Suction apparatus, glass-wiping device, and run control method therefor
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
A47L-001/02
G05B-023/02
A47L-011/38
F04C-028/24
F16B-047/00
G05B-015/02
출원번호
US-0389938
(2013-04-03)
등록번호
US-10016102
(2018-07-10)
우선권정보
CN-2012 1 0097694 (2012-04-05)
국제출원번호
PCT/CN2013/073730
(2013-04-03)
국제공개번호
WO2013/149590
(2013-10-10)
발명자
/ 주소
Lv, Xiaoming
출원인 / 주소
Ecovacs Robotics Co., Ltd.
대리인 / 주소
Berliner & Associates
인용정보
피인용 횟수 :
0인용 특허 :
4
초록▼
A suction apparatus, a glass-wiping device and a run control method thereof. The suction apparatus comprises a suction cup unit (1). The suction cup unit (1) comprises an inner suction cup (11) and an outer suction cup (12). The inner suction cup (11) is arranged on the inside of the outer suction c
A suction apparatus, a glass-wiping device and a run control method thereof. The suction apparatus comprises a suction cup unit (1). The suction cup unit (1) comprises an inner suction cup (11) and an outer suction cup (12). The inner suction cup (11) is arranged on the inside of the outer suction cup (12). A chamber on the inside of the inner suction cup (11) forms an inner negative pressure chamber (13) via vacuum suction. A chamber between the inner and outer suction cups (11 and 12) forms an outer negative pressure chamber (14) via vacuum suction. The outer negative pressure chamber (14) is connected to a vacuum detection unit. The vacuum detection unit comprises a distensible piece (20) and a distension-sensing piece (21). The distensible piece (20) is sealedly connected onto an opening on the top end of the outer negative pressure chamber (14). The distensible piece (20) has arranged thereon the distension-sensing piece (21). The glass-wiping device is provided with the suction apparatus, when in cases of failure of the outer suction cup (12) in the suction apparatus and of failure of the outer negative pressure chamber (14), the glass-wiping device will take measures immediately to prevent an increased number of small protrusions from entering the inner suction cup (11), thus preventing the phenomenon of the glass-wiping device falling off a wall from occurrence.
대표청구항▼
1. A glass-wiping device comprising a suction apparatus (1), a running unit (2), a cleaning unit (3), a driver unit (4) and a controller unit (5), in which the running unit (2) and the cleaning unit (3) are respectively arranged at the bottom side of the glass-wiping device (8) that is attached to t
1. A glass-wiping device comprising a suction apparatus (1), a running unit (2), a cleaning unit (3), a driver unit (4) and a controller unit (5), in which the running unit (2) and the cleaning unit (3) are respectively arranged at the bottom side of the glass-wiping device (8) that is attached to the glass by the suction apparatus, the controller unit (5) is connected with the driver unit (4); under the control by the controller unit (5), the driver unit (4) controls the running unit (2) to run; the glass-wiping device sucks on a glass surface by the suction apparatus (1); the suction apparatus (1) comprises a suction cup unit, characterized in that, the suction cup unit includes an inner suction cup (11) and an outer suction cup (12), the inner suction cup (11) being arranged inside the outer suction cup (12), a cavity inside the inner suction cup (11) forms an inner negative pressure chamber (13) by vacuum-pumping, and a cavity between the inner suction cup (11) and the outer suction cups (12) forms an outer negative pressure chamber (14) by vacuum-pumping, the glass-wiping device also comprises a vacuum detection unit which is respectively connected to the controller unit (5) and the outer negative pressure chamber (14), wherein, the controller unit (5) controls the glass-wiping device to stop or redirect if a vacuum detection data is less than or equal to a vacuum threshold upon a duration t elapsed, andwherein, t=s/v in which, s represents the radial distance between the inner suction cup and the outer suction cup, and v represents the walking speed of the glass-wiping device. 2. The glass-wiping device of claim 1, characterized in that, the vacuum detection unit comprises a deformable element (20) and a strain gauge (21), the deformable element (20) being hermetically attached on an opening (141) on the top of the outer negative pressure chamber (14), the strain gauge (21) being arranged on the deformable element (20) and being connected and outputting the vacuum detection data to the controller unit (5). 3. The glass-wiping device of claim 1, characterized in that, the controller unit (5) stores a vacuum threshold therein, and controls the glass-wiping device to stop or redirect if a vacuum detection data is less than or equal to the vacuum threshold. 4. The glass-wiping device of claim 3, characterized in that, the glass-wiping device is also provided with a timing unit, and the controller unit controls the glass-wiping device to stop or redirect if the vacuum detection data is less than or equal to the vacuum threshold upon an interval time t or a duration t elapsed. 5. The glass-wiping device of claim 1, characterized in that, the suction apparatus also comprises an inner vacuum pump (15), an outer vacuum pump (16), an inner gas guide tube (17) and an outer gas guide tube (18), the inner suction cup (11) being connected to the inner vacuum pump (15) through the inner gas guide tube (16), and the outer suction cup (12) being connected to the outer vacuum pump (16) through the outer gas guide tube (18). 6. The glass-wiping device of claim 1, characterized in that, the glass-wiping device sucks on a glass surface by the inner negative pressure chamber (13) and/or the outer negative pressure chamber (14). 7. The glass-wiping device of claim 1, characterized in that, when only the inner suction cup (11) is sealed with the glass surface, the glass-wiping device sucks on the glass surface by the inner negative pressure chamber (13); or, when only the outer suction cup (13) is sealed with the glass surface, the inner negative pressure chamber (13) is communicated with the outer negative pressure chamber (14) to form a big negative pressure chamber by which the glass-wiping device sucks on the glass surface. 8. The glass-wiping device according to claim 1, characterized in that, the inner negative chamber (13) is positioned in a space enclosed by the inner suction cup (11), the bottom of the glass-wiping device and a glass; the outer negative pressure chamber (14) is positioned in a space enclosed by the inner suction cup (11), the outer suction cup (12), the bottom of glass-wiping device and the glass. 9. The glass-wiping device according to claim 1, characterized in that, the inner negative chamber (13) is positioned in a space enclosed by the inner suction cup (11) and a glass, and the outer negative pressure chamber (14) is positioned in a space enclosed by the inner suction cup (11), the outer suction cup (12) and the glass. 10. A run control method of a glass-wiping device, the glass-wiping device comprising a suction apparatus (1), running unit (2), a cleaning unit (3), a driver unit (4) and a controller unit (5), in which the running unit (2) and the cleaning unit (3) are respectively arranged at the side of the glass-wiping device (8) that is attached to the glass by the suction apparatus, the controller unit (5) is connected with the driver unit (4); under the control by the controller unit (5), the driver unit (4) controls the running unit (2) to run; the glass-wiping device sucks on a glass surface by the suction apparatus (1); the suction apparatus (1) comprises a suction cup unit, the suction cup unit includes an inner suction cup (11) and an outer suction cup (12), the inner suction cup (11) being arranged inside the outer suction cup (12), a cavity inside the inner suction cup (11) forms an inner negative pressure chamber (13) by vacuum-pumping, and a cavity between the inner suction cup (11) and the outer suction cups (12) forms an outer negative pressure chamber (14) by vacuum-pumping, the glass-wiping device also comprises a vacuum detection unit which is respectively connected to the controller unit (5) and the outer negative pressure chamber (14), the run control method comprises the following steps:S1: the controller unit (5) controls an inner vacuum pump and an outer vacuum pump to start performing vacuum-pumping operation to the inner negative pressure chamber and the outer negative pressure chamber of the suction cup unit, thus the glass-wiping device (8) sticks on a surface of a glass (6);S2: the glass-wiping device (8) walks on the surface of the glass (6);S3: the vacuum detection unit detects and sends a vacuum detection data to the controller unit (5);S4: the controller unit (5) compares the vacuum detection data and an vacuum threshold, and controls the glass-wiping device (8) to stop walking or redirect if the vacuum detection data is less than or equal to the vacuum threshold; otherwise, the glass-wiping device (8) continues to walk,wherein the step S4 specifically comprises the following steps: the controller unit (5) controls the glass-wiping device (8) to stop or redirect if the vacuum detection data is still less than or equal to the vacuum threshold upon a duration t elapsed, t=s/v, in which, s represents the radial distance between the inner suction cup and the outer suction cup, and v represents the walking speed of the glass-wiping device.
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이 특허에 인용된 특허 (4)
Urakami Fukashi (Maruyoshi Bldg. 608 ; 17-24 Konandai 4-chome Konan-ku ; Yokohama JPX), Device for moving along a wall surface while suction-adhering thereto.
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