CN108354504A - A kind of window wiping robot - Google Patents
A kind of window wiping robot Download PDFInfo
- Publication number
- CN108354504A CN108354504A CN201810269712.1A CN201810269712A CN108354504A CN 108354504 A CN108354504 A CN 108354504A CN 201810269712 A CN201810269712 A CN 201810269712A CN 108354504 A CN108354504 A CN 108354504A
- Authority
- CN
- China
- Prior art keywords
- swivel
- motor
- negative pressure
- cleaning
- wiping robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004140 cleaning Methods 0.000 claims abstract description 74
- 239000011521 glass Substances 0.000 claims abstract description 25
- 239000004744 fabric Substances 0.000 claims description 46
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 14
- 238000009434 installation Methods 0.000 claims description 11
- 238000002347 injection Methods 0.000 claims description 6
- 239000007924 injection Substances 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 3
- 230000008602 contraction Effects 0.000 claims 1
- 239000000284 extract Substances 0.000 claims 1
- 239000000243 solution Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 239000005357 flat glass Substances 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001755 vocal effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- 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
-
- 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
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention discloses a kind of window wiping robots, including：Cylindrical body, the center of the organism bottom is equipped with running gear and body is enabled to be adsorbed on the negative pressure generator on glass, the negative pressure generator is set to running gear periphery, it is externally provided with rotatable rotating disc in negative pressure generator, the bottom of rotating disc is uniformly provided with 5~8 independent cleaning units, the body is set to the accumulator being located above negative pressure generator, and running gear, negative pressure generator, rotating disc and cleaning unit are connect with accumulator.The purpose of the present invention is to provide a kind of window wiping robot, this window wiping robot can be convenient for cleaning glass outside building.
Description
Technical field
The invention belongs to robotic technology fields, specifically, being related to a kind of window wiping robot.
Background technology
Urban development is getting faster, and either house or office building are more and more in the use of glass, however, window
The cleaning of glass is not but an easy thing.Especially many office buildings, may only clean primary for 1 year, when cleaning, need
There is cleaner to be cleaned outside building, there is certain danger.And the window of house is equally difficult to clean, and ask clear outside building
Clean work somewhat expensive, it is therefore desirable to which a kind of clean robot can be convenient for cleaning window-glass.
Invention content
The purpose of the present invention is to provide a kind of window wiping robot, this window wiping robot can be convenient for glass outside building into
Row cleaning.
In order to solve the above technical problems, the present invention is using the basic conception of technical solution：
This window wiping robot, including：The center of cylindrical body, the organism bottom is equipped with running gear and can make
It obtains body and is adsorbed on the negative pressure generator on glass, the negative pressure generator is set to running gear periphery, outside negative pressure generator
Equipped with rotatable rotating disc, the bottom of rotating disc is uniformly provided with 5~8 independent cleaning units, and position is equipped in the body
Accumulator above negative pressure generator, running gear, negative pressure generator, rotating disc and cleaning unit are connect with accumulator.
Further, the running gear includes that a single tine arm, a traveling wheel and rotation axis and traveling wheel coordinate
The first motor of installation, the casing of the first motor are fixedly mounted on the lower part of the single tine arm longitudinal axis, the horizontal axis on single tine arm top
On the second motor that driving single tine arm turns to is installed, the casing of second motor is fixedly mounted in body.
Further, the cleaning unit include section be square first swivel and section be circular second turn
Body, first swivel and the cooperation of the second swivel are equipped with the servo motor of driver rotation, and the rotation pan bottom is equipped with
Groove for installing cleaning unit；Second swivel is mounted on by dismountable first telescopic rod on the inside of groove, the first swivel
It is mounted on the notch position of groove by the second telescopic rod and stretches out 0.5~1cm of groove, first swivel and the second swivel point
Cleaning cloth is not wrapped up in since the both ends of cleaning cloth, and cleaning cloth is wrapped.
Further, the negative pressure generator includes the cover body of one end open, and running gear is mounted in cover body, the cover
The top of body is equipped with the Negative pressure machine that gas in cover body is extracted out to cover body, and the top of body is equipped with the row being connect with Negative pressure machine exhaust end
Gas port.
Further, the rotating disc external cylindrical surface is equipped with rack, and third motor, the third are equipped in the body
The shaft of motor is equipped with the gear coordinated with rack, rack and pinion cooperation installation.
Further, it is additionally provided in the groove and for that will clean cloth and block cleaning cloth is wrapped first
Clamping device on swivel.
Further, water receiver is equipped in the body, the water receiver is connected with nozzle, jet pump and spray by jet pump
Flowmeter is equipped between head, the nozzle is set in groove, and direction is rolled in the cleaning cloth on the first swivel.
Further, the accumulator is externally provided with shell, and the bottom of the shell is equipped with air inlet, and top is equipped with air draft
Mouthful, the exhaust end of the air inlet and Negative pressure machine connects, and the top vent of exhaust outlet and body connects.
Further, second telescopic rod is mounted on the first telescopic rod.
The control method of the window wiping robot, when using window wiping robot, by the first swivel of cleaning cloth installation and second
On swivel, the first motor, the second motor, the Negative pressure machine of negative pressure generator, the first swivel and the cooperation installation of the second swivel
Servo motor, the first telescopic rod, the second telescopic rod, third motor, nozzle connection jet pump, flowmeter and clamping device respectively with
Control module connect, control the specific steps are：
A, it opens window wiping robot to switch, control module controls negative pressure generator and starts, and the flexible of the second telescopic rod of control makes
First wiping window position of the swivel in setting, control injection pump work so that cleaning cloth sprinkling of the nozzle on the first swivel
The water of the water of set amount, set amount is known by flowmeter, then controls the rotation of the first swivel so that the cleaning cloth position squirted
In first swivel clean surface on, then control clamping device will clean cloth clamping；
B, control module control third motor work so that turn disc, so that mounted on the cleaning on rotating disc
Unit cleans glass；
C, while by cleaning unit to cleaning glass, control module controls first motor and the work of the second motor, to
So that window wiping robot is walked on glass；
D, after cleaning unit cleans setting time or sets the glass of area, the second telescopic rod of control shrinks setpoint distance,
It controls third motor simultaneously to be stopped, control module controls clamping device and unclamps cleaning cloth, and control control injection pump work makes
The cleaning cloth moistening on the swivel of nozzle pair first is obtained, then controls the rotation of the first swivel so that the cleaning cloth squirted is located at
In the clean surface of first swivel, then clamping device is controlled by cleaning cloth clamping, control the second telescopic rod elongation so that the first swivel
Positioned at the wiping window position of setting, control third motor work continues to wipe window.
After adopting the above technical scheme, the present invention has the advantages that compared with prior art：
1, the running gear being equipped with can drive the walking of robot, negative pressure generator that robot is enabled to be adsorbed on window glass
On glass, and 5~8 independent cleaning units being equipped in rotation pan bottom can clean glass so that clean effect
Fruit is more preferable；
2, running gear is set as monocycly running gear, and to be set as single tine arm-type for its support arm, so as to effectively reduce machine
The overall weight of people avoids the robot architecture of existing two-wheeled or Three-wheel type complicated, and the drawback of weight weight can reduce 200-
The weight of 300g or so, and in the case of robot volume can not be increased, the clean area of robot is enabled to increase,
Efficiently use space increase；
3, by the way that the first swivel is set as the cylinder that section is square, the first swivel often rotates 90 ° and allows for first turn
Body drives cleaning cloth movement so that the another side of the first swivel becomes the clean surface to glass, more by dirty cleaning cloth face
It changes；
4, the cover body of negative pressure generator is set to outside running gear, can reduce the volume of negative pressure generator, increases space availability ratio,
And the gas of negative pressure generator discharge passes through accumulator, battery-operated can release heat, can cool down to accumulator；
5, by equipped with water receiver, jet pump can pump water to nozzle, to be moistened to cleaning cloth, so as to
It is enough that window is wiped cleaner.
The specific implementation mode of the present invention is described in further detail below in conjunction with the accompanying drawings.
Description of the drawings
A part of the attached drawing as the application, for providing further understanding of the invention, of the invention is schematic
Embodiment and its explanation do not constitute inappropriate limitation of the present invention for explaining the present invention.Obviously, the accompanying drawings in the following description
Only some embodiments to those skilled in the art without creative efforts, can be with
Other accompanying drawings can also be obtained according to these attached drawings.In the accompanying drawings：
Fig. 1 is the general structure schematic diagram of window wiping robot；
Fig. 2 is the upward view of rotating disc；
Fig. 3 is the structural schematic diagram that cleaning unit is mounted in rotating disc groove.
It should be noted that these attached drawings and verbal description are not intended to the design model limiting the invention in any way
It encloses, but is that those skilled in the art illustrate idea of the invention by referring to specific embodiments.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in embodiment is clearly and completely described, following embodiment for illustrating the present invention, but
It is not limited to the scope of the present invention.
In the description of the present invention, it should be noted that term "upper", "front", "rear", "left", "right", " is erected at "lower"
Directly ", the orientation or positional relationship of the instructions such as "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, merely to just
In the description present invention and simplify description, do not indicate or imply the indicated device or element must have a particular orientation, with
Specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
Can also be electrical connection to be mechanical connection；It can be directly connected, it can also be indirectly connected through an intermediary.For this
For the those of ordinary skill in field, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Embodiment one：
Window wiping robot as shown in Figure 1 to Figure 3, including：Cylindrical body 1, the center of 1 bottom of the body is equipped with
Running gear 2 and the negative pressure generator 3 for enabling to body to be adsorbed on glass, the negative pressure generator 3 are set to running gear 2
Periphery is externally provided with rotatable rotating disc 6 in negative pressure generator 3, installs organism 1 on rotating disc 6, the bottom of rotating disc 6 is equal
It is even to be equipped with 5~8 independent cleaning units 4, the accumulator 5 for being located at 3 top of negative pressure generator, walking are equipped in the body 1
Device 2, negative pressure generator 3, rotating disc 6 and cleaning unit 4 are connect with accumulator 5, and it refers to turning that rotating disc is connect with accumulator
The driving device of Moving plate is connect with accumulator.The rotation of rotating disc 6 drives cleaning unit 4 to rotate, so that cleaning unit 4 is right
Glass is cleaned.
The running gear 2 includes that 203, traveling wheels 201 and rotation axis of a single tine arm and traveling wheel 201 coordinate
The first motor 202 of installation, the casing of the first motor 202 are fixedly mounted on the lower part of 203 longitudinal axis of single tine arm, single tine arm
The second motor 204 that driving single tine arm 203 turns to is installed, the casing of second motor 204 is fixed on the horizontal axis on 203 tops
In body 1.
The cleaning unit 4 includes the first swivel 401 that section is square and section is circular second swivel 402,
First swivel 401 and the second swivel 402 are cylindricality, and first swivel, the 401 and second cooperation of swivel 402 is equipped with driver
The servo motor of rotation, 6 bottom of the rotating disc are equipped with the groove 601 for installing cleaning unit 4；Second swivel 402 passes through
Dismountable first telescopic rod 404 is mounted on 601 inside of groove, and the first swivel 401 is mounted on groove by the second telescopic rod 405
601 notch position and 0.5~1cm of stretching groove, first swivel, 401 and second swivel 402 is respectively from cleaning cloth 403
Both ends start to wrap up in cleaning cloth, and cleaning cloth is wrapped, second telescopic rod 405 is mounted on the first telescopic rod 404.
The negative pressure generator 3 includes the cover body 301 of one end open, and running gear is mounted in cover body 301, the cover body
301 top is equipped with the Negative pressure machine 302 that gas in cover body 301 is extracted out to cover body, and the top of body 1 is equipped with and 302 row of Negative pressure machine
The exhaust outlet of gas end connection.
6 external cylindrical surface of the rotating disc is equipped with rack 601, and third motor 602, the third are equipped in the body 1
The shaft of motor 602 is equipped with the gear 603 coordinated with rack 601, and rack 601 is installed with the cooperation of gear 603.
It is additionally provided in the groove 601 and for that will clean cloth 403 and block cleaning cloth is wrapped at first turn
Clamping device 406 on body 401.
It is equipped with water receiver 7 in the body 1, the water receiver 7 is connected with nozzle 8 by jet pump, and nozzle 8 is placed along the
One swivel 401 it is axial arranged be a row, between jet pump and nozzle 8 be equipped with flowmeter 9, the nozzle 8 be set to groove 601 in,
And direction is rolled in the cleaning cloth 403 on the first swivel 401.
The accumulator 5 is externally provided with shell 501, and the bottom of the shell 501 is equipped with air inlet 502, and top is equipped with air draft
Mouth 503, the air inlet 502 is connect with the exhaust end of Negative pressure machine, the top vent of exhaust outlet 503 and body 1（It is not shown）
Connection.
The control method of window wiping robot, when using window wiping robot, will cleaning cloth 403 installation first swivel 401 and
Second swivel 402 on, the first motor 202, the second motor 204, negative pressure generator 3 Negative pressure machine 302, first swivel 401
And second swivel 402 coordinate the servo motor of installation, the first telescopic rod 404, the second telescopic rod 405, third motor 602, spray
First 8 connection jet pump, flowmeter 9 and clamping device 406 are connect with control module respectively, control the specific steps are：
A, window wiping robot switch is opened, control module controls negative pressure generator 3 and starts, and controls the flexible of the second telescopic rod 405
So that the first wiping window position of the swivel 401 in setting, control injection pump work so that nozzle 8 is clear on the first swivel 401
Clean cloth 403 sprays the water of set amount, and the water of set amount is known by flowmeter, then controls the rotation of the first swivel 401 so that quilt
The cleaning cloth 403 squirted is located in the clean surface of the first swivel 401, then controlling clamping device 406 will cleaning 403 clamping of cloth；
The clean surface of first swivel 401 is the face of contact side of first swivel with window-glass.
B, control module control third motor 602 works so that rotating disc 6 rotates so that rotating disc 6 rotates, to make
The cleaning unit being mounted on rotating disc is obtained to clean glass；
C, while by cleaning unit to cleaning glass, control module controls first motor 202 and 204 work of the second motor
Make, the direction so that window wiping robot is walked and changed on glass, the running gear of this single-wheel is simple in structure, volume
It is small；
D, when cleaning unit 4 clean setting time or set area glass after, control the second telescopic rod 405 shrink setting away from
From, while controlling third motor 602 and being stopped, control module controls clamping device 406 and unclamps cleaning cloth, control control injection
Pump work so that nozzle 8 moistens the cleaning cloth 403 on the first swivel 401, then controls the rotation of the first swivel 401 so that quilt
Squirt cleaning cloth 403 be located at first swivel 401 clean surface on, then control clamping device 406 will clean 403 clamping of cloth,
Control the elongation of the second telescopic rod 405 so that the first swivel 401 is located at the wiping window position of setting, and the wiping window position of setting may not
Together, 405 elongation of the second telescopic rod is adjusted according to the thickness of package cleaning cloth on the first swivel 401 or is turned according to first
401 adjust 405 elongation of the second telescopic rod with the pressure size of glass, and control third motor 602 works, and continues to wipe window；Recycle d
Step after wiping clean window, turns off window wiping robot, and remove robot.
The above is only presently preferred embodiments of the present invention, is not intended to limit the present invention in any form, although this
Invention is disclosed above with preferred embodiment, and however, it is not intended to limit the invention, and any technical staff for being familiar with this patent exists
It does not depart within the scope of technical solution of the present invention, when the technology contents using above-mentioned prompt make a little change or are modified to equivalent
The equivalent embodiment of variation, as long as being the content without departing from technical solution of the present invention, according to the technical essence of the invention to above
Any simple modification, equivalent change and modification made by embodiment, in the range of still falling within the present invention program.
Claims (10)
1. a kind of window wiping robot, including：Cylindrical body（1）, which is characterized in that the body（1）The centre bit of bottom
Running gear is installed（2）And body is enabled to be adsorbed on the negative pressure generator on glass（3）, the negative pressure generator（3）
Set on running gear（2）Periphery, in negative pressure generator（3）It is externally provided with rotatable rotating disc（6）, rotating disc（6）On be equipped with
Body（1）, rotating disc（6）Bottom be uniformly provided with 5~8 independent cleaning units（4）, the body（1）Interior be equipped with is located at
Negative pressure generator（3）The accumulator of top（5）, running gear（2）, negative pressure generator（3）, rotating disc（6）And cleaning unit（4）
And accumulator（5）Connection.
2. window wiping robot according to claim 1, which is characterized in that the running gear（2）Including a single tine arm
（203）, a traveling wheel（201）And rotation axis and traveling wheel（201）Coordinate the first motor of installation（202）, described first
Motor（202）Casing be fixedly mounted on single tine arm（203）The lower part of the longitudinal axis, single tine arm（203）It is equipped on the horizontal axis on top
Drive single tine arm（203）The second motor turned to（204）, second motor（204）Casing be fixedly mounted on body（1）
It is interior.
3. window wiping robot according to claim 1, which is characterized in that the cleaning unit（4）It is pros including section
First swivel of shape（401）And section is circular second swivel（402）, the first swivel（401）And second swivel（402）It is
Cylindricality, first swivel（401）And second swivel（402）Cooperation be equipped with driving its rotation servo motor, described turn
Moving plate（6）Bottom is equipped with for installing cleaning unit（4）Groove（601）；Second swivel（402）It is stretched by dismountable first
Contracting bar（404）Mounted on groove（601）Inside, the first swivel（401）Pass through the second telescopic rod（405）Mounted on groove（601）
Notch position and stretch out groove 0.5~1cm, first swivel（401）And second swivel（402）Respectively from cleaning cloth
（403）Both ends start to wrap up in cleaning cloth, and cleaning cloth is wrapped.
4. window wiping robot according to claim 1, which is characterized in that the negative pressure generator（3）Including one end open
Cover body（301）, running gear is mounted on cover body（301）It is interior, the cover body（301）Top be equipped with cover body（301）Interior gas
Body extracts the Negative pressure machine of cover body out（302）, body（1）Top be equipped with and Negative pressure machine（302）The exhaust outlet of exhaust end connection.
5. window wiping robot according to claim 1, which is characterized in that the rotating disc（6）External cylindrical surface is equipped with tooth
Item（601）, the body（1）It is interior to be equipped with third motor（602）, the third motor（602）Shaft be equipped with and rack
（601）The gear of cooperation（603）, rack（601）With gear（603）Cooperation installation.
6. window wiping robot according to claim 3, which is characterized in that the groove（601）It is inside additionally provided with for will be clear
Clean cloth（403）It blocks and cleaning cloth is wrapped in the first swivel（401）On clamping device（406）.
7. window wiping robot according to claim 3, which is characterized in that the body（1）It is interior to be equipped with water receiver（7）, institute
State water receiver（7）It is connected with nozzle by jet pump（8）, jet pump and nozzle（8）Between be equipped with flowmeter（9）, the nozzle（8）
Set on groove（601）It is interior, and direction is rolled in the first swivel（401）On cleaning cloth（403）.
8. window wiping robot according to claim 4, which is characterized in that the accumulator（5）It is externally provided with shell（501）,
The shell（501）Bottom be equipped with air inlet（502）, top is equipped with exhaust outlet（503）, the air inlet（502）With negative pressure
The exhaust end of machine connects, exhaust outlet（503）With body（1）Top vent connection.
9. window wiping robot according to claim 3, which is characterized in that second telescopic rod（405）Mounted on first
Telescopic rod（404）On.
10. the control method of the window wiping robot according to one of claim 1-9, which is characterized in that use window cleaning equipment device
When people, cloth will be cleaned（403）The first swivel of installation（401）And second swivel（402）On, the first motor（202）, second
Motor（204）, negative pressure generator（3）Negative pressure machine（302）, first swivel（401）And second swivel（402）Cooperation is installed
Servo motor, the first telescopic rod（404）, the second telescopic rod（405）, third motor（602）, nozzle（8）Connect jet pump, flow
Meter（9）And clamping device（406）Connect respectively with control module, control the specific steps are：
A, window wiping robot switch is opened, control module controls negative pressure generator（3）Start, controls the second telescopic rod（405）'s
It is flexible to make the first swivel（401）Wiping window position in setting, control injection pump work so that nozzle（8）To the first swivel
（401）On cleaning cloth（403）The water of set amount is sprayed, the water of set amount is known by flowmeter, then controls the first swivel
（401）Rotation so that the cleaning cloth squirted（403）Positioned at the first swivel（401）Clean surface on, then control clamping device
（406）Cloth will be cleaned（403）Clamping；
B, control module controls third motor（602）Work so that rotating disc（6）Rotation, so that mounted in rotating disc
On cleaning unit glass is cleaned；
C, while by cleaning unit to cleaning glass, control module controls first motor（202）And second motor（204）
Work, so that window wiping robot is walked on glass；
D, work as cleaning unit（4）After cleaning setting time or setting the glass of area, the second telescopic rod is controlled（405）Contraction is set
Set a distance, while controlling third motor（602）It is stopped, control module controls clamping device（406）Unclamp cleaning cloth, control
Control injection pump work so that nozzle（8）It is turned to first（401）On cleaning cloth（403）Moistening, then control the first swivel
（401）Rotation so that the cleaning cloth squirted（403）Positioned at the first swivel（401）Clean surface on, then control clamping device
（406）Cloth will be cleaned（403）Clamping controls the second telescopic rod（405）Elongation so that the first swivel（401）Positioned at setting
Window position is wiped, third motor is controlled（602）Work continues to wipe window.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010252634.1A CN111227707B (en) | 2018-03-29 | 2018-03-29 | Control method of window cleaning robot |
| CN201810269712.1A CN108354504B (en) | 2018-03-29 | 2018-03-29 | Window cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810269712.1A CN108354504B (en) | 2018-03-29 | 2018-03-29 | Window cleaning robot |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010252634.1A Division CN111227707B (en) | 2018-03-29 | 2018-03-29 | Control method of window cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108354504A true CN108354504A (en) | 2018-08-03 |
| CN108354504B CN108354504B (en) | 2020-05-05 |
Family
ID=63001417
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010252634.1A Expired - Fee Related CN111227707B (en) | 2018-03-29 | 2018-03-29 | Control method of window cleaning robot |
| CN201810269712.1A Expired - Fee Related CN108354504B (en) | 2018-03-29 | 2018-03-29 | Window cleaning robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010252634.1A Expired - Fee Related CN111227707B (en) | 2018-03-29 | 2018-03-29 | Control method of window cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN111227707B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112274069A (en) * | 2020-11-05 | 2021-01-29 | 上海云绅智能科技有限公司 | Rotary type cleaning device and cleaning robot |
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| CN107752899B (en) * | 2017-12-04 | 2023-09-19 | 深圳职业技术学院 | Negative pressure wall glass cleaning device |
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- 2018-03-29 CN CN201810269712.1A patent/CN108354504B/en not_active Expired - Fee Related
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| CN112274069A (en) * | 2020-11-05 | 2021-01-29 | 上海云绅智能科技有限公司 | Rotary type cleaning device and cleaning robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111227707B (en) | 2021-06-04 |
| CN111227707A (en) | 2020-06-05 |
| CN108354504B (en) | 2020-05-05 |
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