the power of the window-drawing robot, and the rag is slightly increased by the friction of the glass surface.
- the present invention ensures that the increment of the supporting force of the sealing assembly by the adsorption surface when the degree of vacuum is increased is smaller than the increment of the supporting force of the traveling unit by the adsorption surface by providing the elastic expansion member between the sealing assembly and the base; At the same time, through the setting of the skirt structure and the selection of the flexible material with small friction coefficient, in the sealing surface with poor sealing environment, the skirt is directly subjected to the atmospheric pressure, the sealing of the vacuum chamber is improved, and the adsorption type is not hindered.
- the walking of the mobile device; the invention has a simple structure but can effectively absorb excess pressure, and balances the adsorption force and the friction force in normal walking and safe adsorption.
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Abstract
一种吸附式自移动装置，设有机座（100）、行走单元（300）和功能单元（200），机座底部包括有腔体（110），所述腔体（110）与真空源（400）相连通，在所述腔体（110）的外周围设有用于与吸附表面密封的密封组件，所述密封组件与吸附表面之间密封后与所述腔体（100）构成真空室，所述密封组件通过弹性伸缩件（530）与所述机座底部相接。本发明通过在密封组件和机座之间设置弹性伸缩件，在提高真空室的密封性的同时，不阻碍吸附式自移动装置的行走。
Description
本发明涉及一种吸附式自移动装置，属于日用小家电制造技术领域。
随着人类生活的日益智能化，以擦窗机器人为代表的吸附式自移动装置越来越得到广泛地使用，因此，如何使擦窗机器人在不同的玻璃上能够安全、正常的工作成为对产品要求的重中之重。图1为现有擦窗机器人的结构示意图。如图1所示，现有的擦窗机器人A主要包括机座100和设置在机座100上的抹布200，在真空源400的作用下，吸附在玻璃表面，并依靠行走单元300及设置在其外部的同步带(图中未示出)完成行走动作。从擦窗机器人的工作原理角度来分析，如果擦窗机器人A要想在玻璃表面B上行走，显然需要满足以下条件：1、擦窗机器人的机舱内保持足够的真空度、流量，才能使机体紧紧吸附在玻璃表面B上；2、包覆在行走单元300外表面的同步带必须要提供足够的动力，即：摩擦力，来克服机体自重、抹布与玻璃摩擦阻力及其他阻力，确保机体在玻璃表面上行走而不掉下来。要想使机体在玻璃表面上行走并能减少其摩擦阻力，可以通过尽量使用摩擦系数小的抹布材料与玻璃表面接触，还可以通过降低抹布与玻璃表面压力来实现。如图1所示，要想使擦窗机器人A的机体紧紧吸附在玻璃表面B上，必须保持足够的真空度，但随着真空度加大，又会造成抹布200与玻璃表面B之间的摩擦力增加，阻碍机器人的移动；如果真空度过小，虽然能减少抹布200与玻璃表面B之间的摩擦力，但又会造成吸力不够，导致机体容易跌落，影响正常使用。
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，提供一种吸附式自移动装置，通过在密封组件和机座之间设置弹性伸缩件，保证在真空度加大时密封组件受到吸附表面的支持力的增量小于行走单元受到吸附表面支持力的增量；同时通过裙边结构的设置，以及对摩擦系数较小的柔性材质的选择，在密封环境较差的吸附表面，使裙边直接受到大气压的作用，提高真空室的密封性，同时不阻碍吸附式自移动装置的行走；本发明结构简单但能够有效吸收多余压力，在正常行走和安全吸附中使吸附力和摩擦力达到平衡。
本发明所要解决的技术问题是通过如下技术方案实现的：
一种吸附式自移动装置，设有机座、行走单元和功能单元，机座底部包括有腔体，所述腔体与真空源相连通，在所述腔体的外周围设有用于与吸附表面密封的密封组件，所述密封组件与吸附表面之间密封后与所述腔体构成真空室，所述密封组件通过弹性伸缩件与所述机座底部相接。
为了便于吸附式自移动装置的行走，所述行走单元设置在所述腔体的内部。
另外，所述弹性伸缩件位于所述真空室内部。
如果所述吸附式自移动装置为擦玻璃机器人，则所述功能单元为抹布，所述密封组件通过抹布与吸附表面密封。
针对密封环境较差的吸附表面，所述密封组件朝真空室的外部延伸形成裙边，所述裙边朝向吸附表面的一侧与吸附表面密封，背离吸附表面的一侧暴露在大气中。
在所述裙边直接与吸附表面贴附密封时，所述裙边采用摩擦系数较小的柔性材质。
除此之外，所述裙边还可以通过抹布与吸附表面密封。
更具体地，所述密封组件主要包括有活动支架，所述活动支架由平直部和凸起部组成，在凸起部上开设有通孔，所述机座底部凸设的凸柱穿过该通孔，紧固件穿过所述通孔将密封组件限位固设在所述机座上；所述弹性伸缩件为弹簧，套设在所述凸柱的外部，该弹簧的上、下两端分别与机座底部和凸起部的上表面相抵顶。
为了达到良好的密封效果，所述平直部上还设有定位槽，密封圈的一端嵌设在所述定位槽中，另一端与机座的底部抵顶密封，使机座与密封组件嵌套连接的外侧密封。
除了上述的擦玻璃机器人之外，所述吸附式自移动装置还可以是墙面喷涂机器人或打蜡机器人。
综上所述，本发明通过在密封组件和机座之间设置弹性伸缩件，保证在真空度加大时密封组件受到吸附表面的支持力的增量小于行走单元受到吸附表面支持力的增量；同时通过裙边结构的设置，以及对摩擦系数较小的柔性材质的选择，在密封环境较差的吸附表面，使裙边直接受到大气压的作用，提高真空室的密封性，同时不阻碍吸附式自移动装置的行走；本发明结构简单但能够有效吸收多余压力，在正常行走和安全吸附中使吸附力和摩擦力达到平衡。
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。
图1为现有擦窗机器人的结构示意图；
图2和图3分别为本发明实施例一擦窗机器人在两种状态下的位置示意图；
图4为图2的局部M结构示意图；
图5为本发明擦窗机器人底部结构示意图；
图6为本发明实施例二擦窗机器人的结构示意图；
图7为本发明实施例三擦窗机器人的结构示意图。
实施例一
图2和图3分别为本发明擦窗机器人在两种状态下的位置示意图；图4为图2的M局部结构示意图；图5为本发明擦窗机器人底部结构示意图。如图2至图5所示，在本实施例中，所述的吸附式自移动装置为一种擦窗机器人，包括机器人机体，机体包括有机座100，机座100上设有行走单元300和包覆在其外部的同步带310。机座100底部包括有腔体110，所述腔体110与真空源相400连通，在所述腔体110的外周，围设有用于与吸附表面，即：玻璃表面B密封的密封组件。所述密封组件与吸附表面之间密封后与所述腔体110构成真空室，所述密封组件通过弹性伸缩件与所述机座100底部相接。如图2并结合图3可知，为了便于吸附式自移动装置的行走，所述行走单元300设置在所述腔体110的内部。另外，所述弹性伸缩件也位于所述真空室的内部。机座100上还设有抹布200，抹布200通过活动支架500与机座100相连。具体由图2并结合图4可知，所述密封组件主要包括有活动支架500，具体来说，活动支架500由平直部511和凸起部512组成，在凸起部512上开设有通孔5121，机座100向内侧凸设的凸柱101穿过该通孔5121，紧固件520穿过通孔5121将活动支架500限位固定在机座100上，通常情况下，紧固件520可以采用自攻螺丝或其他常用的标准件。所述弹性伸缩件为弹簧，在凸柱101的外部套设有支架弹簧530，该支架弹簧530的上、下两端分别与机座100内侧和凸起部512的上表面相抵顶。机座100、活动支架500、机体下表面和玻璃表面B之间形成真空室，真空源400用于将真空室抽真空。平直部511上还设有定位槽513，密封圈540的一端嵌设在所述定位槽513中，另一端与机座100的内部抵顶密封，使机座100与活动支架500嵌套连接的外侧密封，用于保护真空室的真空度。需要说明的是，本实施例具体描述的一种密封组件，是为了使技术方案更加清楚，但并不应当把其作为对本发明保护范围的限制，本领域的技术人员可以根据具体工作需要进行对应更改达到相同的技术效果。例如，对于活动支架500和机座100的连接方式，可以在凸起部512上设置凸柱，机座100上对应开设通孔，凸柱穿过通孔通过紧固件限位固定，同样可以起到活动支架与机座弹性连接的作
用。由于本实施例中的吸附式自移动装置为擦玻璃机器人，所述活动支架500的平直部511的下表面还设有工作单元，所述工作单元为抹布200，抹布200黏贴在活动支架500的下表面，具体的黏贴位置在平直部511的下表面，所述抹布与吸附表面之间密封后与所述腔体形成真空室。
结合图2至图5所示，对本发明的工作原理进行详细地说明。为了保证擦窗机器人吸附在玻璃表面B上不掉下来，需要加大真空源400的吸力，如果按照常规的设置方式，抹布200固设在机座100上，这一过程必然会使擦窗机器人的同步带310和抹布200受到玻璃表面B的支持力都会增加，根据f＝uN，抹布200受到玻璃表面B的支持力的大小会直接影响到擦窗机器人A行走时抹布200受到玻璃表面B的摩擦力的大小。本实施例通过设置在活动支架500内的支架弹簧530，使得抹布200受到玻璃表面B的支持力的增量小于同步带310受到玻璃表面B的支持力的增量。最理想的情况是：真空源400的吸力的增量能够完全分配至同步带310受到玻璃表面B的支持力的增量，以解决同步带310打滑，抹布200阻碍擦窗机器人A行走的问题。由于同步带310受到玻璃表面B的支持力的大小直接影响到擦窗机器人A行走时，同步带310受到玻璃表面B的摩擦力，而这一摩擦力正是提供擦窗机器人A行走的动力。这样，当真空源400的吸力加大时，同步带310提供给擦窗机器人A行走的动力的增量很显著，而抹布200受到玻璃表面B的摩擦力的增量则不显著。更进一步地，在擦窗机器人A吸附在玻璃表面B上不掉下来的基础上，增加真空源400的吸力，由于机座100与玻璃表面B之间所形成的真空室的内、外压强差，擦窗机器人A会更紧密地贴合在玻璃表面B上，也即擦窗机器人A产生了一定的形变，该形变使得擦窗机器人A的上表面更靠近玻璃表面B，当然，这个形变的量是非常小的。相应的，同步带310和抹布200受到玻璃表面B的支持力也都会增加。对于如图1所示的现有擦窗机器人来说，可以将同步带310与抹布200看成一个整体的刚体，为了说明更加清楚，将同步带与抹布看成一个整体的刚体视为理想情况。当真空源400的吸力增加时，同步带310和抹布200受到玻璃表面B的支持力是同比例增加的。如图2并结合图3所示，在本发明中，增加真空源400的吸力时，在真空室内、外压强差作用下，擦窗机器人A也会更紧密地贴合在玻璃表面B上，同样的，擦窗机器人A产生了一定的形变，但是，此时擦窗机器人A的形变主要体现在同步带310的形变上，同步带310的形变带动支架弹簧530产生形变。支架弹簧530于是产生对应的形变弹力，这一形变弹力经过活动支架500施加在抹布200上是不显著的，而抹布200一共就受到两个力，一个是支架弹簧530对它的弹力，另一个是玻璃表面B对它的支持力，且这两者相等，因此，抹
布200受到玻璃表面B的支持力因真空源400的吸力的增加而增加的量是不显著的。换句话说，在真空源400的吸力增加时，设置在活动支架500中的支架弹簧530形变到一定程度后基本保持不变，抹布200由同步带310承受不断增强的大气压力。
实施例二
图6为本发明实施例二擦窗机器人的结构示意图。如图6所示，本实施例擦窗机器人的结构与实施例一基本一致，其不同之处在于，根据需要，所述活动支架500的平直部511朝真空室的外部延伸出一裙边550，所述裙边550与吸附表面贴附密封。所述抹布200的设置长度可以与所述活动支架500的长度相同，也就是说，在本实施例中，抹布200黏贴在活动支架500的下表面，其黏贴长度与活动支架500的平直部511、凸起部512和裙边550三者的总长度相同。
以下结合实施例一对本实施例的工作原理进行详细地说明。
在实施例一中，抹布200黏贴在活动支架500的下表面，同时起到清洁和密封的作用，如果吸附表面的密封环境较好，如比较光滑的玻璃表面，则抹布200与吸附表面之间仅需较小的压力即可满足密封要求。但如果吸附表面的密封环境较差，如比较粗糙的墙壁，则抹布200与吸附表面之间需要较大的压力才可满足密封要求。本实施例则针对密封环境较差的吸附表面，在密封组件即活动支架500的外缘贴附吸附表面延伸出一裙边550，且抹布200黏贴在活动支架及其外缘延伸出的裙边550的下表面，直接与玻璃表面B接触。在工作过程中，裙边550及其黏贴在其下表面的抹布200直接受到大气压的作用，在抹布200与玻璃表面B之间产生较大的压力，较大程度低提高了真空室的密封性。
实施例三
图7为本发明实施例三擦窗机器人的结构示意图。如图7所示，本实施例则是在上述实施例二基础上的改进。本实施例也在活动支架500的外缘贴附吸附表面延伸出一裙边550，但抹布200在活动支架500上的设置位置与实施例二有所区别。具体来说，如图7所示，抹布200的设置长度与所述活动支架的平直部511和凸起部512的长度之和相同，且所述抹布200的一端嵌设在所述裙边550的内侧，所述抹布200和裙边550的底面平齐。由上述可知，在本实施例中，同样是借助裙边结构来增大接触面积，但不同的是，在本实施例中，与玻璃表面B接触的部分包括了抹布200和裙边550两个部分。
在工作过程中，如果抹布的摩擦系数较大，此时就需要通过提高弹簧的弹力来增大抹布与吸附表面之间的压力，虽然可以满足真空室的密封要求，但同时会造成抹布的摩擦阻力较大，阻碍行走。因此，所述裙边550可以采用摩擦系数较小的柔性材质，这样一来，裙边550直接受到大气压的作用，在裙边550与玻璃表面B之间产生较大的压力，较大程度低提高了真空室的密封性，又因为裙边550的摩擦系数较小，所以在抹布200与玻璃表面B之间也不至于因产生非常大的摩擦力而阻碍擦玻璃机器人在玻璃表面B上的正常行走。
实施例四
需要说明的是，吸附式自移动装置的种类很多，除了上述实施例中涉及到的擦玻璃机器人之外，还可以包括：墙面喷涂机器人或打蜡机器人等。无论是哪种吸附式自移动装置，从结构上来说，都必须包括机座和行走单元，机座底部包括有腔体，所述腔体与真空源相连通，在所述腔体的外周围设有用于与吸附表面密封的密封组件，所述密封组件与吸附表面之间密封后与所述腔体构成真空室，所述密封组件通过弹性伸缩件与所述机座底部相接。根据吸附式自移动装置的不同类别，工作单元的具体结构会有所不同，如实施例一至三中的擦玻璃机器人，抹布既可以作为工作单元，同时又是密封组件或者密封组件的一部分。而对于墙面喷涂机器人或打蜡机器人来说，其工作单元就有可能是与密封组件分开，单独设置的。
本实施例中的其他内容与上述实施例相同，在此不再赘述。
综上所述，本发明提供一种吸附式自移动装置，以实施例中的擦窗机器人为例，通过在底座和抹布之间设置的活动支架，控制抹布与玻璃表面之间的摩擦力不会随着真空度线性增加而同比增加，即：当风机吸力加大时，同步带提供擦窗机器人行走的动力的增量显著，而抹布受到玻璃表面的摩擦力的增量很小。
也就是说，本发明通过在密封组件和机座之间设置弹性伸缩件，保证在真空度加大时密封组件受到吸附表面的支持力的增量小于行走单元受到吸附表面支持力的增量；同时通过裙边结构的设置，以及对摩擦系数较小的柔性材质的选择，在密封环境较差的吸附表面，使裙边直接受到大气压的作用，提高真空室的密封性，同时不阻碍吸附式自移动装置的行走；本发明结构简单但能够有效吸收多余压力，在正常行走和安全吸附中使吸附力和摩擦力达到平衡。
Claims (10)
- 一种吸附式自移动装置，设有机座(100)、行走单元(300)和功能单元，机座底部包括有腔体(110)，所述腔体与真空源(400)相连通，在所述腔体的外周围设有用于与吸附表面密封的密封组件，所述密封组件与吸附表面之间密封后与所述腔体构成真空室，其特征在于，所述密封组件通过弹性伸缩件与所述机座底部相接。
- 如权利要求1所述的吸附式自移动装置，其特征在于，所述行走单元(300)设置在所述腔体的内部。
- 如权利要求2所述的吸附式自移动装置，其特征在于，所述弹性伸缩件位于所述真空室内部。
- 如权利要求1所述的吸附式自移动装置，其特征在于，所述吸附式自移动装置为擦玻璃机器人，所述功能单元为抹布，所述密封组件通过抹布与吸附表面密封。
- 如权利要求4所述的吸附式自移动装置，其特征在于，所述密封组件朝真空室的外部延伸形成裙边，所述裙边朝向吸附表面的一侧与吸附表面密封，背离吸附表面的一侧暴露在大气中。
- 如权利要求5所述的吸附式自移动装置，其特征在于，所述裙边直接与吸附表面贴附密封，所述裙边采用摩擦系数较小的柔性材质。
- 如权利要求5所述的吸附式自移动装置，其特征在于，所述裙边通过抹布与吸附表面密封。
- 如权利要求1-7任一项所述的吸附式自移动装置，其特征在于，所述密封组件主要包括有活动支架(500)，所述活动支架(500)由平直部(511)和凸起部(512)组成，在凸起部上开设有通孔(5121)，所述机座(100)底部凸设的凸柱(101)穿过该通孔(5121)，紧固件(520)穿过所述通孔(5121)将密封组件(500)限位固设在所述机座(100)上；所述弹性伸缩件为弹簧(530)，套设在所述凸柱(101)的外部，该弹簧的上、下 两端分别与机座(100)底部和凸起部(512)的上表面相抵顶。
- 如权利要求8所述的吸附式自移动装置，其特征在于，所述平直部(511)上还设有定位槽(513)，密封圈(540)的一端嵌设在所述定位槽(513)中，另一端与机座(100)的底部抵顶密封，使机座(100)与密封组件嵌套连接的外侧密封。
- 如权利要求1所述的吸附式自移动装置，其特征在于，所述吸附式自移动装置为墙面喷涂机器人或打蜡机器人。
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| CN105361786A (zh) | 2016-03-02 |
| CN110432816A (zh) | 2019-11-12 |
| CN105361786B (zh) | 2019-09-13 |
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