WO2015074560A1 - 具有真空吸盘的真空吸附机器人 - Google Patents

具有真空吸盘的真空吸附机器人 Download PDF

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Publication number
WO2015074560A1
WO2015074560A1 PCT/CN2014/091622 CN2014091622W WO2015074560A1 WO 2015074560 A1 WO2015074560 A1 WO 2015074560A1 CN 2014091622 W CN2014091622 W CN 2014091622W WO 2015074560 A1 WO2015074560 A1 WO 2015074560A1
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WIPO (PCT)
Prior art keywords
vacuum
handle
adsorption robot
switch
vacuum adsorption
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Application number
PCT/CN2014/091622
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English (en)
French (fr)
Inventor
杨敏敏
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苏州科沃斯商用机器人有限公司
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Publication of WO2015074560A1 publication Critical patent/WO2015074560A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0003—Home robots, i.e. small robots for domestic use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • 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

Definitions

  • the invention relates to a robot with a vacuum adsorption component, in particular to a household cleaning robot, in particular to a vacuum adsorption robot with a vacuum suction cup.
  • the present invention discloses a vacuum adsorption robot having a triggering venting switch, which can improve the structure and can lift the force by the handle of the machine to recognize the operator's intention to trigger the vacuum chamber of the vacuum chuck. Automatically deflated, making it easy for the operator to remove the machine easily, safely and quickly.
  • a vacuum adsorption robot with a vacuum chuck comprising a body, a vacuum suction cup disposed at the bottom of the body, and a handle disposed at the top of the body, wherein the vacuum suction cup is connected to a deflation mechanism, and the handle or the body is provided with a vent switch The lift of the handle triggers the deflated switch to deflate the deflation mechanism.
  • any mechanically feasible structural means can be employed as the deflation mechanism, the deflation switch, the mechanical connection structure, the electrified connection structure or the magnetic connection structure, etc., which can be used in the present invention.
  • the air release switch is a protrusion located at the bottom of the handle, and the air release mechanism is a air leakage hole provided on the vacuum suction cup corresponding to the protrusion.
  • the opening and sealing of the vacuum chamber can be completed by operating the handle protrusion to disengage or block the vent hole, so that the suction cup is released from the adsorption or the adsorption state of the adsorbed surface.
  • the protrusion is located at the center of the bottom of the body, and the vent hole is located at the center of the top of the vacuum chuck.
  • the deflation mechanism is an automatic bleed valve connected to the vacuum chuck, and the vent switch is an electronic switch electrically connected to the automatic bleed valve.
  • the automatic deflation valve can be activated or deactivated by the touch of the deflated switch when the handle is lifted, and the vacuum suction cup is deflated or adsorbed.
  • a reset unit is disposed between the handle and the body.
  • the above-mentioned resetting unit refers to a device capable of pulling the handle to re-orient toward the vacuum chuck, and various mechanical means in the fields of mechanics and electromagnetism can satisfy such requirements, such as elastic force, electromagnetic force and the like.
  • the reset unit is a spring, one end of the spring is connected to the bottom of the handle, and the other end is connected to the top of the body.
  • the automatic reset operation can be realized by the action of the spring force.
  • the springs are in multiple groups and are evenly distributed between the handle and the body.
  • the vacuum adsorption robot of the present invention can trigger the vacuum suction cup to deflate by the action of lifting the handle by the user, is convenient to operate, and effectively reduces the probability of the machine falling and being damaged.
  • FIG. 1 is a schematic structural view of a vacuum adsorption robot having a mechanical trigger gas vent switch according to the present invention
  • FIG. 2 is a schematic view showing the structure of a vacuum adsorption robot having an electric trigger air release switch according to the present invention.
  • the top of the body is further provided with a handle 11 for lifting the machine.
  • the vacuum cup 2 forms a vacuum chamber with the adsorbed surface during operation.
  • the working process is as follows: during normal operation, the protrusion blocks the vent hole to ensure a sealed state between the vacuum suction cup and the adsorbed surface, and when the handle is lifted in a direction perpendicular to the adsorption surface, the protrusion is separated from the vent hole, so that The vacuum chamber is open to the atmosphere and the operator can easily remove the machine.
  • FIG. 2 is a schematic view showing the structure of a vacuum adsorption robot having an electric trigger air release switch according to the present invention.
  • the body 1 is provided with an automatic deflation valve 22 connected to the vacuum chuck 2, and a deflation switch 13 is provided at a corresponding position of the handle.
  • the working process is as follows: when the handle is lifted, the deflated switch 13 is activated, and the automatic deflation valve is activated to deflate the vacuum suction cup, and the operator can easily remove the machine.
  • the automatic venting valve can be a solenoid valve of the prior art.
  • a return spring 3 is further disposed between the handle and the body, and the vacuum suction cup is resealed under the spring force after the handle is released.
  • the spring force causes the projection to re-block the venting opening; in the configuration shown in Figure 2, the spring force causes the venting switch to reset and the automatic venting valve to close.
  • the magnitude of the tension of the return spring 3 can affect the amount of the handle lifting force F that causes the automatic vent valve to open.
  • the above process can also be completed by a magnetic structure, for example, two attracting magnets can realize the functions instead of the above-mentioned mechanical structure, and details are not described herein.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)

Abstract

一种具有真空吸盘的真空吸附机器人，包括机体（1），设置在机体（1）底部的真空吸盘（2），设置在机体（1）顶部的把手（11），所述真空吸盘（2）与泄气机构相连，所述把手或机体上设有泄气开关，通过把手（11）的提升来触发泄气开关，使泄气机构泄气。该真空吸附机器人可以使机器操作者在工作完成后简单的取下机器，避免机器跌落损坏。

Description

具有真空吸盘的真空吸附机器人 技术领域
本发明涉及一种具有真空吸附部件的机器人，尤其是一种家庭清洁机器人，具体涉及一种具有真空吸盘的真空吸附机器人。
背景技术
随着人们生活水平的改善，越来越多的自动化家庭作业机械进入了日常的生活家庭，尤其是自动吸尘器、家庭清洁机器人等家庭用自动清理机器越来越受到人们的广泛欢迎。
现有的此类机器在壁面吸附时通常是通过真空吸盘提供吸附力，将机器本体吸附在墙壁、玻璃、柜面或类似结构上。在机器完成工作后，操作者需要取下机器，由于此时吸盘内仍然保持真空状态(即吸盘的盘体与吸附面构成了真空环境)，为了取下机器，要么是强行取下机器，这种方法不但费时费力而且有可能损坏被吸附面或机器本身；或者是采用泄气方式，即在真空吸盘上设置独立的泄气阀，取下机器时首先打开泄气阀开关，待空气进入到真空室后取下机器。本申请的申请人在先专利申请201220496078中就公开了一种类似的技术方案。然而此方法操作繁琐，需要操作者分别握住机器和打开泄气阀开关，如果动作不够熟练在打开泄气阀后没有握住机器，机器存在跌落损坏的危险。
发明内容
针对现有技术的缺陷，本发明公开了一种具有触发泄气开关的真空吸附机器人，通过对结构的改进能够使得通过机器把手提起力度来识别操作者的意图，以触发开关使真空吸盘的真空室自动泄气，从而便于操作者轻松、安全、快捷的取下机器。
为实现上述目的，本发明是通过下述技术方案实现的：
一种具有真空吸盘的真空吸附机器人，包括机体，设置在机体底部的真空吸盘，设置在机体顶部的把手，其中所述真空吸盘与泄气机构相连，所述把手或机体上设有泄气开关，通过把手的提升来触发泄气开关，使泄气机构泄气。
在本发明中，可以采用任何在力学上可行的结构方式作为泄气机构、泄气开关，机械式连接结构、电气化连接结构或磁性连接结构等均可用于本发明。
当采用机械式结构时，所述泄气开关为位于把手底部的凸起，所述泄气机构为设在真空吸盘上与所述凸起相对应连接的泄气孔。
通过上述结构，通过操作把手凸起脱离或堵住泄气孔即可完成真空室的开放与密封，从而使得吸盘解除与被吸附面的吸附或保持吸附状态。
为了便于把手用力均匀，尽可能提高操作的准确程度，所述凸起位于机体底部中心位置，所述泄气孔位于真空吸盘顶部中心。
当采用电气化结构时，所述泄气机构为与真空吸盘相连的自动泄气阀，所述泄气开关为与自动泄气阀电连接的电子开关。通过上述结构，提起把手时通过触动泄气开关即可启动或关闭自动泄气阀，使真空吸盘泄气或吸附。
进一步的，为了在把手释放后使真空吸盘重新保持密封状态，把手与机体间设有复位单元。
本领域技术人员可以理解，上述的复位单元指的是能够拉动把手重新朝向真空吸盘方向运动的装置，在机械力学和电磁学领域具有多种力学方式可满足此需求，例如弹力、电磁力等。
优选的，考虑到应用成本和结构的简便，所述复位单元为弹簧，弹簧的一端连接把手底部，另一端连接机体顶部。
在上述结构下，通过弹簧弹力的作用即可实现自动复位操作。
更优选的，为了保证把手各角度以均匀速度复位，所述弹簧为多组，均匀分布在把手与机体间。
通过上述改进，本发明的真空吸附机器人可以通过用户提起把手的动作触发真空吸盘泄气，操作方便，并且有效减少了机器跌落损坏的概率。
下面结合附图和具体实施例，对本发明的技术方案进行详细地说明。
附图说明
图1为本发明的具有机械式触发泄气开关的真空吸附机器人结构示意图；
图2为本发明的具有电气触发泄气开关的真空吸附机器人结构示意图。
具体实施方式
下面结合附图和具体实施例，对本发明的技术方案进行更深入地说明。
实施例一
图1为本发明的具有机械式触发泄气开关的真空吸附机器人结构示意图。参考图 1所示，本发明所提供的真空吸附机器人包括机体1以及设置在机体底部的真空吸盘2，机体顶部还设有用于提起机器的把手11，真空吸盘2在工作时与被吸附面构成真空室，其中在真空吸盘顶部设有泄气孔21，把手底部设有与泄气孔21对应的凸起12。
其工作过程如下：正常工作时，凸起将泄气孔堵住，确保真空吸盘与被吸附面之间处于密封状态，当沿着垂直于吸附表面的方向提起把手时，凸起脱离泄气孔，使真空室与大气相通，操作者可以轻松将机器取下。
实施例二
图2为本发明的具有电气触发泄气开关的真空吸附机器人结构示意图。参考图2所示，机体1上设有与真空吸盘2相连的自动泄气阀22，把手对应位置设有泄气开关13。
其工作过程如下：把手被提起时触动泄气开关13，进而启动自动泄气阀，使真空吸盘泄气，操作者可以轻松将机器取下。所述的自动泄气阀可以采用现有技术中的电磁阀。
进一步的，参考图1、图2所示，把手与机体间还设有复位弹簧3，把手被释放后在弹簧弹力作用下使真空吸盘重新保持密封状态。在图1所示结构中，弹力使得凸起重新堵住泄气孔；在图2所示结构中，弹力使得泄气开关复位，自动泄气阀关闭。
复位弹簧3张力的大小可以影响使自动泄气阀打开的把手提起力F的大小。在上述实施中,尽管没有明确指出，但是本领域技术人员可以理解诸如磁性结构也可完成上述过程，例如两块相吸的磁石代替上述机械式结构也可实现其功能，此处不予赘述。

Claims (7)

  1. 一种具有真空吸盘的真空吸附机器人，包括机体(1)，设置在机体(1)底部的真空吸盘(2)，设置在机体(1)顶部的把手(11)，其特征在于，所述真空吸盘(2)与泄气机构相连，所述把手或机体上设有泄气开关，通过把手(11)的提升来触发泄气开关，使泄气机构泄气。
  2. 如权利要求1所述的真空吸附机器人，其特征在于，所述泄气开关为位于把手(11)底部的凸起(12)，所述泄气机构为设在真空吸盘(2)上与所述凸起(12)相对应连接的泄气孔(21)。
  3. 如权利要求2所述的真空吸附机器人，其特征在于，所述凸起(12)位于机体(1)底部中心位置，所述泄气孔(21)位于真空吸盘顶部中心。
  4. 如权利要求1所述的真空吸附机器人，其特征在于，所述泄气机构为与真空吸盘(2)相连的自动泄气阀(22)，所述泄气开关为与自动泄气阀(22)电连接的电子开关(13)。
  5. 如权利要求1所述的真空吸附机器人，其特征在于，把手与机体间设有复位单元。
  6. 如权利要求5所述的真空吸附机器人，其特征在于，所述复位单元为弹簧(3)，弹簧(3)的一端连接把手底部，另一端连接机体顶部。
  7. 如权利要求5所述的真空吸附机器人，其特征在于，所述弹簧(3)为多组，均匀分布在把手与机体间。
PCT/CN2014/091622 2013-11-20 2014-11-19 具有真空吸盘的真空吸附机器人 WO2015074560A1 (zh)

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CN105966489B (zh) * 2016-06-03 2018-09-11 中国计量大学 能弹跳且足端可吸附的机器人腿
CN106183579B (zh) * 2016-07-08 2018-12-04 青岛理工大学 一种触发式双面真空吸附装置、***及方法
CN106774141B (zh) * 2017-02-28 2024-01-05 曼盛包装（上海）有限公司 一种自动组装机重新启动控制改进***

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Publication number Priority date Publication date Assignee Title
CN112716349A (zh) * 2020-12-30 2021-04-30 张云 高处玻璃用清洁刷

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