Barrier-crossing cleaning robot

Abstract

The application discloses a suction cup, a walking assembly and a curtain wall cleaning robot. The suction cup comprises a body, the body is a flexible body, the body is provided with an air outlet and an air inlet, and further comprises a sliding disc, the sliding disc is a rigid sliding disc, the sliding disc is fixedly arranged on the body, the sliding disc is tightly attached to the air inlet of the body, and the surface roughness of the sliding disc is lower than 3.2. The suction cup has the following beneficial effects: the sliding disc is arranged on the body, the body is in contact with the object to be adsorbed through the sliding disc, the sliding disc is a rigid sliding disc, and the surface roughness of the sliding disc is lower than 3.2, so that the friction coefficient between the suction cup and the curtain wall is relatively small after the suction cup of the above structure is adsorbed on the curtain wall, and the suction cup can slide along the curtain wall.

Description

Obstacle-crossing cleaning robot

[0001] This application is a divisional application of the patent application filed on January 8, 2021, with application number "202110025301X" and invention title "Suction Cup and Walking Component and Curtain Wall Cleaning Robot". Technical Field

[0002] This invention relates to the field of building glass curtain wall cleaning, and more particularly to a suction cup, a walking component, and a curtain wall cleaning robot. Background Technology

[0003] More and more building curtain walls are now being cleaned using cleaning robots. Patent CN205697569U describes a cleaning robot for building curtain walls (which are typically made of aluminum composite panels or glass). This robot first uses its suction cups to attach itself to the curtain wall during cleaning. Once cleaning is complete, the suction cups release their grip, and the robot moves across the curtain wall surface using an externally mounted lifting device. Because the suction cups are no longer firmly attached, the robot can sway relative to the curtain wall, posing a potential safety hazard.

[0004] Patent CN110859554A provides a movable suction cup, but this type of suction cup uses a traditional silicone (or rubber) suction cup coated with a layer of polytetrafluoroethylene (PTFE). PTFE is a thin film, making it very prone to wear during movement. Once the PTFE is worn away, the entire suction cup, under negative pressure, will adhere tightly to the curtain wall and cannot slide further. This solution uses a rigid sliding plate, which is not as easily worn as PTFE and can always slide during use. Furthermore, PTFE is a flexible material, which cannot provide support for the rubber (or silicone) suction cup. If it encounters an uneven curtain wall surface, the entire suction cup will collapse onto the curtain wall and become unable to slide further. Summary of the Invention

[0005] To address the aforementioned problems, this invention proposes a suction cup, a walking assembly, and a curtain wall cleaning robot.

[0006] The technical solution adopted in this invention is as follows:

[0007] A suction cup includes a body, which is a flexible body, having an air outlet and an air inlet, and a sliding plate, which is a rigid sliding plate, fixedly mounted on the body, with the sliding plate close to the air inlet of the body, and the surface roughness of the sliding plate being less than 6.3 and the flatness being less than 0.05.

[0008] In this type of suction cup, a sliding plate is provided on the main body. The main body contacts the object being suctioned through the sliding plate. Since the sliding plate is a rigid sliding plate, and the surface roughness of the sliding plate is less than 6.3 and the flatness is less than 0.05, the sliding plate will not be worn. Therefore, after the suction cup of the above structure is suctioned onto the curtain wall, the coefficient of friction between the suction cup and the curtain wall is relatively small, and the suction cup can slide along the curtain wall.

[0009] Patent CN106419769B provides a sliding suction cup, which consists of an elastic cup and a sliding disc. The sliding disc can be made of polytetrafluoroethylene (PTFE), POM, a metal-coated material, or ceramic material. However, it does not specify the exact surface roughness of the sliding disc. In practical applications such as glass curtain walls or aluminum composite panel curtain walls, if the surface roughness of the contact material is greater than 6.3 (i.e., Ra greater than 6.3) and the flatness is greater than 0.05, it will result in excessive gaps between the sliding disc and the curtain wall surface, making it difficult for the sliding disc to adhere to the curtain wall. Furthermore, a roughness greater than 6.3 will cause frictional damage to the curtain wall (especially to metal and ceramic materials). For the protection of the curtain wall and the suction effect of the sliding disc, the lower the roughness of the sliding disc, the better. However, lower roughness significantly increases the processing difficulty and cost of the sliding disc. Therefore, this solution selects a sliding disc with a roughness lower than 6.3 and a flatness lower than 0.05.

[0010] Optionally, the body is a silicone body or a rubber body, and the slide is a plastic slide.

[0011] The slide can be made of nylon PA, polytetrafluoroethylene, PEEK, or POM. Regardless of the material used, the slide must be rigid.

[0012] Optionally, the slide plate is fixedly embedded in the body.

[0013] Optionally, the slide is a frustum-shaped slide, with a fitting ring at the opening of the wide end of the slide, the fitting ring being tightly fitted to the air inlet of the body, and an inner concave ring on the wall of the slide, the slide being secured to the body by its own inner concave ring, and an inner concave portion on the body, the inner concave portion of the body being tightly fitted to the inner concave ring of the slide.

[0014] In the above structure, the sliding plate is shaped like a frustum cylinder and has an inner concave ring. The main body has an inner concave portion that fits tightly against the inner concave ring. This effectively supports the main body, ensuring that the main body does not collapse onto the sliding plate. This prevents the main body from collapsing onto the sliding plate, thus ensuring that it does not pass through the hole on the sliding plate and contact the curtain wall. This also ensures that there is a stable negative pressure cavity between the curtain wall, the sliding plate, and the main body, preventing the suction cup from sticking tightly to the curtain wall. Furthermore, it ensures that the entire suction cup does not undergo compression deformation (or the compression deformation is relatively small). This structure is suitable for applications where the suction cup needs to remain unchanged (or have minimal deformation), and it allows for direct observation of whether the suction cup is in a negative pressure state. Suction cups made entirely of rigid materials (such as plastic) do not allow for direct observation of whether the suction cup is in a negative pressure state.

[0015] Patent CN106419769B provides a suction cup, but the elastic cup in this type of suction cup is prone to passing through the through hole on the sliding plate and contacting the curtain wall, which causes the entire suction cup to get stuck on the curtain wall. Moreover, once a vacuum is applied to this structure, it will produce a large deformation.

[0016] Patent CN209315761U provides a suction cup, but this type of suction cup uses a spring and a sliding rod to support the elastic cup. When the vacuum reaches a certain value, that is, when the spring is compressed to its limit, the sliding rod will push the sliding plate away from the curtain wall. Therefore, this type of suction cup requires strict control of the vacuum pressure within a certain range during use.

[0017] Optionally, it also includes an air extraction pipe, which is installed at the air outlet of the main body.

[0018] The air extraction pipe is installed to connect to a vacuum pump or air compressor.

[0019] A walking component, including the suction cup described above.

[0020] Optionally, it also includes a mounting rod and wheels, the wheels being rotatably mounted on the mounting rod, and the suction cup being fixedly mounted on the mounting rod.

[0021] The combination of wheels and suction cups allows for simultaneous movement and vacuuming, ensuring the component can adhere to the curtain wall while moving without needing external mechanical contact. Furthermore, the walking assembly has strict limitations on the deformation of the suction cups during vacuuming. For example, the suction cup shown in patent CN106419769B collapses during vacuuming and cannot be used in this walking assembly. Similarly, the suction cup shown in patent CN209315761U is also unusable because a sliding rod can detach it from the curtain wall.

[0022] Optionally, it also includes a travel motor and a servo motor, the servo motor being mounted on a mounting rod, a mounting bracket being rotatably mounted on the servo motor, the travel motor being mounted on the mounting bracket, and wheels being mounted on the shaft of the travel motor.

[0023] The walking assembly of the above structure includes a servo motor and a walking motor. Due to the presence of the servo motor and the walking motor, the wheels can move and turn autonomously.

[0024] A cleaning robot, including the suction cups described above.

[0025] As an application of suction cups, the walking component can also be used in cleaning robots, as described above.

[0026] The beneficial effects of the present invention are as follows: a sliding plate is provided on the main body, and the main body contacts the object being adsorbed through the sliding plate. Since the sliding plate is a rigid sliding plate, and the surface roughness of the sliding plate is less than 6.3 and the flatness is less than 0.05, after the suction cup of the above structure is adsorbed on the curtain wall, the sliding plate will not be worn, the coefficient of friction between the suction cup and the curtain wall is relatively small, and the suction cup can slide along the curtain wall. Figure description:

[0027] Figure 1 is a simplified schematic diagram of the exploded structure of the suction cup.

[0028] Figure 2 is a simplified schematic diagram of the suction cup's mating structure.

[0029] Figure 3 is a schematic diagram showing the working relationship between the wheel, the drive motor, and the servo motor.

[0030] Figure 4 is a schematic diagram showing the positional relationship between the wheel and the servo motor.

[0031] Figure 5 is a simplified structural diagram of the walking component.

[0032] Figure 6 is a simplified structural diagram of a cleaning robot.

[0033] The labels in the attached figures are as follows: 1. Wheel, 2. Protective cover, 3. Mounting bracket, 4. Gear, 5. Mounting column, 6. Anti-detachment block, 7. Steering component, 8. Protective cover, 9. Engaging sleeve, 10. Suction cup, 1001. Air extraction pipe, 1002. Body, 10021. Recessed part, 1003. Slide plate, 10031. Recessed ring, 11. Mounting rod, 12. Vacuum pump, 13. Guide rail, 14. Lead screw, 15. Lifting motor, 16. Synchronous belt, 17. Pulley, 18. Frame Detailed implementation method:

[0034] The present invention will now be described in detail with reference to the accompanying drawings.

[0035] Example 1

[0036] A suction cup, as shown in Figures 1 and 2, includes a body 1002, which is a flexible body 1002, and has an air outlet and an air inlet. It also includes a slide 1003, which is a rigid slide 1003, and is fixedly mounted on the body 1002. The slide 1003 is close to the air inlet of the body 1002, and the surface roughness of the slide 1003 is less than 6.3 and the flatness of the slide is less than 0.05.

[0037] In this type of suction cup, a sliding plate 1003 is provided on the main body 1002. The main body 1002 contacts the object being adsorbed through the sliding plate 1003. Since the sliding plate 1003 is a rigid sliding plate 1003, it will not be worn. Moreover, the surface roughness of the sliding plate 1003 is less than 6.3 and the flatness is less than 0.05. Therefore, after the suction cup of the above structure is adsorbed on the curtain wall, the coefficient of friction between the suction cup and the curtain wall is relatively small, and the suction cup can slide along the curtain wall.

[0038] In this scheme, a slide block 1003 with a roughness between 0.8 and 6.3 is selected, and the flatness of the slide block is less than 0.05.

[0039] As shown in Figures 1 and 2, the body 1002 is a silicone body 1002 or a rubber body 1002, and the slide 1003 is a plastic slide 1003.

[0040] The slide 1003 can be made of nylon PA, polytetrafluoroethylene, PEEK, or POM. Regardless of the material used to make the slide 1003, the slide 1003 must be rigid.

[0041] As shown in Figures 1 and 2, the slide 1003 is fixedly embedded in the body 1002.

[0042] As shown in Figures 1 and 2, the slide 1003 is a frustum-shaped cylindrical slide 1003. A fitting ring is provided at the opening of the wide end of the slide 1003. The fitting ring is close to the air inlet of the body 1002. An inner concave ring 10031 is provided on the wall of the slide 1003. The slide 1003 is clamped in the body 1002 by its own inner concave ring 10031. An inner concave part 10021 is provided on the body 1002. The inner concave part 10021 of the body 1002 is close to the inner concave ring 10031 of the slide 1003.

[0043] In the above structure, the slide 1003 is shaped like a frustum, and a concave ring 10031 is provided on the slide 1003. A concave portion 10021 is provided on the body 1002, and the concave portion 10021 is close to the concave ring 10031. This is equivalent to the slide 1003 providing support for the body 1002, ensuring that the body 1002 will not collapse onto the slide 1003. The fact that the body 1002 will not collapse onto the slide 1003 also ensures that the body 1002 will not pass through the slide 1003. The hole contacts the curtain wall, which ensures that there is a stable negative pressure cavity between the curtain wall, the sliding plate 1003 and the body 1002. This ensures that the suction cup will not stick tightly to the curtain wall and will also ensure that the entire suction cup will not undergo compression deformation (or the compression deformation is relatively small). This is suitable for applications where the suction cup needs to remain unchanged (or have a small deformation). It also allows for a direct observation of whether the suction cup is in a negative pressure state. Suction cups made of rigid materials (such as plastic) cannot be directly observed to determine whether the suction cup is in a negative pressure state.

[0044] As shown in Figures 1 and 2, it also includes an air extraction pipe 1001, which is installed at the air outlet of the main body 1002.

[0045] The evacuation pipe 1001 is installed to connect to a vacuum pump or air compressor.

[0046] Example 2,

[0047] A walking component includes a suction cup as shown in Figures 1 and 2.

[0048] As shown in Figure 5, a traveling assembly includes a mounting rod 11, a wheel 1, and a suction cup 10. The wheel 1 is rotatably mounted on the mounting rod 11, and the suction cup 10 is mounted on the mounting rod 11.

[0049] In this walking assembly, by further installing a suction cup 10 on the basis of the wheel 1, when the wheel 1 is not rotating, the suction cup 1 can be suctioned to the ground when a vacuum is drawn. This is equivalent to adsorbing and fixing the entire walking assembly to the ground. Therefore, when the obstacle crossing robot uses this walking assembly, the walking assembly that does not need to be lifted can be adsorbed to the ground, thus ensuring that slippage will not occur when crossing obstacles.

[0050] As shown in Figure 5, there are multiple suction cups 10, and the suction cups 10 are parallel to each other, with the wheel 1 located between the suction cups 10.

[0051] There are multiple suction cups 1. The purpose of using multiple suction cups 1 is to ensure stability when it is firmly attached to the ground and to ensure the adhesion strength between the walking component and the ground.

[0052] The mounting structure of wheel 1 in this embodiment is shown in Figures 3 and 4.

[0053] It includes a mounting frame 3, a wheel 1 and a steering component 7. The wheel 1 is rotatably mounted on the mounting frame 3. The steering component 7 is fixedly set and located on one side of the mounting frame 3. Both the steering component 7 and the mounting frame 3 are equipped with gears 4. The gears 4 of the steering component 7 mesh with the gears 4 of the mounting frame 3. The mounting frame 3 and the wheel 1 are located on opposite sides of the mounting frame 3.

[0054] In this structure, since the steering component 7 and the wheel 1 are located on opposite sides of the mounting frame 3, the steering component 7 can rotate to a greater extent when driving the mounting frame 3 to turn. The wheel 1 is rotatably mounted on the mounting frame 3, which ensures that the wheel 1 can have a greater turning range. At the same time, no particles will be stuck between the steering component 7 and the wheel 1, reducing the probability of jamming during rotation.

[0055] As shown in Figures 3 and 4, the axis of gear 4 on mounting bracket 3 passes through the center of wheel 1.

[0056] Because the gear 4 on the steering component 7 drives the mounting frame 3 to rotate through the gear 4 on the mounting frame 3, the axis of the gear 4 on the mounting frame 3 is actually the axis of rotation of the entire mounting frame 3. The center of the wheel 1 is located on the axis of rotation. This can increase the stability of the wheel 1 when the mounting frame 3 rotates (i.e., when steering), and also reduce the rotation radius of the wheel 1 when steering.

[0057] As shown in Figures 3 and 4, steering component 7 is a servo motor.

[0058] The servo motor has strong power, high operational stability, and facilitates precise steering control.

[0059] As shown in Figures 3 and 4, the system also includes a motor, which is fixed on the mounting bracket 3, and the wheel 1 is mounted on the motor shaft.

[0060] The function of the motor is to drive wheel 1 to rotate.

[0061] As shown in Figures 3 and 4, it also includes a protective cover 2, through which the motor is mounted on the mounting bracket 3.

[0062] The protective cover 2 serves to provide some protection for the motor.

[0063] As shown in Figures 3 and 4, it also includes a protective cover 8, which is fixedly installed on the steering component 7 and is used to shield the gear 4 on the steering component 7.

[0064] Because gear 4 on steering component 7 is the driving gear, it is subjected to greater force during transmission and is more prone to breakage when touched by external objects. Therefore, a protective cover 8 is provided to protect gear 4 on steering component 7.

[0065] As shown in Figures 3 and 4, a first bushing 5 is provided on the cylinder of the mounting frame 3, a gear 4 is fixed on the cylinder of the mounting frame 3, and a locking cylinder 9 is provided on the protective cover 8. The first bushing 5 is rotatably clamped in the locking cylinder 9.

[0066] Because the mounting bracket 3 and the steering component 7 can rotate relative to each other, a first bushing 5 is provided. After the first bushing rotates and engages in the engaging cylinder of the protective cover, the mounting bracket can remain stable when the steering component drives the mounting bracket to rotate. Furthermore, the frictional resistance of the mounting bracket during rotation can be reduced by the rotational engagement of the first bushing and the engaging cylinder.

[0067] As shown in Figures 3 and 4, it also includes a second bushing 6. The second bushing 8 is fixedly mounted on the cylinder of the mounting bracket 3. The second bushing 6 is in the shape of a plate ring and is close to the inner wall of the locking cylinder.

[0068] As shown in Figures 3 and 4, the second bushing 6 is fixed to the cylinder of the mounting bracket 3 by screws.

[0069] The screw installation makes disassembly convenient.

[0070] As shown in Figures 3 and 4, the wheel 1 has a pattern on its surface.

[0071] As shown in Figures 3 and 4, only after the suction cup 10 provided in Embodiment 1 is installed on the mounting rod 11 can the walking component be ensured to adhere to the curtain wall and maintain one-way movement.

[0072] Example 3

[0073] A cleaning robot that has the ability to cross obstacles, also known as an obstacle-crossing robot.

[0074] As shown in Figures 5 and 6, the vehicle includes the walking assembly shown in Figures 3, 4 and 5, and also includes a frame 18, a lifting motor 15 and a guide rail 13. The guide rail 13 is fixed on the frame 18, and the mounting rod 11 is slidably mounted on the guide rail 13. The lifting motor 15 is fixed on the frame 18 and is used to drive the mounting rod 11 to move along the guide rail 13.

[0075] Since the aforementioned walking component is used on an obstacle-crossing robot, when the walking component is installed on the frame 18, the movement of the walking component along the guide rail 13 realizes the lifting and lowering of the walking component.

[0076] As shown in Figures 5 and 6, the system also includes a lead screw 14, which is fixedly and rotatably mounted on the frame 18. The mounting rod 11 is rotatably engaged with the lead screw 14, and the lifting motor 15 is used to drive the lead screw 14 to rotate. When the lead screw 14 rotates, the mounting rod 11 moves along the guide rail 13.

[0077] Using a lead screw 14 to move the mounting rod 11 ensures that the mounting rod 11 remains stable during movement.

[0078] As shown in Figures 5 and 6, the lifting motor 15 and the lead screw 14 are connected by a synchronous belt 16 and a pulley 17.

[0079] Specifically, both the lifting motor 15 and the lead screw 14 are equipped with pulleys 17, and the pulleys 17 are linked together by a synchronous belt 16.

[0080] As shown in Figures 5 and 6, it also includes a vacuum pump 12, which is mounted on the mounting rod 11 or the frame 18. The vacuum pump 12 is connected to the suction cup 1 through a tube and is used to evacuate the suction cup 1.

[0081] The specific tube can be a plastic tube, a rubber tube, or a rigid silicone tube.

[0082] As shown in Figures 5 and 6, there are 3 sets of walking components.

[0083] The above description is only a preferred embodiment of the present invention and does not limit the scope of patent protection of the present invention. Any equivalent modifications made based on the present invention specification, whether directly or indirectly applied to other related technical fields, are similarly included within the scope of protection of the present invention.

Claims

1. An obstacle-crossing cleaning robot, characterized in that, The system includes a walking assembly, a frame, a lifting motor, and guide rails. The guide rails are fixed to the frame, and a mounting rod is slidably mounted on the guide rails. The lifting motor is fixed to the frame and drives the mounting rod to move along the guide rails. Two walking assemblies are mounted on the frame. Each walking assembly includes a suction cup. The suction cup includes a body, which is flexible, with an air outlet and an air inlet. It also includes a rigid sliding plate, which is fixedly mounted on the body and close to the air inlet of the body. The surface roughness of the sliding plate is less than 6. 0.3, flatness less than 0.05; the sliding plate is fixedly embedded in the body; the sliding plate is a frustum-shaped cylindrical sliding plate, and a fitting ring is provided at the opening of the wide end of the sliding plate. The fitting ring is close to the air inlet of the body. An inner concave ring is provided on the wall of the sliding plate. The sliding plate is fastened to the body by its own inner concave ring. An inner concave part is provided on the body, and the inner concave part of the body is close to the inner concave ring of the sliding plate; the body is a silicone body or a rubber body, and the sliding plate is a plastic sliding plate; it also includes an air extraction pipe, which is installed at the air outlet of the body.

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