WO2013149583A1 - 具有吸盘的吸附装置及其擦玻璃装置 - Google Patents

具有吸盘的吸附装置及其擦玻璃装置 Download PDF

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Publication number
WO2013149583A1
WO2013149583A1 PCT/CN2013/073697 CN2013073697W WO2013149583A1 WO 2013149583 A1 WO2013149583 A1 WO 2013149583A1 CN 2013073697 W CN2013073697 W CN 2013073697W WO 2013149583 A1 WO2013149583 A1 WO 2013149583A1
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WIPO (PCT)
Prior art keywords
glass
unit
suction cup
film layer
cleaning device
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PCT/CN2013/073697
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English (en)
French (fr)
Inventor
吕小明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ecovacs Robotics Suzhou Co Ltd
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Ecovacs Robotics Suzhou Co Ltd
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Publication date
Application filed by Ecovacs Robotics Suzhou Co Ltd filed Critical Ecovacs Robotics Suzhou Co Ltd
Priority to JP2015503741A priority Critical patent/JP6285416B2/ja
Priority to KR1020147030928A priority patent/KR102049622B1/ko
Priority to US14/390,578 priority patent/US20150107043A1/en
Priority to EP13772100.7A priority patent/EP2835082B1/en
Publication of WO2013149583A1 publication Critical patent/WO2013149583A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B47/00—Suction cups for attaching purposes; Equivalent means using adhesives
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B47/00—Suction cups for attaching purposes; Equivalent means using adhesives
    • F16B47/003—Suction cups for attaching purposes; Equivalent means using adhesives using adhesives for attaching purposes

Definitions

  • Adsorption device with suction cup and glass cleaning device thereof Adsorption device with suction cup and glass cleaning device thereof
  • the invention belongs to the technical field of small household appliance manufacturing, and particularly relates to an adsorption device having a suction cup and a glass cleaning device thereof. Background technique
  • a common adsorption unit consists of a suction cup that is attached to the bottom of the glass-wiping device. If the material of the suction cup is made of soft materials, such as rubber, silica gel, etc., these elastic materials can make the machine absorb well, but because of the large friction coefficient, the glass-wiping device often cannot overcome the larger between the suction cup and the glass. The friction causes the glass-wiping device to move or the operation is not smooth, which affects the performance of the glass-wiping device. Summary of the invention
  • the technical problem to be solved by the present invention is to solve the deficiencies of the prior art, and propose a glass cleaning device which not only has a simple structure, but also generates sufficient adsorption force, thereby effectively avoiding the working process of the glass cleaning device.
  • the middle fell from the glass.
  • the present invention adopts the following technical solutions:
  • a glass cleaning device includes an adsorption device, a cleaning unit, a driving unit, a walking unit and a control unit.
  • the walking unit and the cleaning unit are both disposed at the bottom of the glass cleaning device, and the control unit is respectively connected with the cleaning unit and the driving unit, and the control unit is Under the action, the driving unit controls the walking unit to walk, the glass cleaning device is adsorbed to the glass surface by the adsorption device, the adsorption device comprises a suction cup, and the suction cup comprises an elastic layer and a film layer which are connected to each other, and the elastic layer and the glass cleaning device The bottom layer is connected, and the film layer is used to contact and seal the glass surface.
  • the present invention can further adopt the following technical solutions to solve the technical problem to be solved by the present invention:
  • the elastic layer is rubber or silica gel.
  • the film layer material has a coefficient of friction smaller than that of the elastic layer material.
  • the film layer is a plastic film.
  • the plastic film is made of polyethylene.
  • the plastic film has a thickness of 0.08 to 0.12 mm.
  • the adsorption device further comprises an air guiding tube and a vacuum pump, and the vacuum pump passes through the air guiding tube and the bottom of the glass cleaning device The suction cup of the department is connected.
  • the height of the suction cup protruding from the bottom surface of the glass cleaning device is higher than the height of the walking unit protruding from the bottom surface of the glass cleaning device, wherein the distance d is 0.5 to 1 mm.
  • the natural state refers to a state in which the pressure applied to the glass by the glass cleaning device is zero.
  • the present invention also provides an adsorption device having a suction cup comprising an elastic layer and a film layer, the film layer being located on a surface of the elastic layer, the suction cup being sealed and adsorbed by the film layer.
  • the invention has the beneficial effects that: since the suction cup adopts the structure of the elastic layer and the film layer, and the film layer closely contacts and seals the glass surface, the adsorption of the glass-wiping device of the invention is made.
  • the unit not only can be firmly attached to the glass during the working process, but also has a small friction between the film layer and the glass, so that the glass cleaning device can operate freely.
  • the glass cleaning device touches the small bumps, the film layer is easily deformed, and the negative pressure chamber of the suction cup is not easily leaked, thereby effectively preventing the glass cleaning device from falling down from the glass during the working process.
  • Figure 1 is a schematic view showing the natural state of the glass cleaning device of the present invention
  • FIG. 2 is a schematic view showing the working state of the glass cleaning device of the present invention.
  • FIG. 3 is a schematic structural view of a glass cleaning device of the present invention.
  • Figure 4 is a schematic view showing the control of the glass cleaning device of the present invention.
  • Control unit 6 Glass 8. Glass-wiping device 9. Elastic layer
  • FIG. 1 is a schematic view of the glass-wiping device of the present invention in a natural state
  • FIG. 2 is a schematic view showing the working state of the glass-wiping device of the present invention
  • the glass cleaning device 8 of the present invention comprises an adsorption device, a cleaning unit, a driving unit, a walking unit and a control unit.
  • the walking unit and the cleaning unit are both disposed at the bottom of the glass cleaning device, and the control unit and the cleaning unit respectively.
  • the driving unit controls the walking unit to walk
  • the glass cleaning device 8 is adsorbed to the glass surface by the adsorption device 1
  • the adsorption device comprises a suction cup 11
  • the suction cup 11 comprises
  • the elastic layer 9 and the film layer 10 are connected, and the elastic layer 9 is connected to the bottom of the glass cleaning device, and the film layer 10 is used to contact and seal the surface of the glass 6.
  • the material of the elastic layer 9 is preferably rubber or silica gel; the friction coefficient of the material of the film layer 10 is smaller than the friction coefficient of the material of the elastic layer 9; the material of the film layer 10 may preferably be a plastic film, for example The polyethylene film; the thickness of the plastic film is preferably controlled between 0.08 and 0.12 mm.
  • the elastic layer 9 and the film layer 10 can adopt various suitable materials in the prior art, for example, the film layer 10 can also be a polyester film, a nylon film, etc., and the plastic film can also be made of polyvinyl chloride, polypropylene, polyphenylene. Ethylene or the like, the invention is not enumerated in detail herein.
  • the adsorption device 1 of the present invention further includes an air tube 12 and a vacuum pump 13, and the vacuum pump 13 is connected to the suction cup 11 at the bottom of the glass cleaning device through the air guiding tube 12.
  • the glass cleaning device 8 of the present invention further comprises a walking unit 2, a cleaning unit 3, a driving unit 4 and a control unit 5, and the walking unit 2 and the cleaning unit 3 are respectively disposed at the bottom of the glass cleaning device 8, the control unit 5 is connected to the cleaning unit 3 and the driving unit 4 respectively, and under the action of the control unit 5, the driving unit 4 controls the walking unit 2 to travel.
  • the walking unit 2, the cleaning unit 3, the driving unit 4, and the control unit 5 are all prior art, and are not described herein again.
  • the height of the suction cup 11 protruding from the bottom surface of the glass cleaning device is higher than the height of the walking unit 2 (such as the crawler belt) protruding from the bottom surface of the glass cleaning device, and the natural state is Refers to the state in which the glass-wiping device exerts zero pressure on the glass.
  • the distance d is generally determined by the degree of deformation of the elastic layer, and in the preferred embodiment d is 0.5 to 1 mm.
  • the air in the suction cup 11 is extracted by the vacuum pump 13 to generate a negative pressure in the chamber inside the suction cup 11, and the pressure generated by the internal and external pressure difference causes the suction cup 11 to be deformed, and the film layer 10 is completely adsorbed and attached to the glass 6.
  • the distance d between the walking unit 2 (such as the crawler belt) and the glass gradually becomes smaller until it disappears, and the crawler belt generates a positive pressure on the glass 6 and gradually becomes larger, thereby generating sufficient driving force to overcome the friction between the suction cup and the glass. , so that the robot runs smoothly.
  • the friction coefficient of the material of the film layer 10 is smaller than the friction coefficient of the material of the elastic layer 9, the frictional force with the glass when the glass-wiping device is moved can be effectively reduced; and the thickness of the film layer 10 itself is very thin, usually mm-level, if When encountering small bumps on the surface of the glass, only the place corresponding to the small bumps is lifted up, and the glass surface is still attached to other places, which can effectively prevent the suction cup from leaking or failing.
  • the suction cup combination structure of the elastic layer 9 and the film layer 10 can be effectively adsorbed and moved on the vertical wall surface or the glass surface, and can be applied to various vertical surface cleaning devices.
  • the glass-wiping device of the present invention is not limited by the above-described embodiments, and any modifications, equivalent substitutions, improvements, etc., which are included in the spirit and principles of the present invention, should be included. It is within the scope of the invention.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Cleaning In General (AREA)
  • Surface Treatment Of Glass (AREA)

Description

具有吸盘的吸附装置及其擦玻璃装置
技术领域
本发明属于日用小家电制造技术领域， 特别是涉及一种具有吸盘的吸附装置及其 擦玻璃装置。 背景技术
传统的擦玻璃装置， 例如擦玻璃机器人， 可以通过吸附单元吸附在玻璃上进行工 作。 常见的吸附单元包含固定在擦玻璃装置底部的吸盘。 如果吸盘的材质采用软质材 料， 如橡胶， 硅胶等， 这些弹性材质虽然能够使机器很好的吸附， 但因其摩擦系数比 较大， 擦玻璃装置往往因为无法克服吸盘与玻璃之间较大的摩擦力而导致擦玻璃装置 走不动， 或者运行不畅， 影响擦玻璃装置的性能。 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， 提出一种擦玻璃装置， 该 擦玻璃装置不仅结构简单， 而且能产生足够的吸附力， 从而有效地避免该擦玻璃装置 在工作的过程中从玻璃上摔落下来。
为了解决上述技术问题， 本发明采用了下述技术方案：
一种擦玻璃装置包括吸附装置、 清洁单元、 驱动单元、 行走单元和控制单元， 行 走单元和清洁单元均设置在擦玻璃装置的底部， 控制单元分别与清洁单元和驱动单元 连接， 在控制单元的作用下， 驱动单元控制行走单元行走， 擦玻璃装置通过吸附装置 吸附于玻璃表面， 所述吸附装置包括吸盘， 所述吸盘包含相互连接的弹性层和薄膜层， 所述弹性层与擦玻璃装置的底部连接， 所述薄膜层用于接触并密封玻璃表面。
在上述技术方案的基础上， 本发明可进一步采用下述技术方案来解决本发明所要 解决的技术问题：
所述弹性层为橡胶或硅胶。
进一步地， 所述薄膜层材料的摩擦系数比弹性层材料的摩擦系数小。
进一步地， 所述薄膜层为塑料薄膜。
进一步地， 所述塑料薄膜的材质为聚乙烯。
进一步地， 所述塑料薄膜的厚度为 0.08〜0.12mm。
进一步地， 吸附装置还包括导气管和真空泵， 真空泵通过导气管与擦玻璃装置底 部的吸盘连接。
进一步地， 在自然状态时， 所述吸盘突出于擦玻璃装置底面的高度比行走单元突 出于擦玻璃装置底面的高度高出距离 d， 其中， 距离 d为 0.5〜lmm。 自然状态是指擦 玻璃装置对玻璃产生的压力为零的状态。
本发明还提供一种具有吸盘的吸附装置， 所述吸盘包含弹性层和薄膜层， 所述薄 膜层位于弹性层的表面， 所述吸盘通过所述薄膜层密封吸附。
与现有的擦玻璃装置相比， 本发明所具有的有益效果是： 由于吸盘采用了弹性层 和薄膜层的结构， 且薄膜层紧密接触并密封玻璃表面， 这使得本发明擦玻璃装置的吸 附单元在工作的过程中不但能够牢固地贴合在玻璃上， 而且由于薄膜层与玻璃之间的 摩擦力较小， 使得擦玻璃装置运行自如。 当擦玻璃装置行走时碰到细小的凸块， 由于 薄膜层容易发生变形， 不易使吸盘的负压室漏气， 从而有效地避免擦玻璃装置工作过 程中从玻璃上摔落下来。 附图说明
图 1为本发明擦玻璃装置自然状态时示意图；
图 2为本发明擦玻璃装置工作状态时示意图；
图 3为本发明擦玻璃装置的结构示意图；
图 4为本发明擦玻璃装置控制示意图。
附图标记：
1.吸附装置 2.行走单元 3.清洁单元 4.驱动单元
5.控制单元 6.玻璃 8.擦玻璃装置 9.弹性层
10.薄膜层 11.吸盘 12.导气管 13.真空泵 具体实施方式
以下结合附图和实施例对本发明的技术方案作进一步说明。
图 1为本发明擦玻璃装置自然状态时示意图； 图 2为本发明擦玻璃装置工作状态 时示意图； 图 3为本发明擦玻璃装置的结构示意图；
如图 1-2所示， 本发明擦玻璃装置 8包括吸附装置、 清洁单元、 驱动单元、 行走 单元和控制单元， 行走单元和清洁单元均设置在擦玻璃装置的底部， 控制单元分别与 清洁单元和驱动单元连接， 在控制单元的作用下， 驱动单元控制行走单元行走， 擦玻 璃装置 8通过吸附装置 1吸附于玻璃表面， 所述吸附装置包括吸盘 11， 吸盘 11包含 相连的弹性层 9和薄膜层 10， 弹性层 9与擦玻璃装置的底部连接， 薄膜层 10用于接 触并密封玻璃 6的表面。
在本实施例中， 所述弹性层 9的材料优选橡胶或硅胶； 所述薄膜层 10的材料的 摩擦系数比弹性层 9的材料的摩擦系数小； 薄膜层 10的材料可优选塑料薄膜， 例如聚 乙烯薄膜； 所述塑料薄膜的厚度最好控制在 0.08〜0.12mm之间。 当然， 弹性层 9和薄 膜层 10可以采用现有技术中各种适合材质， 如薄膜层 10还可以采用聚酯薄膜、 尼龙 薄膜等， 而塑料薄膜还可以采用聚氯乙烯、 聚丙烯、 聚苯乙烯等， 本发明在此不再详 细列举。
如图 3所示， 为使吸盘 11产生足够的吸附力， 本发明中的吸附装置 1还包括导 气管 12和真空泵 13， 真空泵 13通过导气管 12与擦玻璃装置底部的吸盘 11连接。
如图 4所示， 本发明擦玻璃装置 8还包括的行走单元 2、 清洁单元 3、 驱动单元 4 和控制单元 5， 行走单元 2和清洁单元 3分别设置在擦玻璃装置 8的底部， 控制单元 5 分别与清洁单元 3和驱动单元 4连接， 在控制单元 5的作用下， 驱动单元 4控制行走 单元 2行走。 需要说明的是， 行走单元 2、 清洁单元 3、 驱动单元 4和控制单元 5均为 现有技术， 在此不再赘述。
如图 1所示， 擦玻璃装置在自然状态时， 所述吸盘 11 突出于擦玻璃装置底面的 高度比行走单元 2 (如履带）突出于擦玻璃装置底面的高度高出距离 d， 自然状态是指 擦玻璃装置对玻璃产生的压力为零的状态。 距离 d—般由弹性层的形变程度决定， 较 佳的本发明中 d为 0.5〜lmm。
在擦玻璃装置工作后，通过真空泵 13抽出吸盘 11内的空气来使吸盘 11内侧的腔 室产生负压， 内外压差产生的压力使吸盘 11产生形变， 薄膜层 10完全吸附贴合在玻 璃 6上， 行走单元 2 (如履带）与玻璃之间的距离 d逐渐变小直到消失， 履带对玻璃 6 产生正压力且逐渐变大， 进而产生足够的驱动力以克服吸盘与玻璃之间的摩擦力， 从 而使机器人顺畅的运行。由于薄膜层 10的材料的摩擦系数比弹性层 9的材料的摩擦系 数小，能有效减少擦玻璃装置移动时与玻璃的摩擦力；且薄膜层 10本身的厚度非常薄， 通常为 mm级， 若遇到玻璃表面上的小凸块， 则仅仅对应小凸块的地方被顶起， 其它 地方仍贴合玻璃表面， 能有效防止吸盘漏气或失效。
本发明提供的吸附装置中， 弹性层 9和薄膜层 10的吸盘组合结构， 能有效地在 竖直墙面或玻璃表面上吸附和移动， 可应用于各种竖直面的清洁装置中。
以上介绍本发明的具体实施方式， 本发明擦玻璃装置不受上述具体实施方式的限 制， 凡在本发明的精神和原则之内， 所作的任何修改、 等同替换、 改进等， 均应包含 在本发明的保护范围之内。

Claims

权利要求书
1. 一种擦玻璃装置， 包括吸附装置、清洁单元（3)、驱动单元（4)、行走单元（2) 和控制单元 （5)， 行走单元 （2) 和清洁单元 （3) 均设置在擦玻璃装置 （8) 的底部， 控制单元 （5) 和驱动单元 （4) 连接， 在控制单元 （5) 的作用下， 驱动单元 （4) 控 制行走单元（2)行走， 擦玻璃装置通过吸附装置吸附于玻璃表面， 所述吸附装置包括 吸盘 （11)， 其特征在于： 所述吸盘 （11)包含相互连接的弹性层 （9)和薄膜层 （10)， 弹性层 （9) 与擦玻璃装置的底部连接， 薄膜层 （10) 用于接触并密封玻璃表面。
2. 如权利要求 1 所述的擦玻璃装置， 其特征在于： 所述弹性层 （9) 为橡胶或硅 胶。
3. 如权利要求 2所述的擦玻璃装置， 其特征在于： 所述薄膜层 （10) 的材料的摩 擦系数比弹性层 （9) 的材料的摩擦系数小。
4. 如权利要求 2所述的擦玻璃装置， 其特征在于： 所述薄膜层（10)为塑料薄膜。
5. 如权利要求 2所述的擦玻璃装置，其特征在于：所述塑料薄膜的材质为聚乙烯。
6. 如权利要求 5所述的擦玻璃装置， 其特征在于： 所述塑料薄膜的厚度为 0.08〜 0.12mm。
7. 如权利要求 2所述的擦玻璃装置， 其特征在于： 吸附装置 （1) 还包括导气管 (12)和真空泵 （13)， 真空泵（13)通过导气管 （12)与擦玻璃装置底部的吸盘 （11) 连接。
8. 如权利要求 1至 7任一项所述的擦玻璃装置， 其特征在于： 在自然状态时， 所 述吸盘 （11) 突出于擦玻璃装置底面的高度比行走单元（2) 突出于擦玻璃装置底面的 高度高出距离 d。
9. 如权利要求 8所述的擦玻璃装置， 其特征在于： 距离 d为 0.5〜lmm。
10. 一种具有吸盘的吸附装置， 其特征在于： 所述吸盘 （11) 包含弹性层 （9) 和 薄膜层 （10)， 所述薄膜层 （0) 位于弹性层 （9) 的表面， 所述吸盘 （11) 通过所述薄 膜层 （10) 密封吸附。
PCT/CN2013/073697 2012-04-05 2013-04-03 具有吸盘的吸附装置及其擦玻璃装置 Ceased WO2013149583A1 (zh)

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US14/390,578 US20150107043A1 (en) 2012-04-05 2013-04-03 Suction apparatus having suction cup and glass-wiping device thereof
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