CN110432816B - Adsorption type self-moving device - Google Patents

Abstract

A suction-type self-moving device comprising: the device comprises a machine base, a walking unit and a vacuum source; the machine base is provided with a sealing assembly, and the vacuum source works to enable the sealing assembly to seal the adsorption surface; the seal assembly comprises a movable bracket; the sealing assembly is characterized in that the machine base is provided with a convex column, the movable support is provided with a through hole, and the convex column is inserted into the through hole so that the sealing assembly can move relative to the machine base along the axis of the convex column. According to the invention, the sealing assembly and the base are arranged in a floating manner, and the skirt structure is arranged, and the flexible material with smaller friction coefficient is selected, so that the skirt is directly subjected to the action of atmospheric pressure on the adsorption surface with poorer sealing environment, the sealing property of the vacuum chamber is improved, and the walking of the adsorption type self-moving device is not hindered; the invention has simple structure, can effectively absorb redundant pressure and balance the adsorption force and the friction force in normal walking and safe adsorption.

Description

Adsorption type self-moving device

This application is a divisional case of Chinese Patent Application No. 2014103600750 filed on July 25, 2014, entitled "Adsorption Self-moving Device".

technical field

The invention relates to an adsorption type self-moving device.

Background technique

With the increasing intelligence of human life, adsorption-type self-moving devices represented by window-cleaning robots are more and more widely used. Therefore, how to make window-cleaning robots work safely and normally on different glass has become an important product. The top priority of the request.

FIG. 1 is a schematic structural diagram of a conventional window cleaning robot. As shown in FIG. 1, the existing window cleaning robot A mainly includes a base 100 and a rag 200 arranged on the base 100. Under the action of the vacuum source 400, it is adsorbed on the glass surface, and relies on the walking unit 300 and the Its external timing belt (not shown in the figure) completes the walking action. From the perspective of the working principle of the window cleaning robot, if the window cleaning robot A wants to walk on the glass surface B, it obviously needs to meet the following conditions: 1. The cabin of the window cleaning robot must maintain sufficient vacuum and flow to make the body It is tightly adsorbed on the glass surface B; 2. The synchronous belt covering the outer surface of the walking unit 300 must provide sufficient power, that is, friction force, to overcome the body weight, the frictional resistance between the rag and the glass, and other resistances to ensure that the body Walk on glass surfaces without falling off. In order to make the body walk on the glass surface and reduce its frictional resistance, it can be achieved by using a rag material with a small friction coefficient to contact the glass surface as much as possible, or by reducing the pressure between the rag and the glass surface.

As shown in FIG. 1 , in order to make the body of the window cleaning robot A tightly adhere to the glass surface B, a sufficient degree of vacuum must be maintained. If the vacuum is too small, although the friction between the rag 200 and the glass surface B can be reduced, it will cause insufficient suction, which will cause the body to fall easily and affect normal use.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide an adsorption-type self-moving device in view of the deficiencies of the prior art. The sealing assembly and the base are elastically connected to realize the movable setting of the sealing assembly relative to the base and ensure the vacuum When the temperature increases, the increment of the supporting force of the sealing component by the adsorption surface is smaller than that of the walking unit by the supporting force of the adsorption surface, which improves the sealing performance of the vacuum chamber and does not hinder the walking of the adsorption-type self-moving device; the present invention has a simple structure but It can effectively absorb excess pressure and balance the adsorption force and friction force in normal walking and safe adsorption.

The technical problem to be solved by the present invention is achieved through the following technical solutions:

An adsorption-type self-moving device, comprising: a machine base, a walking unit and a vacuum source; wherein,

The base is provided with a sealing component, and the vacuum source works so that the sealing component seals the adsorption surface;

the sealing assembly includes a movable bracket;

The base is provided with a protruding post, the movable bracket is provided with a through hole, and the protruding post is inserted into the through hole, so that the sealing assembly can be relative to the base along the axis of the protruding post move;

Also includes: fasteners;

The fastener passes through the through hole to movably connect the movable bracket to the protruding post of the machine base.

Further, the sealing assembly is connected with the bottom of the machine base through an elastic elastic member, so that the sealing assembly can move relative to the machine base.

Further, the bottom of the base includes a cavity, and the cavity is communicated with the vacuum source;

After sealing between the sealing component and the adsorption surface, a vacuum chamber is formed with the cavity;

The elastic elastic member is located inside the vacuum chamber.

Further, the elastic retractable member is a spring;

The movable bracket includes a straight portion and a raised portion, and the raised portion is provided with the through hole;

The spring is sleeved on the outside of the protruding column, and the upper and lower ends of the spring are respectively abutted against the bottom of the base and the upper surface of the raised portion.

Further, it also includes: a sealing ring;

The straight part is also 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 base.

Further, the bottom of the base includes a cavity, and the cavity is communicated with the vacuum source;

After sealing between the sealing component and the adsorption surface, a vacuum chamber is formed with the cavity;

The traveling unit is provided inside or outside the vacuum chamber.

Further, the sealing assembly extends toward the outside of the vacuum chamber to form a skirt, a side of the skirt facing the adsorption surface is sealed with the adsorption surface, and a side away from the adsorption surface is exposed to the atmosphere .

Further, it also includes: a functional unit;

The functional unit is a rag;

The sealing assembly is sealed to the suction surface by the wiper, and the skirt is sealed to the suction surface by the wiper.

Correspondingly, the embodiment of the present invention also provides an adsorption-type self-moving device, including: a machine base, a traveling unit, a sealing component and a vacuum source; wherein, the vacuum source works so that the sealing component seals the adsorption surface;

A movable bracket is arranged on the base; wherein, a fastener is also included; the fastener movably connects the movable bracket to the base;

When the movable bracket moves relative to the base, the sealing assembly is movable relative to the base.

Further, the movable bracket is provided with a through hole;

The machine base is provided with a convex column;

The protruding post is matched with the through hole, so that the sealing assembly can move relative to the base along the axial direction of the protruding post.

Further, the sealing assembly includes the movable bracket.

Correspondingly, the embodiment of the present invention also provides an adsorption-type self-moving device, including: a machine base, a walking unit and a vacuum source; wherein,

The base is provided with a sealing component, and the vacuum source works so that the sealing component seals the adsorption surface;

The sealing assembly includes a movable bracket, the movable bracket is provided with a convex column, the base is provided with a through hole, and the convex column is inserted into the through hole, so that the sealing assembly can follow the convex column. The direction of the axis moves relative to the base;

It also includes fasteners; the fasteners pass through the through holes to movably connect the movable bracket to the base;

Wherein, the lower surface of the movable bracket is provided with a rag, and the sealing assembly is sealed with the adsorption surface through the rag.

Correspondingly, the embodiment of the present invention also provides an adsorption-type self-moving device, including: a machine base, a walking unit and a vacuum source; wherein,

The base is provided with a sealing component, and the vacuum source works so that the sealing component seals the adsorption surface;

the sealing assembly includes a movable bracket;

One of the movable bracket and the base is provided with a through hole, and the other is provided with a convex column;

The protruding post is matched with the through hole, so that the sealing assembly is movably connected to the machine base; it also includes a fastener; the fastener passes through the through hole to move the movable bracket connected to the base;

Wherein, the lower surface of the movable bracket is provided with a rag, and the sealing assembly is sealed with the adsorption surface through the rag.

In addition, correspondingly, an embodiment of the present invention also provides an adsorption-type self-moving device, comprising: a machine base, a walking unit and a vacuum source; wherein,

The base is provided with a sealing component, and the vacuum source works so that the sealing component seals the adsorption surface;

The sealing assembly is movably connected to the base; wherein, it also includes a fastener; the fastener movably connects the sealing assembly to the base;

Wherein, the lower surface of the sealing assembly is provided with a rag, and the sealing assembly is sealed with the adsorption surface through the rag.

To sum up, the present invention ensures that when the vacuum degree increases, the increment of the supporting force of the sealing component by the adsorption surface is smaller than the increment of the supporting force of the walking unit by the adsorption surface, and the increase of The airtightness of the vacuum chamber does not hinder the walking of the adsorption type self-moving device; the invention has a simple structure but can effectively absorb excess pressure, and balance the adsorption force and the friction force in normal walking and safe adsorption.

The technical solutions of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

Description of drawings

1 is a schematic structural diagram of an existing window cleaning robot;

2 to 3 are schematic diagrams of positions of the window cleaning robot in different states provided by an embodiment of the present invention;

Fig. 4 is the partial M structure schematic diagram of Fig. 2;

Fig. 5 is the bottom structure schematic diagram of the window cleaning robot of the present invention;

6 is a schematic structural diagram of a preferred window cleaning robot according to an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of another preferred window cleaning robot according to an embodiment of the present invention.

Detailed ways

Example 1

2 to 3 are schematic diagrams of positions of a window cleaning robot in different states according to an embodiment of the present invention, respectively, and FIG. 4 is a schematic diagram of a partial M structure of FIG. 5 , as shown in FIGS. 2 to 4 .

In this embodiment, the adsorption-type self-moving device includes, but is not limited to, a window cleaning robot, including a robot body, and the body includes a machine base 100 , a walking unit 300 and a vacuum source 400 . Wherein, the base 100 is provided with a sealing component, and the vacuum source 400 works so that the sealing component seals the adsorption surface. The sealing assembly is connected to the bottom of the machine base 100 through an elastic elastic member. The sealing assembly includes a movable bracket 500 . The base 100 is provided with a protruding post 101 , the movable bracket 500 is provided with a through hole 5121 , and the protruding post 101 is inserted into the through hole 5121 , so that the sealing assembly can move along the protruding post 101 . The axis moves relative to the base 100 . In the embodiment of the present invention, the adsorption surface includes, but is not limited to, the glass surface B.

In the embodiment of the present invention, the sealing assembly can move relative to the base 100 along the axis of the protruding post 101 , the protruding post 101 is inserted into the through hole 5121 , and the length of the protruding post 101 is greater than the movement defining the through hole 5121 The thickness of the part of the bracket 500 enables the movable bracket 500 to move along the long axis of the protruding column 101 , so that the movable bracket 500 can move relative to the base 100 through the protruding column 101 . One possible way is that the long axis of the protruding post 101 is substantially parallel to the normal line of the bottom surface of the movable bracket 500 , so that the movable bracket 500 can move in the direction of the normal line of the bottom surface of the movable bracket 500 .

In the embodiment of the present invention, the sealing assembly and the base 100 are moved and arranged to ensure that when the vacuum degree increases, the increment of the supporting force of the sealing assembly by the adsorption surface is smaller than the increment of the supporting force of the walking unit 300 by the adsorption surface, and the vacuum is improved. The airtightness of the chamber is not hindered from the walking of the adsorption-type self-moving device. The invention has a simple structure but can effectively absorb excess pressure, and balance the adsorption force and the friction force in normal walking and safe adsorption.

In this embodiment, a way to realize the movement of the sealing assembly relative to the base 100 along the axis of the protruding column 101 is that the adsorption-type self-moving device further includes: a fastener 520 . The fastener 520 passes through the through hole 5121 to movably connect the movable bracket 500 to the protruding post 101 of the base 100 . Usually, the fastener 520 can be a self-tapping screw or other commonly used standard parts. Taking a self-tapping screw as an example, the screw of the self-tapping screw is connected to the convex column 101 through the through hole 5121 , the nut does not pass through the through hole 5121 , and the movable bracket 500 can move on the convex column 101 of the machine base 100 , the movable bracket 500 can be prevented from disengaging from the protruding post 101 by the nut.

Further, the sealing assembly is connected to the bottom of the machine base 100 through an elastic elastic member, so that the sealing assembly can move relative to the machine base 100 . The elastic retractable element is used to make the movable arrangement between the sealing assembly and the base 100 to ensure that when the vacuum degree increases, the increment of the supporting force of the sealing assembly by the adsorption surface is smaller than the increment of the supporting force of the walking unit 300 by the adsorption surface, and the vacuum is improved. The airtightness of the chamber is not hindered from the walking of the adsorption-type self-moving device.

In this embodiment, an elastic connection is achieved between the sealing assembly and the base 100 through elastic expansion and contraction parts, so as to realize the movement of the sealing assembly relative to the base 100 and ensure that the sealing assembly is supported by the adsorption surface when the vacuum degree increases. The increment is smaller than the increment of the supporting force of the walking unit 300 on the adsorption surface, which improves the sealing performance of the vacuum chamber and does not hinder the walking of the adsorption-type self-moving device. The structure is simple, but it can effectively absorb excess pressure, and balance the adsorption force and friction force in normal walking and safe adsorption. In addition, the sealing assembly and the base 100 are elastically connected, so when the walking unit 300 walks on the obstacle, the sealing assembly can move relative to the base 100, so that the sealing assembly can be tightly sealed on the adsorption surface, and the sealing assembly can be kept in contact with the base 100. The airtightness of the vacuum chamber between the adsorption surfaces, thus avoiding the leakage of the vacuum chamber.

Further, the bottom of the base 100 includes a cavity 110 , and the cavity 110 communicates with the vacuum source 400 . After sealing between the sealing component and the adsorption surface, a vacuum chamber is formed with the cavity 110. The elastic elastic member is located inside the vacuum chamber. In order to facilitate the walking of the adsorption-type self-moving device, the walking unit is arranged inside the vacuum chamber. Of course, according to the shape arrangement of different sealing components, the elastic expansion and contraction member may also be arranged outside the vacuum chamber, and the traveling unit may also be arranged outside the vacuum chamber.

Further, one way of connecting the elastic telescopic elements is, referring to FIGS. 2 to 4 , the movable bracket 500 includes a straight portion 511 and a protruding portion 512 , and a through hole 5121 is provided on the protruding portion 512 . The boss 101 at the bottom of the base 100 is provided with screw holes. Connection holes are respectively provided on opposite sides of the elastic telescopic element, and the fasteners 520 connect the elastic telescopic element to the bottom of the machine base 100 through the connection holes and screw holes respectively. Another fastener 520 passes through the through hole 5121 and is connected to the connecting hole on the other side of the elastically retractable member, so as to connect the movable bracket 500 to the elastically retractable member. Alternatively, a connecting hole is provided on the elastic retractable member, and the fastener 520 passes through the through hole 5121 and the connecting hole to movably connect the movable bracket 500 to the base 100. The elastic retractable member is arranged between the bottom of the machine base (100) and the upper surface of the raised portion (512). Usually, the fastener 520 can be a self-tapping screw or other commonly used standard parts.

Continuing to refer to FIGS. 2 to 4 , the elastic telescopic member also includes but is not limited to a spring 530, which is sleeved on the outside of the protruding column 101. The upper and lower ends of the spring 530 are respectively connected to the bottom and the protrusion of the base 100. The upper surfaces of the parts 512 abut against each other.

A vacuum chamber is formed between the base 100 , the movable support 500 , the lower surface of the base 100 and the glass surface B, and the vacuum source 400 is used to evacuate the vacuum chamber. In order to further ensure the tightness of the vacuum chamber, in an achievable embodiment of the present invention, the adsorption-type self-moving device further includes a sealing ring, a positioning groove 513 is also provided on the straight portion 511, and one end of the sealing ring 540 is embedded. Set in the positioning groove 513 , the other end is sealed against the inside of the base 100 to seal the outer side of the nested connection between the base 100 and the movable bracket 500 , so as to protect the vacuum degree of the vacuum chamber.

It should be noted that a sealing assembly specifically described in this embodiment is to make the technical solution clearer, but it should not be regarded as a limitation on the protection scope of the present invention, and those skilled in the art can correspond to specific work needs. The changes achieve the same technical effect. For example, for the connection method between the movable bracket 500 and the base 100, a protruding post can be provided on the protruding part 512, a through hole is correspondingly opened on the base 100, and the protruding post is connected through the through hole by a fastener, which can also play the role of The movable bracket and the base 100 can move.

Since the adsorption-type self-moving device in this embodiment includes, but is not limited to, a glass-cleaning robot, it also includes a functional unit, and the functional unit is a rag 200 disposed on the lower surface of the sealing assembly. Specifically, the movable bracket 500 is the sealing assembly, the lower surface of the straight portion 511 of the movable bracket 500 is further provided with a functional unit, and the functional unit is a rag 200 , and the rag 200 is pasted on the lower surface of the movable bracket 500 . The lower surface, the specific sticking position is on the lower surface of the straight portion 511 , the sealing component can be sealed with the adsorption surface by the wiper 200 , and the wiper 200 and the adsorption surface are sealed to form a vacuum chamber with the cavity.

As shown in FIG. 2 to FIG. 3 , in order to facilitate the walking of the adsorption-type self-moving device, the walking unit 300 is arranged inside the vacuum chamber. Of course, the walking unit 300 can also be arranged outside the vacuum chamber according to the shape arrangement of different sealing components.

Further, referring to FIG. 6 , the sealing assembly extends toward the outside of the vacuum chamber to form a skirt 550 , and the skirt 550 is sealed with the adsorption surface on the side facing the adsorption surface, and the side facing away from the adsorption surface is sealed with the adsorption surface. One side is exposed to the atmosphere. Specifically, a skirt 550 extends from the straight portion 511 of the movable bracket 500 toward the outside of the vacuum chamber, and the skirt 550 is attached and sealed with the adsorption surface. The setting length of the wiper 200 may be the same as the length of the movable bracket 500 , that is, in this embodiment, the wiper 200 is adhered to the lower surface of the movable bracket 500 , and its sticking length is the same as that of the movable bracket 500 . The straight portion 511 , the raised portion 512 and the skirt 550 have the same total length, and the skirt 500 is sealed with the suction surface by the wiper 200 .

For the adsorption surface with poor sealing environment, a skirt 550 is attached to the outer edge of the sealing component, that is, the movable bracket 500, which is attached to the adsorption surface, and the rag 200 is pasted under the movable bracket and the skirt 550 extended from the outer edge. surface, in direct contact with glass surface B. During the working process, the skirt 550 and the rag 200 attached to its lower surface are directly affected by the atmospheric pressure, and a large pressure is generated between the rag 200 and the glass surface B, which greatly improves the sealing of the vacuum chamber. sex.

Further, as shown in FIG. 7 , the setting length of the wiper 200 is the same as the sum of the lengths of the straight portion 511 and the raised portion 512 of the movable bracket, and one end of the wiper 200 is embedded in the skirt 550 The inner side of the rag 200 and the bottom surface of the skirt 550 are flush. The part in contact with the glass surface B includes the wiper 200 and the skirt 550, that is, the skirt 550 is directly attached and sealed with the adsorption surface.

During the working process, if the friction coefficient of the wiper 200 is relatively large, it is necessary to increase the pressure between the wiper 200 and the adsorption surface by increasing the elastic force of the spring retractable member. Although it can meet the sealing requirements of the vacuum chamber, it will As a result, the frictional resistance of the rag 200 is relatively large, which hinders walking. Therefore, the skirt 550 can be made of a flexible material with a small coefficient of friction. In this way, the skirt 550 is directly affected by the atmospheric pressure, and a large pressure is generated between the skirt 550 and the glass surface B. The sealing performance of the vacuum chamber is improved, and because the friction coefficient of the skirt 550 is small, the friction between the rag 200 and the glass surface B will not hinder the glass-cleaning robot from moving on the glass surface B due to the very large frictional force. Walk normally.

In this embodiment, there are many types of adsorption-type self-moving devices. In addition to the glass-cleaning robot involved in the above-mentioned embodiment, it may also include a wall spraying robot or a waxing robot. No matter what kind of adsorption-type self-moving device, in terms of structure, it must include a machine base and a walking unit. The bottom of the machine base includes a cavity, the cavity is communicated with the vacuum source, and the outer circumference of the cavity is A sealing component is provided for sealing with the adsorption surface, the sealing component and the adsorption surface are sealed to form a vacuum chamber with the cavity, and the sealing component is connected to the bottom of the machine base through an elastic expansion piece. According to the different types of adsorption self-moving devices, the specific structure of the functional unit will be different. The glass cleaning robot and the rag can be used as the functional unit, and at the same time, it is a part of the sealing component or the machine base. For a wall spraying robot or a waxing robot, its functional unit may be separate from the sealing component and set up separately.

The working principle of the present invention will be described in detail with reference to FIG. 2 to FIG. 5 . In order to ensure that the window cleaning robot is adsorbed on the glass surface B and does not fall off, it is necessary to increase the suction force of the vacuum source 400. If the rag 200 is fixed on the base 100 according to the conventional setting method, this process will inevitably cause the window cleaning robot to The supporting force of the synchronous belt 310 and the rag 200 on the glass surface B will increase. According to f=uN, the supporting force of the rag 200 on the glass surface B will directly affect the rag 200 when the window cleaning robot A walks by the glass surface B. amount of friction.

In this embodiment, the sealing assembly is movably disposed on the base 100 , for example, the sealing assembly is elastically connected to the base 100 through an elastic expansion member or a spring 530 . The elastic retractable member or the support spring 530 disposed in the movable bracket 500 makes the increment of the supporting force of the wiper 200 by the glass surface B smaller than the increment of the supporting force of the synchronous belt 310 by the glass surface B.

The most ideal situation is that the increase of the suction force of the vacuum source 400 can be completely distributed to the increase of the supporting force of the synchronous belt 310 by the glass surface B, so as to solve the problem that the synchronous belt 310 slips and the rag 200 hinders the window cleaning robot A from walking. Since the supporting force of the synchronous belt 310 by the glass surface B directly affects the window cleaning robot A walking, the synchronous belt 310 is subjected to the friction force of the glass surface B, and this friction force is the driving force for the window cleaning robot A to walk. In this way, when the suction force of the vacuum source 400 increases, the increase in the power provided by the timing belt 310 to the window cleaning robot A for walking is significant, while the increase in the friction force of the wiper 200 on the glass surface B is not significant.

Further, on the basis that the window cleaning robot A is adsorbed on the glass surface B and does not fall off, the suction force of the vacuum source 400 is increased. , the window cleaning robot A will be more closely attached to the glass surface B, that is, the window cleaning robot A has a certain deformation, which makes the upper surface of the window cleaning robot A closer to the glass surface B. Of course, this deformation The amount is very small. Correspondingly, the supporting force of the synchronous belt 310 and the rag 200 on the glass surface B will also increase.

For the existing window cleaning robot shown in FIG. 1 , the synchronous belt 310 and the rag 200 can be regarded as an integral rigid body. For the sake of clarity, the synchronous belt and the rag 200 are regarded as an integral rigid body as an ideal situation. . When the suction force of the vacuum source 400 increases, the supporting force of the timing belt 310 and the wiper 200 on the glass surface B increases in the same proportion.

As shown in FIG. 2 to FIG. 3, in the present invention, when the suction force of the vacuum source 400 is increased, under the action of the pressure difference between the vacuum chamber and the outside, the window cleaning robot A will be more closely attached to the glass surface B. Similarly Yes, the window cleaning robot A has a certain deformation, but at this time, the deformation of the window cleaning robot A is mainly reflected in the deformation of the synchronous belt 310, and the deformation of the synchronous belt 310 drives the elastic expansion member or the bracket spring 530 to deform. The elastic retractable member or bracket spring 530 then generates a corresponding deformation elastic force, which is insignificant when applied to the wiper 200 through the movable bracket 500, and the wiper 200 is subjected to two forces in total, one is the elastic retractable member or bracket spring The elastic force of 530 to it, the other is the support force of the glass surface B to it, and these two are equal, therefore, the amount of increase in the support force of the wiper 200 by the glass surface B due to the increase of the suction force of the vacuum source 400 is not significant of.

In other words, when the suction force of the vacuum source 400 is increased, the elastic elastic member or the support spring 530 provided in the movable bracket 500 is deformed to a certain extent and remains basically unchanged, and the rag 200 is subjected to the increasing atmospheric pressure by the synchronous belt 310.

Embodiment 2

Continuing to refer to FIGS. 2 to 4 , this embodiment provides an adsorption-type self-moving device. The adsorption-type self-moving device includes but is not limited to a window cleaning robot, including a robot body. The body includes: a machine base 100, a walking unit 300, Seal assembly and vacuum source 400 . Wherein, the sealing assembly is connected to the bottom of the machine base 100 through an elastic stretchable member. The vacuum source 400 operates so that the sealing assembly seals the suction surface. The base 100 is provided with a movable bracket 500. When the movable bracket 500 moves relative to the base 100 , the sealing assembly can move relative to the base 100 .

In the embodiment of the present invention, the movable bracket 500 is used to realize the movable arrangement between the sealing assembly and the base 100, so as to realize the relative movement between the sealing assembly and the base 100, so as to ensure that the sealing assembly is subject to the adsorption surface when the vacuum degree increases. The increment of the supporting force is smaller than the increment of the supporting force of the walking unit 300 on the adsorption surface, which improves the sealing performance of the vacuum chamber and does not hinder the walking of the adsorption-type self-moving device. The invention has a simple structure but can effectively absorb excess pressure, and balance the adsorption force and the friction force in normal walking and safe adsorption.

Further, the movable bracket 500 is provided with a through hole 5121 , and the base 100 is provided with a protruding post 101 , and the protruding post 101 is matched with the through hole 5121 , so that the sealing assembly can move along the protruding post 101 . The axial direction of the column 101 is movable relative to the base 100 . One possible way is that the protruding post 101 can pass through the through hole 5121 , so that the sealing assembly can move relative to the base 100 along the axial direction of the protruding post 101 . For example, a fastener passes through the through hole 5121 to movably connect the movable bracket 500 to the protruding post 101 of the base 100 . The sealing assembly includes the movable bracket 500, that is, the sealing assembly can move relative to the base 100 through the movable bracket 500, so as to realize the relative movement between the sealing assembly and the base 100.

Further, the bottom of the base 100 is protruded with the protruding post 101, the protruding post 101 passes through the through hole 5121, and the sealing assembly is connected to the bottom of the base 100 through an elastic elastic member. The elastic connection between the sealing assembly and the base 100 can realize the movable setting of the sealing assembly relative to the base 100, so as to ensure that the increase of the supporting force of the sealing assembly by the adsorption surface when the vacuum degree increases is smaller than that of the walking unit 300 by the adsorption surface The increase of the support force improves the sealing performance of the vacuum chamber, and at the same time does not hinder the walking of the adsorption self-moving device. The invention has a simple structure but can effectively absorb excess pressure, and balance the adsorption force and the friction force in normal walking and safe adsorption. Moreover, the sealing assembly and the machine base 100 are elastically connected, so when the walking unit 300 walks on the obstacle, the sealing assembly can move relative to the machine base 100, so that the sealing assembly can be tightly sealed on the adsorption surface, and the sealing assembly can be kept in contact with the base 100. The airtightness of the vacuum chamber between the adsorption surfaces, thus avoiding the leakage of the vacuum chamber.

Further, one way of connecting the elastic telescopic elements is, referring to FIGS. 2 to 4 , the movable bracket 500 includes a straight portion 511 and a protruding portion 512 , and a through hole 5121 is provided on the protruding portion 512 . The boss 101 at the bottom of the base 100 is provided with screw holes. Connection holes are respectively provided on opposite sides of the elastic telescopic element, and the fasteners 520 connect the elastic telescopic element to the bottom of the machine base 100 through the connection holes and screw holes respectively. Another fastener 520 passes through the through hole 5121 and is connected to the connecting hole on the other side of the elastically retractable member, so as to connect the movable bracket 500 to the elastically retractable member. Alternatively, a connecting hole is provided on the elastic retractable member, and the fastener 520 passes through the through hole 5121 and the connecting hole to movably connect the movable bracket 500 to the base 100. The elastic retractable member is arranged between the bottom of the machine base (100) and the upper surface of the raised portion (512). Usually, the fastener 520 can be a self-tapping screw or other commonly used standard parts.

Continuing to refer to FIGS. 2 to 4 , the elastic telescopic member also includes but is not limited to a spring 530, which is sleeved on the outside of the protruding column 101. The upper and lower ends of the spring 530 are respectively connected to the bottom and the protrusion of the base 100. The upper surfaces of the parts 512 abut against each other.

A vacuum chamber is formed between the base 100 , the movable support 500 , the lower surface of the base 100 and the glass surface B, and the vacuum source 400 is used to evacuate the vacuum chamber. In order to further ensure the tightness of the vacuum chamber, in an achievable embodiment of the present invention, a positioning groove 513 is further provided on the straight portion 511, one end of the sealing ring 540 is embedded in the positioning groove 513, and the other One end is sealed against the interior of the base 100, so that the base 100 is sealed with the outer side of the nested connection of the movable support 500, so as to protect the vacuum degree of the vacuum chamber.

The technical solutions in the second embodiment and the technical solutions in the above-mentioned first embodiment can be referred to and learn from each other, and will not be repeated here.

Embodiment 3

As shown in FIG. 2 to FIG. 4 , this embodiment also provides an adsorption-type self-moving device. The adsorption-type self-moving device includes but is not limited to a window cleaning robot, including: a machine base 100 , a walking unit 300 and vacuum source 400. Wherein, the base 100 is provided with a sealing component, and the vacuum source 400 works so that the sealing component seals the adsorption surface. The sealing assembly is connected to the bottom of the machine base 100 through an elastic elastic member. The sealing assembly includes a movable bracket 500, the movable bracket 500 is provided with a protruding post 101, and the base is provided with a through hole 5121, and the protruding post 101 is inserted into the through hole, so that the sealing assembly can be It moves relative to the base 100 along the direction of the hole axis of the through hole 5121 .

In the embodiment of the present invention, the movable bracket 500 is used to realize the movable connection between the sealing assembly and the machine base 100, so as to ensure that when the vacuum degree increases, the increase of the supporting force of the sealing assembly by the adsorption surface is smaller than that of the walking unit 300 supported by the adsorption surface. The increase of the force improves the sealing performance of the vacuum chamber, and at the same time does not hinder the walking of the adsorption self-moving device. The invention has a simple structure but can effectively absorb excess pressure, and balance the adsorption force and the friction force in normal walking and safe adsorption.

Further, the movable bracket 500 is protruded with the protruding post 101 toward the bottom side of the base 100 , the protruding post 101 passes through the through hole 5121 , and the sealing assembly is connected to the The bottom of the base 100 is connected. By arranging elastic expansion and contraction parts between the sealing assembly and the bottom of the base 100, the elastic connection of the sealing assembly relative to the base is realized, so that the sealing assembly can be moved relative to the base, so as to ensure that the sealing assembly is subject to increased vacuum when the degree of vacuum increases. The increment of the supporting force of the adsorption surface is smaller than the increment of the supporting force of the walking unit by the adsorption surface.

Further, the elastic telescopic element is a spring. One way of connecting the elastic telescopic parts is, referring to FIG. 2 to FIG. 4 , the movable bracket 500 includes a straight part 511 and a convex part 512 . hole. Connecting holes are respectively provided on opposite sides of the elastic telescopic element, and the fasteners 520 connect the elastic telescopic element to the movable bracket 500 through the connection holes and screw holes respectively. Another fastener 520 passes through the through hole 5121 and is connected to the connecting hole on the other side of the elastically stretchable member, so that the elastically stretchable member is movably connected to the bottom of the machine base 100. Alternatively, the elastic telescopic member is provided with a through connecting hole, and the fastener 520 passes through the through hole 5121 and the connecting hole to movably connect the movable bracket 500 to the base 100 . The elastic retractable member is arranged between the bottom of the machine base (100) and the upper surface of the raised portion (512). Usually, the fastener 520 can be a self-tapping screw or other commonly used standard parts.

Continuing to refer to FIGS. 2 to 4 , the elastic telescopic member also includes but is not limited to a spring 530, which is sleeved on the outside of the protruding column 101. The upper and lower ends of the spring 530 are respectively connected to the bottom and the protrusion of the base 100. The upper surfaces of the parts 512 abut against each other.

The technical solutions described in Embodiment 3 and the technical solutions in Embodiment 1 and Embodiment 2 above can be referred to and learn from each other, and will not be repeated here.

Embodiment 4

As shown in FIG. 2 to FIG. 4 , this embodiment also provides an adsorption-type self-moving device. The adsorption-type self-moving device includes but is not limited to a window cleaning robot, including: a machine base 100 , a walking unit 300 and vacuum source 400. Wherein, the base 100 is provided with a sealing component, and the vacuum source 400 works so that the sealing component seals the adsorption surface. The sealing assembly is connected to the bottom of the machine base 100 through an elastic elastic member. The sealing assembly includes a movable bracket 500 , one of the movable bracket 500 and the base 100 is provided with a through hole 5121 , and the other is provided with a convex column 101 . The protruding post 101 is matched with the through hole 5121 , so that the sealing assembly is movably connected to the base 100 .

In the embodiment of the present invention, the movable bracket 500 is used to realize the movable connection between the sealing assembly and the machine base 100, so as to ensure that when the vacuum degree increases, the increase of the supporting force of the sealing assembly by the adsorption surface is smaller than that of the walking unit 300 supported by the adsorption surface. The increase of the force improves the sealing performance of the vacuum chamber, and at the same time does not hinder the walking of the adsorption self-moving device. The invention has a simple structure but can effectively absorb excess pressure, and balance the adsorption force and the friction force in normal walking and safe adsorption.

One of the movable bracket 500 and the base 100 is provided with a through hole 5121 , and the other is provided with a convex column 101 .

Its implementation includes:

The movable bracket 500 is protruded from the bottom side of the base 100 with the protruding post 101 , and the protruding post 101 passes through the through hole 5121 to realize the movable connection of the sealing assembly to the base 100 on. Furthermore, the movable bracket 500 includes a straight portion 511 and a convex portion 512 , and the convex portion 512 is provided with a convex column 101 .

or

The movable bracket 500 is provided with a through hole 5121 , and the base 100 is provided with a protruding post 101 . The axis direction is movable relative to the base 100 . Further, the protruding post 101 is protruded from the bottom of the base 100 , the movable bracket 500 includes a straight portion 511 and a protruding portion 512 , and a through hole 5121 is provided on the protruding portion 512 .

The technical solutions described in Embodiment 4 and the technical solutions in Embodiments 1 to 3 above can be referred to and learn from each other, and will not be repeated here.

Embodiment 5

2 to 3 are schematic diagrams of positions of a window cleaning robot in different states according to an embodiment of the present invention, respectively, and FIG. 4 is a schematic diagram of a partial M structure of FIG. 5 , as shown in FIGS. 2 to 4 .

In this embodiment, the adsorption-type self-moving device includes, but is not limited to, a window cleaning robot, including a robot body, and the body includes a machine base 100 , a walking unit 300 and a vacuum source 400 . Wherein, the base 100 is provided with a sealing component, and the vacuum source 400 works so that the sealing component seals the adsorption surface. The sealing assembly is connected to the bottom of the machine base 100 through an elastic elastic member. The sealing assembly is movably connected to the base 100 . In the embodiment of the present invention, the adsorption surface includes, but is not limited to, the glass surface B.

In the embodiment of the present invention, the sealing assembly and the base 100 are movably arranged to achieve relative movement between the sealing assembly and the base 100, so as to ensure that the sealing assembly is increased by the support force of the adsorption surface when the vacuum degree increases. It is less than the increment of the supporting force of the walking unit 300 on the adsorption surface, which improves the sealing performance of the vacuum chamber and does not hinder the walking of the adsorption-type self-moving device. The invention has a simple structure but can effectively absorb excess pressure, and balance the adsorption force and the friction force in normal walking and safe adsorption.

The technical solutions described in Embodiment 5 and the technical solutions in Embodiment 1 to Embodiment 4 above can be referred to and learn from each other, and will not be repeated here.

Embodiment 6

As shown in FIG. 6 , the structure of the window cleaning robot of this embodiment is basically the same as that of the first embodiment to the fifth embodiment, the difference is that, according to needs, the sealing assembly extends toward the outside of the vacuum chamber to form a skirt 550, The side of the skirt 550 facing the adsorption surface is sealed with the adsorption surface, and the side facing away from the adsorption surface is exposed to the atmosphere. Specifically, a skirt 550 extends from the straight portion 511 of the movable bracket 500 toward the outside of the vacuum chamber, and the skirt 550 is attached and sealed with the adsorption surface. The setting length of the wiper 200 can be the same as the length of the movable bracket 500 , that is to say, in this embodiment, the wiper 200 is adhered to the lower surface of the movable bracket 500 , and the sticking length is the same as that of the movable bracket 500 . The straight portion 511 , the raised portion 512 and the skirt 550 have the same total length, and the skirt 500 is sealed with the suction surface by the wiper 200 .

The working principle of this embodiment will be described in detail below with reference to Embodiment 1 and Embodiment 2.

The rag 200 is adhered to the lower surface of the sealing component, and it also plays the role of cleaning and sealing. If the sealing environment of the adsorption surface is good, such as a relatively smooth glass surface, only a small pressure is required between the rag 200 and the adsorption surface. can meet the sealing requirements. However, if the sealing environment of the adsorption surface is poor, such as a relatively rough wall, a relatively large pressure is required between the rag 200 and the adsorption surface to meet the sealing requirements. In this embodiment, for the adsorption surface with poor sealing environment, a skirt 550 is attached to the outer edge of the sealing component, that is, the movable bracket 500, which is attached to the adsorption surface, and the rag 200 is attached to the movable bracket and the skirt extended from the outer edge. The lower surface of the edge 550 is in direct contact with the glass surface B. During the working process, the skirt 550 and the rag 200 attached to its lower surface are directly affected by the atmospheric pressure, and a large pressure is generated between the rag 200 and the glass surface B, which greatly improves the sealing of the vacuum chamber. sex.

Embodiment 7

As shown in FIG. 7 , this embodiment is an improvement on the basis of the above-mentioned first embodiment to fifth embodiment. In this embodiment, a skirt 550 is also extended to the outer edge of the movable bracket 500 by attaching to the adsorption surface, but the arrangement position of the wiper 200 on the movable bracket 500 is different. Specifically, as shown in FIG. 7 , the set length of the wiper 200 is the same as the sum of the lengths of the straight portion 511 and the raised portion 512 of the movable bracket, and one end of the wiper 200 is embedded in the skirt. On the inner side of 550, the bottom surface of the rag 200 and the skirt 550 are flush. It can be seen from the above that in this embodiment, the contact area is also increased by the skirt structure, but the difference is that in this embodiment, the part in contact with the glass surface B includes the wiper 200 and the skirt 550 Part, ie, the skirt 550, is directly attached and sealed with the suction surface.

During the working process, if the friction coefficient of the wiper 200 is relatively large, it is necessary to increase the pressure between the wiper 200 and the adsorption surface by increasing the elastic force of the spring retractable member. Although it can meet the sealing requirements of the vacuum chamber, it will As a result, the frictional resistance of the rag 200 is relatively large, which hinders walking. Therefore, the skirt 550 can be made of a flexible material with a small coefficient of friction. In this way, the skirt 550 is directly affected by the atmospheric pressure, and a large pressure is generated between the skirt 550 and the glass surface B. The sealing performance of the vacuum chamber is improved, and because the friction coefficient of the skirt 550 is small, the friction between the rag 200 and the glass surface B will not hinder the glass-cleaning robot from moving on the glass surface B due to the very large frictional force. Walk normally.

Embodiment 8

It should be noted that there are many types of adsorption-type self-moving devices, in addition to the glass-cleaning robot involved in the above embodiment, it may also include a wall spraying robot or a waxing robot.

No matter what kind of adsorption-type self-moving device, in terms of structure, it must include a machine base and a walking unit. The bottom of the machine base includes a cavity, the cavity is communicated with the vacuum source, and the outer circumference of the cavity is A sealing component is provided for sealing with the adsorption surface, the sealing component and the adsorption surface are sealed to form a vacuum chamber with the cavity, and the sealing component is connected to the bottom of the machine base through an elastic expansion piece. According to different types of adsorption self-moving devices, the specific structure of the functional unit will be different. For example, in the glass-cleaning robot in the first to fourth embodiments, the rag can be used as the functional unit, and at the same time, it is a part of the sealing component or the base. For a wall spraying robot or a waxing robot, its functional unit may be separate from the sealing component and set up separately.

Other contents in this embodiment are the same as those in the above-mentioned embodiments, and are not repeated here.

To sum up, the present invention provides an adsorption-type self-moving device. Taking the window cleaning robot in the embodiment as an example, the machine base and the sealing component can be movably arranged to control the friction between the rag and the glass surface. As the vacuum degree increases linearly, it increases year-on-year, that is, when the suction force of the fan increases, the synchronous belt provides a significant increase in the power of the window-cleaning robot to walk, while the increase in the friction force of the rag on the glass surface is small.

That is to say, the sealing assembly and the base of the present invention are movably arranged to ensure that when the vacuum degree increases, the increment of the supporting force of the sealing assembly by the adsorption surface is smaller than the increment of the supporting force of the walking unit by the adsorption surface; at the same time, through the skirt The setting of the side structure and the selection of the flexible material with small friction coefficient make the skirt directly under the action of atmospheric pressure on the adsorption surface with poor sealing environment, improve the sealing performance of the vacuum chamber, and at the same time do not hinder the adsorption type self-moving device The invention has a simple structure but can effectively absorb excess pressure, and balance the adsorption force and the friction force in normal walking and safe adsorption.

The technical features of the adsorption-type self-moving device provided by the embodiments of the present application will be further introduced below through the following specific implementation manners. Embodiments and implementations may refer to each other.

Implementation method one

As shown in FIG. 2 to FIG. 4 , in this implementation manner, the adsorption-type self-moving device is a window cleaning robot, which includes a robot body, and the body includes a machine base 100 . The machine base 100 is provided with a walking unit 300 and a robot. Timing belt 310 wrapped around it. The bottom of the base 100 includes a cavity 110 , which communicates with the vacuum source phase 400 , and around the outer periphery of the cavity 110 is a sealing component for sealing with the adsorption surface, that is, the glass surface B. After sealing between the sealing component and the adsorption surface, a vacuum chamber is formed with the cavity 110 , and the sealing component is connected to the bottom of the base 100 through an elastic expansion and contraction member.

As can be seen from FIG. 2 to FIG. 3 , in order to facilitate the walking of the adsorption-type self-moving device, the walking unit 300 is arranged inside the cavity 110 . In addition, the elastic elastic member is also located inside the vacuum chamber. The machine base 100 is also provided with a wiper 200 , and the wiper 200 is connected to the machine base 100 through the movable bracket 500 . Specifically, as can be seen from FIGS. 2 to 4 , the sealing assembly mainly includes a movable bracket 500 . Specifically, the movable bracket 500 is composed of a straight portion 511 and a raised portion 512 , and the raised portion 512 is provided with a through hole 5121 , the protruding post 101 protruding to the inside of the base 100 passes through the through hole 5121, and the fastener 520 passes through the through hole 5121 to elastically connect the movable bracket 500 to the base 100. Normally, the fastener 520 can be Self-tapping screws or other commonly used standard parts.

The elastic telescopic element is a spring. For example, a bracket spring 530 is sleeved on the outside of the protruding column 101. The upper and lower ends of the bracket spring 530 abut against the inner side of the base 100 and the upper surface of the raised portion 512, respectively. A vacuum chamber is formed between the machine base 100 , the movable support 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 straight portion 511 is also provided with a positioning groove 513, one end of the sealing ring 540 is embedded in the positioning groove 513, and the other end is abutted and sealed with the interior of the base 100, so that the base 100 and the movable bracket 500 are nested and connected The outer side of the seal is used to protect the vacuum of the vacuum chamber.

It should be noted that the specific description of a sealing assembly in this implementation is to make the technical solution clearer, but it should not be regarded as a limitation on the protection scope of the present invention, and those skilled in the art can make corresponding work according to specific work needs. The changes achieve the same technical effect. For example, for the connection method between the movable bracket 500 and the base 100, a protruding post can be provided on the protruding part 512, a through hole is correspondingly opened on the base 100, and the protruding post is connected through the through hole by a fastener, which can also play the role of The function of elastic connection between the movable bracket and the base.

Since the adsorption-type self-moving device in this implementation is a glass-cleaning robot, the lower surface of the straight portion 511 of the movable bracket 500 is further provided with a working unit, and the working unit is the rag 200 , and the rag 200 is pasted on the movable bracket The lower surface of 500, the specific sticking position is on the lower surface of the straight portion 511, the rag and the adsorption surface are sealed to form a vacuum chamber with the cavity.

The working principle of the present invention will be described in detail with reference to FIG. 2 to FIG. 5 . In order to ensure that the window cleaning robot is adsorbed on the glass surface B and does not fall off, it is necessary to increase the suction force of the vacuum source 400. If the rag 200 is fixed on the base 100 according to the conventional setting method, this process will inevitably cause the window cleaning robot to The supporting force of the synchronous belt 310 and the rag 200 on the glass surface B will increase. According to f=uN, the supporting force of the rag 200 on the glass surface B will directly affect the rag 200 when the window cleaning robot A walks by the glass surface B. amount of friction.

In this implementation manner, through the support spring 530 disposed in the movable support 500 , the increment of the supporting force of the wiper 200 by the glass surface B is smaller than the increment of the supporting force of the synchronous belt 310 by the glass surface B. The most ideal situation is that the increase of the suction force of the vacuum source 400 can be completely distributed to the increase of the supporting force of the synchronous belt 310 by the glass surface B, so as to solve the problem that the synchronous belt 310 slips and the rag 200 hinders the window cleaning robot A from walking. Since the supporting force of the synchronous belt 310 by the glass surface B directly affects the window cleaning robot A walking, the synchronous belt 310 is subjected to the frictional force of the glass surface B, and this frictional force is the driving force for the window cleaning robot A to walk. In this way, when the suction force of the vacuum source 400 increases, the increase in the power provided by the synchronous belt 310 to the window cleaning robot A for walking is significant, while the increase in the friction force of the wiper 200 on the glass surface B is not significant.

Further, on the basis that the window cleaning robot A is adsorbed on the glass surface B and does not fall off, the suction force of the vacuum source 400 is increased. , the window cleaning robot A will be more closely attached to the glass surface B, that is, the window cleaning robot A has a certain deformation, which makes the upper surface of the window cleaning robot A closer to the glass surface B. Of course, this deformation The amount is very small. Correspondingly, the supporting force of the synchronous belt 310 and the rag 200 on the glass surface B will also increase.

For the existing window cleaning robot shown in FIG. 1 , the synchronous belt 310 and the rag 200 can be regarded as an integral rigid body. For the sake of clarity, the synchronous belt and the rag 200 are regarded as an integral rigid body as an ideal situation. . When the suction force of the vacuum source 400 increases, the supporting force of the timing belt 310 and the wiper 200 on the glass surface B increases in the same proportion. As shown in FIG. 2 to FIG. 5 , in the present invention, when the suction force of the vacuum source 400 is increased, under the action of the pressure difference between the vacuum chamber and the outside, the window cleaning robot A will be more closely attached to the glass surface B, and similarly Yes, the window cleaning robot A has a certain deformation. However, the deformation of the window cleaning robot A is mainly reflected in the deformation of the synchronous belt 310. The deformation of the synchronous belt 310 drives the bracket spring 530 to deform. The bracket spring 530 then generates a corresponding deformation elastic force, which is insignificant when applied to the rag 200 through the movable bracket 500, and the rag 200 is subjected to a total of two forces, one is the elastic force of the bracket spring 530 on it, and the other is the elastic force of the bracket spring 530. It is the support force of the glass surface B on it, and the two are equal, so the amount of the increase in the support force of the wiper 200 by the glass surface B due to the increase of the suction force of the vacuum source 400 is not significant. In other words, when the suction force of the vacuum source 400 increases, the support spring 530 provided in the movable support 500 is deformed to a certain extent and remains basically unchanged, and the rag 200 is subjected to the increasing atmospheric pressure by the timing belt 310.

Implementation method two

FIG. 6 is a schematic structural diagram of a window cleaning robot in a second implementation manner of the present invention. As shown in FIG. 6 , the structure of the window cleaning robot of this implementation is basically the same as that of the first implementation. The difference is that, as required, the straight portion 511 of the movable bracket 500 extends a skirt toward the outside of the vacuum chamber. 550, the skirt 550 is attached and sealed with the adsorption surface. The setting length of the wiper 200 may be the same as the length of the movable bracket 500 , that is to say, in this implementation manner, the wiper 200 is adhered to the lower surface of the movable bracket 500 , and its sticking length is the same as that of the movable bracket 500 . The straight portion 511 , the raised portion 512 and the skirt 550 have the same total length.

The working principle of this implementation manner will be described in detail below with reference to the implementation manner.

In the first implementation, the rag 200 is pasted on the lower surface of the movable bracket 500, and plays the role of cleaning and sealing. Only a small amount of pressure is required to meet the sealing requirements. However, if the sealing environment of the adsorption surface is poor, such as a relatively rough wall, a relatively large pressure is required between the rag 200 and the adsorption surface to meet the sealing requirements. In this implementation, for the adsorption surface with poor sealing environment, a skirt 550 is attached to the outer edge of the sealing component, that is, the movable bracket 500, which is attached to the adsorption surface, and the rag 200 is attached to the movable bracket and the skirt extended from the outer edge. The lower surface of the edge 550 is in direct contact with the glass surface B. During the working process, the skirt 550 and the rag 200 attached to its lower surface are directly affected by the atmospheric pressure, and a large pressure is generated between the rag 200 and the glass surface B, which greatly improves the sealing of the vacuum chamber. sex.

Implementation method three

FIG. 7 is a schematic structural diagram of a window cleaning robot according to Embodiment 3 of the present invention. As shown in FIG. 7 , this implementation manner is an improvement on the basis of the second implementation manner above. In this implementation manner, a skirt 550 is also attached to the outer edge of the movable bracket 500 to extend a skirt 550 , but the setting position of the wiper 200 on the movable bracket 500 is different from that in the second implementation. Specifically, as shown in FIG. 7 , the setting length of the wiper 200 is the same as the sum of the lengths of the straight portion 511 and the protruding portion 512 of the movable bracket, and one end of the wiper 200 is embedded in the skirt. On the inner side of 550, the rag 200 is flush with the bottom surface of the skirt 550. It can be seen from the above that in this implementation manner, the skirt structure is also used to increase the contact area, but the difference is that in this implementation manner, the part in contact with the glass surface B includes the wiper 200 and the skirt 550 part.

During the working process, if the friction coefficient of the rag is large, it is necessary to increase the pressure between the rag and the adsorption surface by increasing the elasticity of the spring. Although it can meet the sealing requirements of the vacuum chamber, it will also cause friction of the rag. The resistance is large and hinders walking. Therefore, the skirt 550 can be made of a flexible material with a small coefficient of friction. In this way, the skirt 550 is directly affected by the atmospheric pressure, and a greater pressure is generated between the skirt 550 and the glass surface B, which is relatively low. The sealing performance of the vacuum chamber is improved, and because the friction coefficient of the skirt 550 is small, the friction between the rag 200 and the glass surface B will not hinder the glass-cleaning robot from moving on the glass surface B due to the very large frictional force. Walk normally.

Implementation four

It should be noted that there are many types of adsorption-type self-moving devices. In addition to the glass cleaning robot involved in the above implementation manner, it may also include a wall spraying robot or a waxing robot. No matter what kind of adsorption-type self-moving device, in terms of structure, it must include a machine base and a walking unit. The bottom of the machine base includes a cavity, the cavity is communicated with the vacuum source, and the outer circumference of the cavity is A sealing component is provided for sealing with the adsorption surface, the sealing component and the adsorption surface are sealed to form a vacuum chamber with the cavity, and the sealing component is connected to the bottom of the machine base through an elastic expansion piece. According to different types of adsorption self-moving devices, the specific structure of the working unit will be different. For example, the glass-cleaning robot in the implementation modes 1 to 3, the rag can be used as a working unit and a sealing component or a part of the sealing component at the same time. For a wall spraying robot or a waxing robot, the working unit may be separate from the sealing component and set up separately.

Other contents in this implementation manner are the same as those in the foregoing implementation manner, and are not repeated here.

To sum up, the present invention provides an adsorption-type self-moving device. Taking the window cleaning robot in the implementation mode as an example, through the movable bracket arranged between the machine base and the rag, the sealing component and the machine base 100 are elastically connected. , in order to realize the movable setting of the sealing assembly relative to the base, and control the friction between the rag and the glass surface not to increase year-on-year with the linear increase of the vacuum degree, that is: when the suction of the fan increases, the synchronous belt provides window cleaning. The increase in the power of the robot's walking is significant, while the increase in the friction force of the rag on the glass surface is small.

That is to say, in the present invention, elastically connecting the sealing assembly and the base 100 by arranging elastic expansion and contraction parts between the sealing assembly and the base, so as to realize the movable arrangement of the sealing assembly relative to the base and ensure that the vacuum degree increases When it is large, the increment of the support force of the sealing component by the adsorption surface is smaller than that of the walking unit by the support force of the adsorption surface; at the same time, through the setting of the skirt structure and the selection of the flexible material with small friction coefficient, the sealing environment is poor. The adsorption surface of the apron is directly affected by the atmospheric pressure, which improves the sealing performance of the vacuum chamber and does not hinder the walking of the adsorption self-moving device; the invention has a simple structure but can effectively absorb excess pressure, and is used in normal walking and safe adsorption Adsorption force and friction force are balanced.

The technical solutions adopted in the present invention are described below in conjunction with specific application scenarios to help understanding. In the following application scenarios, an adsorption self-moving device is used as an example of a window cleaning robot.

Application Scenario 1

The window cleaning robot is placed on the window, and the vacuum source is activated, so that the sealing component seals the adsorption surface, and the sealing component is connected to the bottom of the machine base through the elastic expansion part. The sealing component, the adsorption surface and the base are enclosed into a vacuum chamber, so that the window cleaning robot is adsorbed on the glass surface B. Due to the movable arrangement between the sealing assembly and the base, when the walking unit walks on the obstacle, the sealing assembly can move relative to the base, so that the sealing assembly can be tightly sealed on the adsorption surface, and the sealing assembly and the adsorption surface can be maintained. The airtightness of the vacuum chamber between the vacuum chambers, thus avoiding the leakage of the vacuum chamber.

Application Scenario 2

Place the window-cleaning robot on the window, and activate the vacuum source, so that the sealing component seals the adsorption surface, and the sealing component, the adsorption surface and the base form a vacuum chamber, so that the window-cleaning robot is adsorbed on the glass surface B. The sealing assembly is connected to the bottom of the base through elastic expansion and contraction parts. By arranging movable between the sealing assembly and the machine base, when the walking unit walks on the obstacle, since the sealing assembly can move relative to the machine base, the sealing assembly can be tightly sealed on the adsorption surface, and the sealing assembly can be kept close to the suction surface. The airtightness of the vacuum chamber between the adsorption surfaces, thus avoiding the leakage of the vacuum chamber.

Application Scenario 3

Place the window-cleaning robot on the window, and activate the vacuum source, so that the sealing component seals the adsorption surface, and the sealing component, the adsorption surface and the base form a vacuum chamber, so that the window-cleaning robot is adsorbed on the glass surface B. By means of the elastic expansion member or spring arranged between the movable bracket and the base, the increment of the supporting force of the rag received by the glass surface B is smaller than the increment of the supporting force of the synchronous belt by the glass surface B. For example, the increase of the suction force of the vacuum source can be completely distributed to the increment of the supporting force of the synchronous belt by the glass surface B, so as to solve the problem that the synchronous belt slips and the rag prevents the window cleaning robot A from walking.

When the suction of the vacuum source is increased, under the action of the pressure difference between the vacuum chamber and the outside, the window cleaning robot A will be more closely attached to the glass surface B. Similarly, the window cleaning robot A has a certain deformation, but at this time The deformation of the window cleaning robot A is mainly reflected in the deformation of the synchronous belt 310 , and the deformation of the synchronous belt drives the elastic telescopic member or the spring to deform. The elastic elastic member or spring then generates a corresponding deformation elastic force. This deformation elastic force is insignificant when applied to the rag through the movable bracket, and the rag is subjected to two forces in total, one is the elastic force of the elastic elastic member or spring on it, and the other is the elastic force of the elastic elastic member or spring on it. One is the support force of the glass surface B on it, and the two are equal, so the amount of the increase in the support force of the wiper by the glass surface B due to the increase in the suction force of the vacuum source is not significant.

Through elastic retractable parts or springs, the excess pressure on the rag can be effectively absorbed, and the adsorption force and friction force can be balanced during normal walking and safe adsorption.

Application Scenario 4

Place the window cleaning robot on the window and start the vacuum source, so that the sealing component seals the adsorption surface, and the sealing component, the adsorption surface and the base are enclosed into a vacuum chamber, so that the window cleaning robot is adsorbed on the glass surface, and the glass surface is rough. The window cleaning robot is attached and sealed to the suction surface through a skirt provided on the straight portion of the movable bracket facing the outside of the vacuum chamber. The set length of the rag is the same as the length of the movable stand. The skirt is made of a flexible material with a low coefficient of friction.

During the working process, the skirt and the rag attached to its lower surface are directly affected by the atmospheric pressure, and a large pressure is generated between the rag and the glass surface B, which greatly improves the sealing performance of the vacuum chamber. Through the setting of the skirt structure and the selection of flexible materials with small friction coefficient, the skirt is directly affected by the atmospheric pressure on the adsorption surface with poor sealing environment, which improves the sealing performance of the vacuum chamber, and does not hinder the adsorption type. The walking of the mobile device.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (14)

1. an adsorption type self-moving device, is characterized in that, comprises: machine base, traveling unit and vacuum source; Wherein, The base is provided with a sealing component, and the vacuum source works so that the sealing component seals the adsorption surface; the sealing assembly includes a movable bracket; The base is provided with a protruding post, the movable bracket is provided with a through hole, and the protruding post is inserted into the through hole, so that the sealing assembly can be relative to the base along the axis of the protruding post move; Wherein, the lower surface of the movable bracket is provided with a rag, and the sealing assembly is sealed with the adsorption surface through the rag; It also includes: a fastener; the fastener passes through the through hole to movably connect the movable bracket to the protruding post of the machine base. 2 . The adsorption-type self-moving device according to claim 1 , wherein the sealing assembly is connected to the bottom of the base through an elastic expansion and contraction member, so that the sealing assembly can move relative to the base. 3 . 3. The adsorption-type self-moving device according to claim 2, wherein the bottom of the base comprises a cavity, and the cavity is communicated with a vacuum source; After sealing between the sealing component and the adsorption surface, a vacuum chamber is formed with the cavity; The elastic elastic member is located inside the vacuum chamber. 4 . The adsorption-type self-moving device according to claim 2 , wherein the elastic retractable member is a spring; 4 . The movable bracket includes a straight portion and a raised portion, and the raised portion is provided with the through hole; The spring is sleeved on the outside of the protruding column, and the upper and lower ends of the spring are respectively abutted against the bottom of the base and the upper surface of the raised portion. 5. The adsorption-type self-moving device according to claim 4, characterized in that, further comprising: a sealing ring; The straight part is also 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 base. 6. The adsorption-type self-moving device according to claim 1 or 2, wherein the bottom of the base comprises a cavity, and the cavity is communicated with a vacuum source; After sealing between the sealing component and the adsorption surface, a vacuum chamber is formed with the cavity; The traveling unit is provided inside or outside the vacuum chamber. 7 . The adsorption-type self-moving device according to claim 6 , wherein the sealing member extends toward the outside of the vacuum chamber to form a skirt, and a side of the skirt facing the adsorption surface is connected to the suction surface. 8 . The adsorption surface is sealed and the side facing away from the adsorption surface is exposed to the atmosphere. 8. The adsorption-type self-moving device according to claim 7, wherein the skirt is sealed with the adsorption surface by the rag. 9. An adsorption-type self-moving device, characterized in that it comprises: a machine base, a walking unit, a sealing assembly and a vacuum source; wherein, the vacuum source operates so that the sealing assembly seals the suction surface; A movable bracket is arranged on the base; wherein, a fastener is also included; the fastener movably connects the movable bracket to the base; When the movable bracket moves relative to the base, the sealing assembly is movable relative to the base; Wherein, the lower surface of the movable bracket is provided with a rag, and the sealing assembly is sealed with the adsorption surface through the rag. 10. The adsorption-type self-moving device according to claim 9, characterized in that, The movable bracket is provided with a through hole; The machine base is provided with a convex column; The protruding post is matched with the through hole, so that the sealing assembly can move relative to the base along the axial direction of the protruding post. 11. The adsorption-type self-moving device according to claim 9 or 10, wherein the sealing component comprises the movable bracket. 12. An adsorption-type self-moving device, characterized in that it comprises: a machine base, a walking unit and a vacuum source; wherein, The base is provided with a sealing component, and the vacuum source works so that the sealing component seals the adsorption surface; The sealing assembly includes a movable bracket, the movable bracket is provided with a convex column, the base is provided with a through hole, and the convex column is inserted into the through hole, so that the sealing assembly can follow the convex column. The direction of the axis moves relative to the base; It also includes fasteners; the fasteners pass through the through holes to movably connect the movable bracket to the base; Wherein, the lower surface of the movable bracket is provided with a rag, and the sealing assembly is sealed with the adsorption surface through the rag. 13. An adsorption-type self-moving device, characterized in that it comprises: a machine base, a walking unit and a vacuum source; wherein, The base is provided with a sealing component, and the vacuum source works so that the sealing component seals the adsorption surface; the sealing assembly includes a movable bracket; One of the movable bracket and the base is provided with a through hole, and the other is provided with a convex column; The protruding post is matched with the through hole, so that the sealing assembly is movably connected to the machine base; it also includes a fastener; the fastener passes through the through hole to move the movable bracket connected to the base; Wherein, the lower surface of the movable bracket is provided with a rag, and the sealing assembly is sealed with the adsorption surface through the rag. 14. An adsorption-type self-moving device, characterized in that it comprises: a machine base, a walking unit and a vacuum source; wherein, The base is provided with a sealing component, and the vacuum source works so that the sealing component seals the adsorption surface; The sealing assembly is movably connected to the base; wherein, it also includes a fastener; the fastener movably connects the sealing assembly to the base; Wherein, the lower surface of the sealing assembly is provided with a rag, and the sealing assembly is sealed with the adsorption surface through the rag.

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