CN108451434A - Scrubbing machine people - Google Patents
Scrubbing machine people Download PDFInfo
- Publication number
- CN108451434A CN108451434A CN201810267375.2A CN201810267375A CN108451434A CN 108451434 A CN108451434 A CN 108451434A CN 201810267375 A CN201810267375 A CN 201810267375A CN 108451434 A CN108451434 A CN 108451434A
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- China
- Prior art keywords
- rag
- power input
- cleaning device
- window cleaning
- machine people
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- 238000005201 scrubbing Methods 0.000 title claims abstract description 23
- 238000004140 cleaning Methods 0.000 claims abstract description 96
- 230000002745 absorbent Effects 0.000 claims abstract description 7
- 239000002250 absorbent Substances 0.000 claims abstract description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 48
- 230000007246 mechanism Effects 0.000 claims description 36
- 230000005540 biological transmission Effects 0.000 claims description 28
- 241000219098 Parthenocissus Species 0.000 claims description 26
- 238000005096 rolling process Methods 0.000 claims description 21
- 238000010408 sweeping Methods 0.000 abstract description 3
- 230000037431 insertion Effects 0.000 abstract 1
- 238000003780 insertion Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 10
- 239000007921 spray Substances 0.000 description 10
- 239000002360 explosive Substances 0.000 description 9
- 238000001179 sorption measurement Methods 0.000 description 8
- 238000005507 spraying Methods 0.000 description 7
- 239000007788 liquid Substances 0.000 description 5
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000001939 inductive effect Effects 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 241000935985 Certhiidae Species 0.000 description 3
- 230000036461 convulsion Effects 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- BVPWJMCABCPUQY-UHFFFAOYSA-N 4-amino-5-chloro-2-methoxy-N-[1-(phenylmethyl)-4-piperidinyl]benzamide Chemical compound COC1=CC(N)=C(Cl)C=C1C(=O)NC1CCN(CC=2C=CC=CC=2)CC1 BVPWJMCABCPUQY-UHFFFAOYSA-N 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 2
- 210000002421 cell wall Anatomy 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 239000003595 mist Substances 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000009987 spinning Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005202 decontamination Methods 0.000 description 1
- 230000003588 decontaminative effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000005923 long-lasting effect Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000009736 wetting Methods 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4041—Roll shaped surface treating tools
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
Landscapes
- Nozzles For Electric Vacuum Cleaners (AREA)
Abstract
The present invention provides scrubbing machine people, including：Window cleaning device includes the first walking component and forms cleaning systems for being adsorbed in the absorbent module of forms, for being moved on forms；Mopping device includes for the second walking component and floor cleaning system in ground moving, and there is the fuselage of mopping device mounting groove, window cleaning device to be configured to be embedded in and leave mounting groove.Thus, this scrubbing machine is artificially a kind of to be merged wiping ground of sweeping the floor, wiping the multi-functional whole function clean robot of window, complete mopping robot is constituted after window cleaning device insertion mopping device, window cleaning device is independent a window cleaning equipment after being taken out in window cleaning device, its is feature-rich, at low cost, occupies less parking space, easy to operate, the user experience is improved.
Description
Technical field
The present invention relates to cleaning appliance fields, in particular to scrubbing machine people.
Background technology
As the improvement of people's living standards, increasingly focusing on family life environment, especially indoor cleaning is valued very much,
In this context, more and more indoor burnishers start to occur, to substitute or alleviate heavy manpower housework.It is right
In daily floor dust clast cleaning, the amount of labour paid is also larger, gradually completes floor using sweeping robot at present
Cleaning.Daily forms dust is cleared up, is gradually completed at present using window wiping robot.
The prior art has the following defects, and due to mopping robot and window wiping robot is directed to floor respectively and forms clean
And design, the fuselage walking manner of two kinds of application scenarios, rubbish type are different, and concrete structure also and differs, it is difficult to
It is used interchangeably, therefore user needs to buy mopping robot and window wiping robot respectively, of high cost, the more storage skies of occupancy
Between, poor user experience.
Invention content
For overcome the deficiencies in the prior art, the present invention provides scrubbing machine people.
Specifically, its technical solution is as follows：
A kind of scrubbing machine people, including：
Window cleaning device includes the first walking component for being adsorbed in the absorbent module of forms, for being moved on forms
With forms cleaning systems；
Mopping device includes for the second walking component and floor cleaning system in ground moving, the mopping device
Fuselage there is mounting groove, the window cleaning device is configured to be embedded in and leave the mounting groove.
In some preferred embodiments, the window cleaning device further includes power output component, and the mopping device is also
Including power input module, power input module drive connection the second walking component, the power input module quilt
It is configured to be sequentially connected with the power output component.
In some preferred embodiments, the forms cleaning systems include being arranged at the fuselage bottom of the window cleaning device
First group of rotation rag in portion and at least one first jet, the fuselage interior are provided with the first water tank, first water tank
The first jet described in piping connection.
In some preferred embodiments, the first walking component includes the first creeper undercarriage and the second crawler belt
Walking mechanism, first creeper undercarriage and second creeper undercarriage are located at the two of the fuselage bottom
Side.
In some preferred embodiments, the second walking component includes more than two idler wheel modules, the power
The input module drive connection idler wheel module.
In some preferred embodiments, the idler wheel module includes roller body, turning rolls and transmission mechanism, described
Transmission mechanism is arranged in the turning rolls, and the power intake of the transmission mechanism includes power input shaft, and the power is defeated
Enter axis and stretch out the turning rolls, the power output end of the transmission mechanism is supported on and the roller body that is sequentially connected.
In some preferred embodiments, the power output component includes respectively by first creeper undercarriage
The leading-out terminal stretched out with the central shaft of the respective Athey wheel of second creeper undercarriage, the power input module is by institute
It states power input shaft to be formed, the end face of the power input shaft is provided with link slot, the link slot and the leading-out terminal phase
Matching, for installing the leading-out terminal and being rotated with the leading-out terminal.
In some preferred embodiments, the power input shaft is movably threaded through on the turning rolls, described
Resetting spring is socketed on power input shaft, one end of the resetting spring abuts the power input shaft, the resetting spring
The other end abut the turning rolls, for enabling the power input shaft when the window cleaning device is installed on the mounting groove
Enough elastic telescopics are simultaneously closely connect with the leading-out terminal.
In some preferred embodiments, the transmission mechanism includes the first rolling bearing, the second rolling bearing, rack
Transmission belt, the power output end include power output shaft, and the both ends of the rack-driving band roll tooth with described first respectively
Wheel, second rolling bearing engagement, first rolling bearing are set on the power input shaft, and described second rolls tooth
Wheel is set on the power output shaft, and the roller body is set on the power output shaft.
In some preferred embodiments, the floor cleaning system includes being arranged at the fuselage bottom of the mopping device
The round brush in portion, second group of rotation rag and at least one second nozzle, the fuselage interior of the mopping device are provided with dustbin
With the second water tank, the second water tank second nozzle described in pipeline connection, the dustbin docks the round brush to receive simultaneously
Store the rubbish from the round brush；
Preferably, the fuselage bottom of the window cleaning device is provided with the first fixation rag；
Preferably, the fuselage bottom of the mopping device is provided with the second fixation rag.
The present invention at least has the advantages that：
Scrubbing machine people provided by the invention, including：Window cleaning device includes for being adsorbed in the absorbent module of forms, using
In the first walking component and forms cleaning systems that are moved on forms；Mopping device includes for the second of ground moving
Walk component and floor cleaning system, the fuselage of mopping device has a mounting groove, window cleaning device be configured to it is embedded and from
Open mounting groove.
As a result, in the present invention, scrubbing machine is artificially a kind of to be merged wiping ground of sweeping the floor, wiping the multi-functional whole function of window
Clean robot, window cleaning device can be easily mutually embedded with mopping device or from wherein transfering to, and window cleaning device is embedded in mopping device
Complete mopping robot is constituted afterwards, window cleaning device is independent a window cleaning equipment after being taken out in window cleaning device,
It is feature-rich, it is at low cost, less parking space is occupied, easy to operate, the user experience is improved.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the oblique view of scrubbing machine people in the embodiment of the present invention；
Fig. 2 is the explosive view of scrubbing machine people in the embodiment of the present invention；
Fig. 3 is the first oblique view of window cleaning device in the embodiment of the present invention；
Fig. 4 is the second oblique view of window cleaning device in the embodiment of the present invention；
Fig. 5 is the first explosive view of window cleaning device in the embodiment of the present invention；
Fig. 6 is the partial enlarged view of the first creeper undercarriage part in Fig. 5；
Fig. 7 is the second explosive view of window cleaning device in the embodiment of the present invention；
Fig. 8 is the schematic diagram of the first upper casing in the embodiment of the present invention；
Fig. 9 is the schematic diagram of the first lower casing in the embodiment of the present invention；
Figure 10 is the schematic diagram of the driving of the first rag and the assembly of the first rotation rag in the embodiment of the present invention；
Figure 11 is the explosive view of the first rotation rag in the embodiment of the present invention；
Figure 12 is the oblique view of mopping device in the embodiment of the present invention；
Figure 13 is the first explosive view of mopping device in the embodiment of the present invention；
Figure 14 is the oblique view of the first idler wheel module in the embodiment of the present invention；
Figure 15 is the first explosive view of the first idler wheel module in the embodiment of the present invention；
Figure 16 is the second explosive view of the first idler wheel module in the embodiment of the present invention；
Figure 17 is the sectional view of the first idler wheel module in the embodiment of the present invention；
Figure 18 is the second explosive view of mopping device in the embodiment of the present invention；
Figure 19 is schematic diagram of each component on bottom plate in the embodiment of the present invention；
Figure 20 is the schematic diagram of bottom plate of the embodiment of the present invention；
Figure 21 is the schematic diagram of dustbin in the embodiment of the present invention；
Figure 22 is the schematic diagram of the driving of the first rag and the assembly of the first rotation rag in the embodiment of the present invention；
Figure 23 is the schematic diagram of upper casing and avoidance tablet in the embodiment of the present invention；
Figure 24 is the schematic diagram of the first rotation rag in the embodiment of the present invention；
Figure 25 is the explosive view of the first rotation rag in the embodiment of the present invention.
Main element symbol description：
10- window cleaning devices；The fuselage of 101- window cleaning devices；The first upper casings of 1011-；The first lower casings of 1012-；1021- first
Avoidance tablet；1022- the second avoidance tablets；The first creepers undercarriage of 1031-；The second creepers undercarriage of 1032-；
The first water tanks of 104-；The first tender filling hole covers of 1041-；1042- handles；105- adsorption mouths；1061- first rotates rag；10611-
First rag ontology；The first input gears of 10612-；The first turntables of 10613-；The first counterweight rings of 10614-；In 10615- first
Mandrel；1062- second rotates rag；107- first jets；The first batteries of 108-；The first rags of 1091- drive；10911- first
Headstock；The first output gears of 10912-；The second rags of 1092- drive；110- negative pressure generates component；111- water pumps；1121-
One hoofing part mechanism；The second hoofing part mechanisms of 1122-；The first mainboards of 113-；120- leading-out terminals；20- mopping devices；
The fuselage of 201- mopping devices；2011- bottom plates；The second upper casings of 2012-；2021- thirds rotate rag；20211- third rag sheets
Body；20212- third turntables；20213- third input gears；20214- third counterweight rings；20215- third central shafts；2022-
4th rotation rag；2031- the first idler wheel modules；2032- the second idler wheel modules；20311- roller bodies；20312- turning rolls；
20313- fixed frames；20314- link slots；The first rolling bearings of 203151-；The second rolling bearings of 203152-；203153- power
Input shaft；203154- power output shafts；203155- rack-driving bands；203156- resetting springs；The vertical dampers of 20316-；
20317- transverse dampers；203121- first half-shells；The second half-shells of 203122-；203161- vertical supporting arms；203162- is perpendicular
To spring；203163- mounting holes；204- round brush；205- guide wheels；206- nozzles；207- round brush covers；The second batteries of 208-；209-
Round brush drives；210- guided wheel slots；211- round brush slots；212- dustbins；2121- box bodys；2122- box covers；2123- is latched；2124-
Chamber door；2125- dustbin handles；2131- third rags drive；The 4th rags of 2132- drive；2141- third rag slots；
The 4th rag slots of 2142-；215- third avoidance tablets；The second tender filling hole covers of 216-.
Specific implementation mode
Embodiment
A kind of scrubbing machine people is present embodiments provided, the cleaning operation for replacing artificial progress floor, forms.
As shown in Figure 1 and Figure 2, scrubbing machine people 1 includes window cleaning device 10 and mopping device 20.Wherein, window cleaning device 10
Include the first walking component and the forms cleaning systems for being adsorbed in the absorbent module of forms, for being moved on forms, wipes
Ground device includes for the second walking component and floor cleaning system in ground moving, and the fuselage 201 of mopping device has peace
Tankage 21, window cleaning device 10 are configured to be embedded in and leave mounting groove 21.
Preferably, window cleaning device 10 further includes power output component, and mopping device 20 further includes power input module, power
Input module drive connection the second walking component, power input module is configured to and power output component is sequentially connected.
Wherein, as shown in Fig. 3-Fig. 7, absorbent module, the first walking component and forms cleaning systems are arranged in window cleaning device
101 bottom of fuselage, power output component stretch out window cleaning device fuselage 101.The fuselage of window cleaning device as one preferred
101 comprising the first upper casing 1011 and the first lower casing 1012, the first upper casing 1011 and the first lower casing 1012 are trapped among to be formed together and wipe
Accommodation space inside the fuselage 101 of window device is internally provided with the structures such as the first battery 108, mainboard 113, the first upper casing
1011 and first can preferably dismantle between lower casing 1012.
As a kind of specific absorbent module comprising multiple adsorption mouths 105 of the fuselage bottom of window cleaning device are distributed in,
Correspondingly, it is provided with negative pressure in the fuselage of window cleaning device and generates component 110, negative pressure generates component 110 and is separately connected respectively by pipeline
Adsorption mouth 105, to generate negative pressure between forms and adsorption mouth 105 to be wiped.Illustratively, as shown in figure 4, adsorption mouth
105 quantity is 4, and multiple adsorption mouths 105 are distributed in different location and have more securely ensured absorption stability, prevents from wiping window dress
The fuselage 101 set falls from window surface.
105 cavity of adsorption mouth constitutes the negative pressure of vacuum section of fixed size area with attachment working face, then passes through adjusting
Negative pressure of vacuum degree volume can realize that complete machine presses against working face the adjusting of dynamics, adjust and press against power not less than absorption to working face
Minimum pressure can be achieved with the adsorption function of complete machine.
First walking component as one preferred, the first walking component includes the first creeper undercarriage 1031 and second
Creeper undercarriage 1032, the first creeper undercarriage 1031 and the second creeper undercarriage 1032 are located at window cleaning device
The both sides of 101 bottom of fuselage.Preferably, the first creeper undercarriage 1031 and the second creeper undercarriage 1032 are having the same
Structure composition and dimensions, their concrete structure include the structures such as crawler belt, more than two Athey wheels, shaft, this implementation
It is no longer further discussed below in example.
It will be appreciated by persons skilled in the art that for driving the first walking component, set inside the fuselage 101 of window cleaning device
It is equipped with first group of hoofing part component.When the first walking component includes the first creeper undercarriage 1031 and the second crawler travel machine
When structure 1032, the first walking drive component preferably includes the first hoofing part mechanism 1121 and the second hoofing part mechanism 1122,
First hoofing part mechanism 1121 the first creeper undercarriage 1031 of drive connection, the second hoofing part mechanism 1122 are sequentially connected
Second creeper undercarriage 1032.Preferably, the first hoofing part mechanism 1121 and the second hoofing part mechanism 1122 have phase
Same structure composition and dimensions, their concrete structure includes the structures such as driving motor, reduction box, power train, driving electricity
Machine generates initial driving force, after reduction box, the power train of hoofing part mechanism, the shaft of creeper undercarriage, Athey wheel, power
Crawler belt is passed to, so that crawler belt is rotated around Athey wheel, is no longer further discussed below in this implementation.First creeper undercarriage 1031 and
Two creepers undercarriage 1032 can distinguish two-way each spinning and carry out speed control, realize the functions such as steering, acceleration and deceleration, make wiping
The path walking that working face upper edge of the fuselage 101 of window device on forms is planned in advance.
When the first walking component includes the first creeper undercarriage 1031 and the second creeper undercarriage 1032, preferably
Ground, power output component include respectively by the respective crawler belt of the first creeper undercarriage 1031 and the second creeper undercarriage 1032
The leading-out terminal 120 that the central shaft of wheel stretches out, illustratively, as shown in fig. 6, leading-out terminal is a bit of hexagon cylinder.
In forms cleaning systems as one preferred, forms cleaning systems include the fuselage 101 being arranged in window cleaning device
At least one first jet 107 of bottom and first group of rotation rag, fuselage interior are provided with the first water tank 104, the first water tank
104 by piping connection first jet 107.Illustratively, as shown in figure 4, the quantity of first jet 107 is 4, it is distributed in rotation
The edge of rag.It should be noted that the quantity of first jet 107 is a kind of example that 4 are only in the present embodiment, quantity
It can also be 2,4 or other.In the present embodiment, there is hole for water spraying (not shown) in first jet 107, hole for water spraying by
The first water tank of pipeline connection 104.
Window cleaning device 10 at work, can utilize spray module spraying cleaning liquid, cleaning solution is replenished in time, keeps away as a result,
Exempt from rag desiccation after a period of use so that window cleaning device 10 can be long lasting for work, moreover, spraying cleaning liquid energy
The dirty removal capacities for enough increasing rag, enhance the cleaning effect of window cleaning device 10.Moreover, rotation rag can be rotated independently, into
One step increases dirty removal capacities.
Preferably, it is provided with water pump 111 in the fuselage 101 of window cleaning device, the setting of water pump 111 is in the first water tank 104 and the
Between one nozzle 107, for being sprayed after the water in the first water tank 104 is pumped into spray module by pipeline.Specifically, as Fig. 3,
Shown in Fig. 7, Fig. 8, the first water tank 104 is mounted on the first upper casing 1011, and the main body of the first water tank 104 is located at the first upper casing 1011
Inside, the tender filling hole cover 1041 of the first water tank 104 are located at the outer surface of the first upper casing 1011, and user can be from the machine of window cleaning device
101 external opening tender filling hole cover 1041 of body, convenient for adding cleaning solution to the first water tank 104.Water pump 111 is arranged in the first water tank
104 water outlet, by the water in the first water tank 104 by Pipeline transport to first jet 107, then from first jet 107 spray.
Preferably, it is provided integrally with handle 1042 in the tank lid of the first water tank 104, convenient for opening tank lid.
Preferably, as shown in Fig. 4, Figure 10-Figure 11, the quantity that rag is rotated in first group of rotation rag is two, respectively
It is the first rotation rag 1061 and second rotation rag 1062.First rotation rag 1061 includes the first rag ontology 10611, the
One turntable 10613, the first input gear 10612 and the first central shaft 10615, the first rag ontology 10611 are fixed on first turn
On the outside of the disk of disk 10613, fixation is set on the first turntable 10613 the first input gear 10612 in coaxial fashion, and first
Central shaft 10615 is fixed on the fuselage 101 of window cleaning device, and the first turntable 10613 is rotatably sleeved in coaxial fashion
On first central shaft 10615.Second rotation rag 1062 includes the second rag ontology, the second turntable, the second input gear and the
Two central shafts, the second rag ontology are fixed on the outside of the disk of the second turntable, the second input gear fixing sleeve in coaxial fashion
It is located on the second turntable, the second central shaft is fixed on the fuselage 101 of window cleaning device, and the second turntable is rotatable in coaxial fashion
Ground is set on the second central shaft.Correspondingly, it is provided with rag drive component in the fuselage 101 of window cleaning device.Preferably, rag
Drive component includes the driving 1091 of the first rag and the second rag driving 1902, and the first rag driving 1091 is sequentially connected first turn
Dynamic rag 1061,1092 drive connection the first rotation rag 1062 of the second rag driving.Connected with 1091 transmission of the first rag driving
For connecing the first rotation rag 1061, the first rag driving 1091 includes the first headstock 10911 and the first output gear
10912, the first output gear 10912 engages the first input gear 10612, and the power of the first headstock 10911 output is through first
Output gear 10912 is transmitted to the first input gear 10612.
Preferably, the first rotation rag 1061 and second rotates the shape and size phase of each building block in rag 1062
Together, 10 integrally-built stability of window cleaning device is thus improved, reduces part classification, and conducive to maintenance.
Preferably, rotation rag component is including further including counterweight ring, and as shown in Figure 10-Figure 11, rag is rotated first
In 1061, the first counterweight ring 10614 is set on the first turntable 10613.
Preferably, 101 bottom of fuselage of window cleaning device is provided with the first fixation rag (not shown).Preferably,
One fixation rag covers the entire bottom outer surface of the fuselage 101 of window cleaning device substantially.First rotates rag 1061 and second turn
Dynamic rag 1062 can simultaneously be rotated with same rotating speed with respectively opposite direction respectively by the control of control circuit component to be wiped,
First water tank 104 periodically sprays cleaning solution water mist by nozzle by control circuit component and soaks working face dirt.Nozzles spray
Cleaning solution, the first rag ontology 10611 and the rotation of the second rag ontology wipe, and last first fixation rag thoroughly wipes common reality
Now clean dirt-removing functions.
Preferably, it is provided with obstacle inductive component on the fuselage 101 of window cleaning device.As shown in the attached drawings such as Fig. 3, Fig. 5, obstacle
Inductive component may include the first avoidance tablet 1021 and the second avoidance tablet 1022, be separately positioned on the fuselage of window cleaning device
101 front and rear sides.
Preferably, further include safety rope (not shown), the fuselage 101 of one end connection window cleaning device of safety rope, peace
The fixed structure outside other end connection restricted entirely.By linking for safety rope, inevitable fall event such as has occurred
It is perfectly safe to can ensure that, will not lead to the generation of accident.
Preferably, the second walking component includes more than two idler wheel modules, idler wheel module include roller body, turning rolls and
Transmission mechanism, power input module drive connection idler wheel module.Specifically, two idler wheel modules are the first idler wheel module respectively
2031 and the second idler wheel module 2032, guide wheel be arranged in the front side of fuselage bottom, the first idler wheel module 2031 and the second idler wheel mould
The rear side in fuselage bottom is arranged in group 2032.
In the present embodiment, 2032 preferred structure composition having the same of the first idler wheel module 2031 and the second idler wheel module
And size, it is easily installed and motion control reduces parts but also each component of idler wheel module has good interchangeability
Type, and convenient for safeguarding.
By taking the first idler wheel module 2031 as an example, also referring to Figure 13-Figure 17 comprising roller body 20311, turning rolls
20312 and transmission mechanism, transmission mechanism is arranged in turning rolls 20312, and the power intake of transmission mechanism includes power input
Axis 203153, power input shaft 203153 stretch out turning rolls 20312, and the power output end of transmission mechanism is supported on and is sequentially connected
Roller body 20311.The power input module of mopping device 20 is formed by power input shaft 203153, power input shaft 203153
End face be provided with link slot 20314, link slot 20314 matches with leading-out terminal 120, for installing leading-out terminal 120 simultaneously
It is rotated with leading-out terminal 120.
Preferably, the first idler wheel module 2031 further includes fixed frame, and turning rolls 20312 has the inner cavity being closed, driver
Structure is arranged in the inner cavity of turning rolls 20312, and the power intake of transmission mechanism is stretched out from the upside of turning rolls 20312, transmission
The power output end of mechanism is stretched out from the downside of turning rolls 20312, and the power output end of transmission mechanism is supported on and is sequentially connected
The upper end of roller body 20311, turning rolls 20312 is resiliently supported on fixed frame 20313.
Wherein, turning rolls 20312 can be composed of box-like first half-shell 203121 and the second half-shell 203122, the
It is detachably connected between one half-shell 203121 and the second half-shell 203122, when the two snaps together, first half-shell 203121
20312 inside of turning rolls being composed with the second half-shell 203122 has the inner cavity being closed.Correspondingly, turning rolls 20312
The upper side and lower side is respectively arranged with opening so that the power output end of power input shaft 203153 and transmission mechanism is respectively from corresponding
Ground opening is stretched out.
Preferably, the perforative pedestal of upper and lower ends is provided in fuselage, turning rolls 20312 is located in pedestal, fixed frame
20313 are fixed on the top of pedestal.Fixed frame 20313 as one preferred works as fixed frame for the box like structure of back-off
20313 when being buckled on pedestal, and pedestal and fixed frame 20313 form the space being closed.Correspondingly, fixed frame 20313 has opening,
Power input shaft 203153 can be stretched out from opening.
Preferably, transmission mechanism further includes the first rolling bearing 203151, the second rolling bearing 203152, rack-driving band
203155, power output end includes power output shaft 203154, and the both ends of rack-driving band 203155 are rolled with first respectively
Gear 203151, the engagement of the second rolling bearing 203152, the first rolling bearing 203151 are set on power input shaft 203153,
Second rolling bearing 203152 is set on power output shaft 203154, and roller body 20311 is set in power output shaft
On 203154.Preferably, the end face of one end of the stretching of power input shaft 203153 turning rolls 20312 is provided with link slot 20314,
The link slot 20314 can install the structures such as shaft coupling or transmission shaft to introduce driving force.As a result, when 203153 quilt of power input shaft
When other actuating unit drivings, power input shaft 203153 drives the rotation of the first rolling bearing 203151, the first rolling bearing
203151 drive the rotation of the second rolling bearing 203152, the second rolling bearing 203152 to drive power through rack-driving band 203155
Output shaft 203154 rotates, and power output shaft 203154 drives roller body 20311 to rotate, and finally, roller body 20311 drives
Fuselage moves on working face.
Preferably, power input shaft 203153 is movably threaded through on turning rolls 20312, on power input shaft 203153
It is socketed with resetting spring 203156, one end of resetting spring 203156 abuts power input shaft 203153, resetting spring 203156
The other end abut turning rolls 20312, for enabling power input shaft 203153 when window cleaning device 10 is installed on mounting groove 21
Enough elastic telescopics are simultaneously closely connect with leading-out terminal 120.
In the present embodiment, since roller body 20311, turning rolls 20312, fixed frame 20313 and transmission mechanism being integrated
For idler wheel module, in idler wheel module, there is turning rolls 20312 inner cavity being closed, transmission mechanism to be arranged in turning rolls 20312
In inner cavity, the power intake of transmission mechanism is stretched out from the upside of turning rolls 20312, and the power output end of transmission mechanism is from idler wheel
The downside of frame 20312 is stretched out, and power output end is supported on and the roller body 20311 that is sequentially connected.Thus, it is possible to prevent rubbish particle
Transmission mechanism is set to get stuck damage, and the idler wheel module of monoblock type is more neat in fuselage, more reduces space hold, is easy to tie up
Shield, the user experience is improved.
Preferably, the upper end of turning rolls 20312 is resiliently supported at by vertical damper 20316 on fixed frame 20313, vertically
The lower end of damper 20316 is provided with mounting hole 203163, and power input shaft 203153 is slideably threaded through mounting hole
In 203163.Vertical damper 20316 as one preferred comprising vertical supporting arm 203161 and Vertical Spring
203162, vertical supporting arm 203161 is fixed or is resisted against in fixed frame 20313 in corresponding mounting base, vertical supporting arm
203161 lower end is provided with mounting hole 203163, and power input shaft 203153 is slideably threaded through in mounting hole 203163,
The both ends of Vertical Spring 203162 can abut fixed frame 20313 and power input shaft 203153 respectively.One kind as sliding
Realization method, the length of mounting hole 203163 are more than the maximum outside diameter of its internal motivation input shaft 203153 so that are threaded through peace
Power input shaft 203153 in dress hole 203163 can slide up and down.As a result, when the jerk of vertical direction occurs, vertically
Damper 20316 can play cushioning effect.
Preferably, the upper end of turning rolls 20312 is also resiliently supported at by transverse damper 20317 on fixed frame 20313, horizontal
It is separately connected turning rolls 20312 and fixed frame 20313 to the both ends of damper 20317, for being swung laterally in turning rolls 20312
When damping.Transverse damper 20317 as one preferred, is made of the spring being laterally arranged, and the both ends of spring connect respectively
Fixed frame 20313 and turning rolls 20312 are connect, when lateral jerk occurs, transverse damper 20317 can play damping
Effect.
Moreover, vertical damper 20316 and transverse damper 20317 various can work independently and linkage work, example
When being swung such as turning rolls 20312, the two works at the same time.Therefore, because the upper end of turning rolls 20312 is resiliently supported at fixation
On frame 20313 so that fuselage reduces jerk when clearing the jumps or being uneven working face.
Preferably, the second walking component further includes guide wheel 205, and guide wheel 205 is arranged in 201 bottom of fuselage of mopping device
The guided wheel slot 210 in front, guide wheel 205 have steering capability, preferably universal wheel.In first idler wheel module and the second idler wheel module
Roller body and guide wheel 205 form stable supported at three point, can more ensure the stability that mopping device 20 is advanced.First idler wheel
Roller body in module and the second idler wheel module can distinguish two-way each spinning, pass through 20 control circuit component of mopping device
Control process comes the respective rotary speed of the coordinating and unifying and steering, the final common direction of travel for realizing complete machine, gait of march and
Travelling route.
Preferably, as shown in Figure 12-Figure 25, floor cleaning system includes 204, second groups of rotation rags of round brush and the second spray
Mouth 206, the fuselage 201 of mopping device are internally provided with round brush and drive 209, second groups of rag drive components, dustbin 212 and the
Two water tanks, round brush drive 209 drive connection round brush 204, second group of rag drive component second group of rotation rag group of drive connection
Part, the second water tank is by pipeline connection second nozzle 206, and round brush 204 is relative to second group of rotation rag component closer to idler wheel mould
The front of the direction of advance of group, dustbin 212 dock round brush 204 to receive and store the rubbish from round brush 204.
Wherein, the fuselage 201 of mopping device is the main element of mopping device 20, mopping device as one preferred
Fuselage 201 comprising the second upper casing 2012 and bottom plate 2011, the second upper casing 2012 and bottom plate 2011 are trapped among to be formed together and fill with wiping
The accommodation space inside fuselage 201 set is internally provided with the structures such as the second battery 208, mainboard, the second upper casing 2012 and bottom
It can preferably be dismantled between plate 2011.
Preferably, 201 bottom of fuselage of mopping device has the round brush slot 211 being recessed inwardly, the shape of round brush slot 211
Preferably arc, round brush 204 are arranged in round brush slot 211.There is round brush slot 211 garbage outlet, garbage outlet to be filled towards ground is wiped
Inside the fuselage 201 set, when round brush 204 rotates, the granulated garbage that round brush 204 raises can be in round brush slot 211 with round brush 204
It is mobile, when being moved to garbage outlet, round brush slot 211 is thrown away from garbage outlet under the influence of centrifugal force.Preferably, round brush slot
Round brush cover 207 is provided at 211 notch, round brush cover 207 can block a part for round brush 204, round brush cover 207 and round brush slot
211 cell wall outer rim is detachably connected, enabling easily clears up or replace round brush 204.
Dustbin 212 is provided with garbage inlet, and garbage outlet is connected to garbage inlet.Effect of the rubbish in centrifugal force as a result,
Under after garbage outlet throws away round brush slot 211, dustbin 212 can be entered from garbage inlet.Preferably, the inside of garbage inlet
The chamber door 2124 of garbage inlet can be closed by being provided with.The setting of chamber door 2124 so that garbage inlet is only rotated in round brush 204
When just open, avoid garbage inlet under off working state that the rubbish in dustbin 212 is made to expose.
Dustbin 212 as one preferred, dustbin 212 include box body 2121 and box cover 2122, garbage inlet setting
On box body 2121, box cover 2122 is rotatably arranged on box body 2121, and lock is provided between box cover 2122 and box body 2121
Button 2123.Since box cover 2122 is rotatably arranged on box body 2121, user or maintenance personnel can open box body 2121
On box cover 2122, the rubbish being convenient to clean in dustbin 212.Due to being provided with lock between box cover 2122 and box body 2121
2123, the box cover 2122 on box body 2121 can be made only to be opened in the case of permission.Preferably, it is provided with rubbish on box body 2121
Rubbish box handle 2125 moves dustbin 212 convenient for user or maintenance personnel.
Preferably, second group of rotation rag component includes multiple rotation rags, and second group of rag drive component includes multiple
Rag drives, and the quantity of rag driving is equal with the rotation quantity of rag and corresponds, and it includes driving box and defeated that rag, which drives,
Go out gear, output gear engages input gear.
Further preferably, the quantity of second group of rotation rag is 2, is that third rotation rag 2021 and the 4th rotates respectively
Rag 2022, by taking third rotates rag 2021 as an example, it includes third rag ontology 20211, third turn that third, which rotates rag 2021,
Disk 20212, third input gear 20213 and third central shaft 20215, third rag ontology 20211 are fixed on third turntable
On the outside of 20212 disk, fixation is set on third turntable 20212 third input gear 20213 in coaxial fashion, in third
Mandrel 20215 is fixed on the fuselage 201 of mopping device, and third turntable 20212 is rotatably sleeved in coaxial fashion
On three central shafts 20215.Correspondingly, rag drive component includes the driving 2131 of third rag and the 4th rag driving 2132, and the
Three rags drive 2131 drive connection thirds to rotate rag 2021,2132 drive connection the second rag driving of the 4th rag driving
2132.By taking third rag drives 2131 drive connection thirds rotation rag 2021 as an example, third rag driving 2131 includes third
Headstock and third output gear, third output gear engage third input gear 20213, the power warp of third headstock output
Third output gear is transmitted to third input gear 20213.
Preferably, third rotation rag 2021 and the 4th rotates the shape and size phase of each building block in rag 2022
Together, 20 integrally-built stability of mopping device is thus improved, reduces part classification, and conducive to maintenance.
Preferably, rotation rag component is including further including counterweight ring, and as shown in Figure 13, Figure 14, rag is rotated in third
In 2021, the first counterweight ring 20214 is set on 20213 inside of the first input gear.
Preferably, 201 bottom of fuselage of mopping device has the rag slot being recessed inwardly, and turntable and input gear are located at
In rag slot.The notch outer rim of the back side covering rag slot of rag ontology so that the back side of rag ontology can seal rag slot.
There is the cell wall of rag slot notch, the outer rim of input gear to expose notch so that input gear can be engaged with output gear.Show
Example property, the quantity for rotating rag is 2, when being that third rotation rag 2021 and the 4th rotates rag 2022 respectively, rag slot
It is third rag slot 2141 and the 4th rag slot 2142 respectively.
Preferably, the quantity of second nozzle 206 is multiple, water outlet is provided with below the second water tank, water outlet is by pipe
Road is connected to second nozzle 206.Specifically, the second water tank is integrated in the second upper casing 2012, the second tender filling hole cover 216 of water tank
In the outer surface of the second upper casing 2012, user can be from 201 the second tender filling hole cover of external opening 216 of fuselage of mopping device, just
In adding water to the second water tank.The bottom of water tank has one or more water outlets, and the cleaning solution in water tank is led to after water outlet
Pipeline transport is crossed to nozzle 206, then is sprayed from nozzle 206.
In the present embodiment, third rotation rag 2021 and the 4th, which rotates rag 2022, can pass through the control of control circuit component
It is rotated and is wiped simultaneously with respectively opposite direction with same rotating speed respectively, the second water tank periodically passes through spray by control circuit component
Mouth sprays cleaning solution water mist and soaks working face dirt.206 spraying cleaning liquid of second nozzle, third rag ontology 20211 and the 4th
The rotation of rag ontology wipes.When mopping device 20 works as a result, hair clast and big is realized in round brush 204 and the cooperation of dustbin 212
The advance cleaning of particle rubbish, spray module spraying cleaning liquid moisten working face, and rotation rag component thoroughly wipes work when rotating
Make the dirt in face so that the cleaning capacity of mopping device 20 is significantly improved.
Preferably, 201 bottom of fuselage of mopping device is provided with the second fixation rag (not shown).Preferably,
Two fixation rags cover the entire bottom outer surface of the fuselage 201 of mopping device substantially.In this way, round brush 204 cleans in advance, water spray
The wetting of component spraying cleaning liquid, rotation rag component rotation wipe, finally fixed rag thoroughly wipes, and overall process is comprehensive effectively
Thoroughly cleaning decontamination.
Preferably, it is also equipped with obstacle inductive component on the fuselage 201 of mopping device, for perceiving 20 front of mopping device
Barrier.The obstacle inductive component of mopping device may include that third avoidance tablet 215, third avoidance tablet 215 are installed
In 2012 front of the second upper casing, and as a part for the second upper casing 2012.By wiping 215 component of ground machine third avoidance tablet
And the control process of control circuit component come the coordinating and unifying the first driving wheel 2031, the second driving wheel 2032 rotary speed and turn
To final common direction of travel, gait of march and the travelling route for realizing complete machine.
It will be appreciated by those skilled in the art that the accompanying drawings are only schematic diagrams of a preferred implementation scenario, module in attached drawing or
Flow is not necessarily implemented necessary to the present invention.
It will be appreciated by those skilled in the art that the module in device in implement scene can be described according to implement scene into
Row is distributed in the device of implement scene, can also be carried out respective change and is located at the one or more dresses for being different from this implement scene
In setting.The module of above-mentioned implement scene can be merged into a module, can also be further split into multiple submodule.
Aforementioned present invention serial number is for illustration only, does not represent the quality of implement scene.
Disclosed above is only several specific implementation scenes of the present invention, and still, the present invention is not limited to this, Ren Heben
What the technical staff in field can think variation should all fall into protection scope of the present invention.
Claims (10)
1. a kind of scrubbing machine people, which is characterized in that including：
Window cleaning device includes the first walking component and window for being adsorbed in the absorbent module of forms, for being moved on forms
Body cleaning systems；
Mopping device includes for the second walking component and floor cleaning system in ground moving, the machine of the mopping device
There is body mounting groove, the window cleaning device to be configured to be embedded in and leave the mounting groove.
2. scrubbing machine people according to claim 1, which is characterized in that the window cleaning device further includes power output group
Part, the mopping device further include power input module, power input module drive connection the second walking component, institute
Power input module is stated to be configured to be sequentially connected with the power output component.
3. scrubbing machine people according to claim 1, which is characterized in that the forms cleaning systems include being arranged described
First group of rotation rag of the fuselage bottom of window cleaning device and at least one first jet, the fuselage interior are provided with the first water
Case, the first water tank first jet described in piping connection.
4. scrubbing machine people according to claim 2, which is characterized in that the first walking component includes the first crawler belt row
Mechanism and the second creeper undercarriage are walked, first creeper undercarriage and second creeper undercarriage are located at institute
State the both sides of fuselage bottom.
5. scrubbing machine people according to claim 4, which is characterized in that the second walking component includes more than two rolls
Take turns module, the power input module drive connection idler wheel module.
6. scrubbing machine people according to claim 5, which is characterized in that the idler wheel module includes roller body, idler wheel
Frame and transmission mechanism, the transmission mechanism are arranged in the turning rolls, and the power intake of the transmission mechanism includes power
Input shaft, the power input shaft stretch out the turning rolls, and the power output end of the transmission mechanism is supported on and is sequentially connected
The roller body.
7. scrubbing machine people according to claim 6, which is characterized in that the power output component includes respectively by described
The leading-out terminal that the central shaft of the respective Athey wheel of first creeper undercarriage and second creeper undercarriage stretches out, it is described
Power input module is formed by the power input shaft, and the end face of the power input shaft is provided with link slot, the link slot
Match with the leading-out terminal, for installing the leading-out terminal and being rotated with the leading-out terminal.
8. scrubbing machine people according to claim 7, which is characterized in that the power input shaft is movably threaded through institute
It states on turning rolls, resetting spring is socketed on the power input shaft, one end of the resetting spring abuts the power input
The other end of axis, the resetting spring abuts the turning rolls, for making the power input shaft be installed in the window cleaning device
It elastic telescopic and can closely be connect with the leading-out terminal when mounting groove.
9. scrubbing machine people according to claim 6, which is characterized in that the transmission mechanism include the first rolling bearing,
Second rolling bearing, rack-driving band, the power output end include power output shaft, the both ends difference of the rack-driving band
It is engaged with first rolling bearing, second rolling bearing, first rolling bearing is set in the power input shaft
On, second rolling bearing is set on the power output shaft, and the roller body is set on the power output shaft.
10. scrubbing machine people according to claim 1, which is characterized in that the floor cleaning system includes being arranged in institute
State the round brush, second group of rotation rag and at least one second nozzle of the fuselage bottom of mopping device, the machine of the mopping device
Body is internally provided with dustbin and the second water tank, the second water tank second nozzle described in pipeline connection, the dustbin pair
The round brush is connect to receive and store the rubbish from the round brush；
Preferably, the fuselage bottom of the window cleaning device is provided with the first fixation rag；
Preferably, the fuselage bottom of the mopping device is provided with the second fixation rag.
Priority Applications (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810267375.2A CN108451434A (en) | 2018-03-28 | 2018-03-28 | Scrubbing machine people |
| EP19778090.1A EP3797663B1 (en) | 2018-03-28 | 2019-02-18 | Cleaning robot |
| US17/267,486 US11819172B2 (en) | 2018-03-28 | 2019-02-18 | Scrubbing robot |
| KR1020207021325A KR102302527B1 (en) | 2018-03-28 | 2019-02-18 | cleaning robot |
| PCT/CN2019/075339 WO2019184616A1 (en) | 2018-03-28 | 2019-02-18 | Cleaning robot |
| JP2020546875A JP7079031B2 (en) | 2018-03-28 | 2019-02-18 | Wiping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810267375.2A CN108451434A (en) | 2018-03-28 | 2018-03-28 | Scrubbing machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108451434A true CN108451434A (en) | 2018-08-28 |
Family
ID=63236865
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810267375.2A Pending CN108451434A (en) | 2018-03-28 | 2018-03-28 | Scrubbing machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108451434A (en) |
Cited By (3)
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| CN112617688A (en) * | 2020-12-17 | 2021-04-09 | 福建和而不同规划设计有限公司 | Exhibition hall ground water trap |
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| WO2019184616A1 (en) * | 2018-03-28 | 2019-10-03 | 山西嘉世达机器人技术有限公司 | Cleaning robot |
| US11819172B2 (en) | 2018-03-28 | 2023-11-21 | Shanxi Jiashida Robot Technology Co., Ltd. | Scrubbing robot |
| CN109276194A (en) * | 2018-11-28 | 2019-01-29 | 贵州工程应用技术学院 | A kind of intelligent industrial clean robot |
| CN112617688A (en) * | 2020-12-17 | 2021-04-09 | 福建和而不同规划设计有限公司 | Exhibition hall ground water trap |
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