CN202681848U - Wall surface cleaning robot based on vacuum absorption principle - Google Patents
Wall surface cleaning robot based on vacuum absorption principle Download PDFInfo
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- CN202681848U CN202681848U CN 201220163936 CN201220163936U CN202681848U CN 202681848 U CN202681848 U CN 202681848U CN 201220163936 CN201220163936 CN 201220163936 CN 201220163936 U CN201220163936 U CN 201220163936U CN 202681848 U CN202681848 U CN 202681848U
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Abstract
The utility model discloses a wall surface robot based on a vacuum absorption principle, relates to a wall surface cleaning robot, and solves the problems that prior wall surface cleaning robots are complicated in structure, poor in flexibility, complex in control and the like. An absorption function of the robot is achieved by upper and lower groups of suckers, negative pressure in the suckers is generated by a vacuum pump, an electromagnetic valve is utilized to control connection and disconnection of a gas, a crawl transmission mechanism and a steering transmission mechanism are controlled through a single chip microcomputer and have a coordinated movement with an absorption portion, thereby crawling and rotating movements of the robot are perfectly achieved, and a cleaning function of the robot is achieved by a cleaning roller on the lower portion of a robot body. The wall surface cleaning robot based on the vacuum absorption principle has the advantages that the structure is simple, the driving is small, the steering is flexible, the circuit is simple, the whole robot control is easy to achieve, a remote operation function is achieved, and the wall surface cleaning robot has an excellent application prospect.
Description
Technical field
The utility model relates to robot for cleaning wall surfaces, is specifically related to a kind of robot for cleaning wall surfaces based on vacuum adsorption principle.
Background technology
Along with the quickening of urbanization process, building is high stratification gradually, and for beautifying urban environment, wall covers ceramic tile and glass curtain wall more, and what have also lays aluminium-plastic panel etc.These coverings expose outside throughout the year, need to carry out many maintenance works to keep clean, at present this class work is still taken the mode that hanging basket carries out work high above the ground and is finished by cleaning the workman, yet this cleaning mode has a lot of drawbacks, such as staff's work under bad environment, safe assurance, the inefficiency etc. of being difficult to.For this problem, some Related products have been released on the market to substitute hand labor, the window wiping robot of BJ University of Aeronautics ﹠ Astronautics and Beijing Railway Administration cooperation research and development for example, be used for the cleaning of Beijing West Railway Station glass ceiling, every pin of robot or sucker all realize inhaling, taking off action by the stretching motion of cylinder, the absorption of this robot and travel mechanism be more complicated all, all will affect the overall situation if problem occurs for absorption and mobile either party, and the robot body 25Kg that weighs, translational speed is slow, wiring is many, wayward; The double-feet climbing robot of Shanghai Science and Technology Univ.'s development, compare with legged biped robot, structure is comparatively simple, omitted knee joint, many complex environments are had adaptability, but because leg is long, center of gravity is high, danger is very large when vertical walls and the walking of ceiling wall, compare with other robot, higher to the requirement of security.Also having similar inventions and utility model, is 201020595171 such as application number, and publication number is 201861569U, described " a kind of Polyarticular climbing overhead cleaning robot "; Application number is that 200920002794 notification numbers are 201441336U, described " a kind of equipment for washing external wall and outside Wall Cleaning machine people ", application number is 200910058652, and notification number is 101508114B, described " push-pressure absorption type high-altitude cleaning robot " etc.Existing product is mostly bulky, very flexible, and drive motors quantity is many, and control is complicated, and cleaning effect also has much room for improvement.
Summary of the invention
The utility model is for problems such as the complex structure that solves existing robot for cleaning wall surfaces and exist, very flexible, control complexity, and then a kind of robot for cleaning wall surfaces based on vacuum adsorption principle is provided.
The technical scheme that its technical problem that solves the utility model adopts is:
A kind of wall robot based on vacuum adsorption principle, described robot for cleaning wall surfaces comprise body, engine, creep drive mechanism, steering gear, foot mechanism, purging system, reach control system.Described body comprises upper machine body, middle body, lower body; Described purging system is positioned at the machine bottom, comprises cleaning box, the cleaning roller; Described engine comprises the steering wheel of creeping, steering-engine and cleaning power motor, and creep steering wheel and steering-engine are positioned at upper machine body top, are symmetrically arranged in the upper machine body both sides, and the cleaning power motor is positioned at cleaning box; Described creep drive mechanism, comprise the power output gear of creeping, central shaft, the central shaft gear, on the central shaft, lower crank, on, lower link, on, lower skateboard, on, the lower skateboard guide groove, the power output gear of creeping is fixed in the steering wheel output of creeping, central shaft, the central shaft gear is positioned at upper machine body inside, the power output gear of creeping is meshed with the central shaft gear, central shaft is through the upper, middle and lower body, fixed center shaft gear in the middle of the central shaft, and upper lower crank is fixed in the central shaft upper and lower side, upper lower crank connects respectively upper and lower strut one end, the upper and lower strut other end connects respectively lower skateboard, and upper lower skateboard is respectively by upper lower skateboard guide groove constraint, and upper lower skateboard guide groove is individually fixed in lower box outside centre; Described steering gear comprises steering power output gear, middle body gear, and steering power machine output gear is fixed in the steering-engine output, body in the middle of middle body gear is positioned at, and middle body gear one end wheel hub stretches out, and is fixed on the lower body; Described foot mechanism comprises lifts foot section and absorbed portion, and the described foot section of lifting comprises the upper machine body front and rear connecting rods, the lower body front and rear connecting rods, four connecting bar and crankshafts and four swing slide blocks, four upper sucker guide rods, four lower sucker guide rods and four top guide bar grooves, four lower guide rod grooves.Guide rod is positioned at stem guiding trough, and four connecting bar and crankshafts are connected to upper and lower slide plate downside rear and front end, and connecting rod links to each other by swinging slide block with connecting bar and crankshaft, and the connecting bar and crankshaft two ends connect respectively a sucker guide rod, and sucker guide rod bottom cooperates with sucker; Described absorbed portion comprises four lower skateboard suckers, four upper slide suckers, and some breather pipes, upper and lower magnetic valve, vavuum pump, upper lower skateboard sucker is connected with the power-on and power-off magnet valve by breather pipe respectively, and magnetic valve is connected with vavuum pump by breather pipe.Described control system comprises the circuit board case, and wire, remote controller, circuit board case are positioned in the middle of upper slide guide groove upper end, creep steering wheel and the steering-engine, the circuit board case by wire respectively with the steering wheel of creeping, steering-engine, cleaning motor, power-on and power-off magnet valve link to each other.
The beneficial effects of the utility model are:
The utlity model has simple in structure, drive less, turn to flexibly, the advantage such as circuit is simple, easier realization control, and possessed remote-operated function.The utility model is by introducing steering gear, overcome the in the past defective of like product go to action complexity, foot is designed with lifts the foot section, so that the swing of upper lower skateboard is converted into the dipping and heaving of sucker, need not additional power, robot adopts electromechanical integration technology, control by single-chip microcomputer, creep drive mechanism, steering gear and absorbed portion are realized the coordinated movement of various economic factors, make robot be easy to control, steadily creep, and can cross over certain gap.Complete machine is mainly the light material manufacturing, so that robot is small and exquisite flexibly, moves freely, and burnisher can be selected to install according to service condition voluntarily in addition, has improved the difference applicability of robot.
Description of drawings
Fig. 1, Fig. 2 are stereograms of the present utility model.
Fig. 3 is partial schematic diagram of the present utility model.
Figure: 1. Upper slide,, 2 on skateboards sucker rod,, 3. Slide rod on the crankshaft,, 4 sucker rod on the slide groove,, 5 on skateboards sucker,, 6. Decline board sucker guide rod,, 7. slipped plate rod crank,, 8. decline board sucker rod groove,, 9. decline board sucker,, 10 on the body,, 11. intermediate body,, 12. cleaning tank,, 13. circuit crate,, 14. crawl servos,, 15. upper link,, 16 on the crank,, 17. intermediate body gear,, 18. steering servo,, 19. steering power output gear,, 21. crawling power output gear,, 20. central shaft gear,, 22. decline board,, 23. swing slider, 28. upper body link,, 24. lower body link,, 25. following link,, 26. crank ,, 29. cleaning roller,, 30. lower body,, 31. guide grooves on the slide,, 32., lower slide guide groove,, 33. central axis.
The specific embodiment
Below in conjunction with accompanying drawing embodiment of the present utility model is further specified.
The described robot for cleaning wall surfaces of present embodiment comprises body, engine, creep drive mechanism, steering gear, foot mechanism, purging system, reaches control system.Described body comprises upper machine body 10, middle body 11, lower body 30; Upper machine body 10, middle body 11, lower body 30 are the parents that other part is installed by up and down order installation; Described purging system is positioned at the bottom of robot, comprises cleaning box 12, cleaning rollers 29, and washing roll 29 is installed in the cleaning case 12, and cleaning case 12 is installed on the lower surface of lower body 30; Shown in figure (1) (2).Described engine, comprise the steering wheel 14 of creeping, steering-engine 18 and cleaning power motor, creep steering wheel 14 and steering-engine 18 is installed in the upper surface of upper machine body 10, and be arranged symmetrically with, the steering wheel output shaft stretches into upper machine body inside, and the cleaning power motor is connected with cleaning rollers 29 and is installed in cleaning box inside; Shown in figure (3).Described creep drive mechanism comprises the power output gear 21 of creeping, central shaft 33, central shaft gear 20, upper crank 16, lower crank 26, upper connecting rod 15, lower link 25, upper slide 1, lower skateboard 22, upper lower skateboard guide groove.The power output gear 21 of creeping is fixed in steering wheel 14 outputs of creeping, central shaft gear 20 is positioned at upper machine body 11, the power output gear 21 of creeping is meshed with central shaft gear 20, form fixed shaft gear train, the power that the steering wheel 14 of creeping is exported is by power output gear 21 and the central shaft gear 20 of creeping, with transmission of power to central shaft 33, central shaft is through the upper, middle and lower body, fixed center shaft gear 20 in the middle of the central shaft, the central shaft upper and lower side is the fixing upper crank 16 of antisymmetry respectively, lower crank 26, on, lower crank connects respectively connecting rod 15, lower link 25 1 ends, the upper and lower strut other end connects respectively upper slide 1, lower skateboard 22, upper lower skateboard guide groove 31,32 are separately fixed at lower box central authorities, and upper lower skateboard can slide in upper lower skateboard guide groove respectively, upper lower crank, upper and lower strut and upper sliding block form slider-crank mechanism; Described steering gear comprises steering power output gear 19, middle body gear 17, steering power output gear 19 is fixed in steering-engine 18 outputs, body 11 in the middle of middle body gear 17 is positioned at, body 11 in the middle of middle body gear 17 1 end wheel hubs stretch out, be fixed on the lower body 30 the steering power output gear 19 formation cyclic train that is meshed with middle body gear 17; Shown in figure (3).Described foot mechanism comprises foot fluctuating mechanism and adsorbing mechanism, described foot fluctuating mechanism comprises upper machine body connecting rod 28, lower body connecting rod 24, two upper slide connecting bar and crankshafts 3, two lower skateboard connecting bar and crankshafts 7 and four swing slide blocks 23, four upper slide sucker guide rods 2 and upper slide stem guiding trough 4, four lower skateboard sucker guide rods 6 and four lower skateboard sucker stem guiding troughs 8, four slide plate connecting bar and crankshafts 3,7 lay respectively at lower skateboard downside rear and front end, upper lower body connecting rod 28,24 with slide plate connecting bar and crankshaft 3,7 is continuous by swinging slide block 23, consist of tangent mechanism, slide plate connecting bar and crankshaft 3,7 two ends connect respectively a sucker guide rod 2,6, the sucker guide rod is positioned at slide plate sucker stem guiding trough 4, in 8, slide plate connecting bar and crankshaft two ends consist of sine mechanism with corresponding slide plate sucker guide rod respectively; Described absorbed portion comprises 9, four upper slide suckers 6 of four lower skateboard suckers, some breather pipes, upper and lower magnetic valve, vavuum pump, per four slide plate suckers 9 or 6 consist of one group and are connected with magnetic valve by breather pipe, and magnetic valve is connected with vavuum pump by breather pipe.Described control system comprises circuit board case 2, and remote controller, circuit board case 2 are positioned at upper slide guide groove 31 upper surfaces central authorities, and circuit board case 2 is connected with the steering wheel 14 of creeping, steering-engine 18, cleaning motor, magnetic valve respectively by wire.
In sum, robot for cleaning wall surfaces based on vacuum adsorption principle of the present utility model is simple in structure, motion is steady flexibly, drive less, be easy to control, can be used for the cleaning of the walls such as glass surface, metope, larger radius of curvature curved surface, can satisfy popular demand, application is strong.
The case of implementation described in the present invention only is better case study on implementation of the present utility model, is not the practical range that limits this utility model.Be that all equivalences of doing according to the content of written or printed documents utility model application claim change and modification, all should be as technology category of the present utility model.
Claims (5)
1. robot for cleaning wall surfaces based on vacuum adsorption principle, described robot for cleaning wall surfaces comprise body, engine, creep drive mechanism, steering gear, foot mechanism, purging system, and control system.It is characterized in that described body, comprise upper machine body (10), middle body (11), lower body (30), upper machine body (10), middle body (11), lower body (30) are the parents that other part is installed by up and down order installation; Described purging system is positioned at the bottom of robot, comprises cleaning box (12), cleaning rollers (29), and washing roll (29) is installed in the cleaning case (12), and cleaning case (12) is installed on the lower surface of lower body (30); Described engine, comprise the steering wheel of creeping (14), steering-engine (18) and cleaning power motor, creep steering wheel (14) and steering-engine (18) is installed in the upper surface of upper machine body (10), and be arranged symmetrically with, the steering wheel output shaft stretches into upper machine body inside, and the cleaning power motor is connected with cleaning rollers (29) and is installed in cleaning box inside; Described creep drive mechanism comprises the power output gear of creeping (21), central shaft (33), central shaft gear (20), upper crank (16), lower crank (26), upper connecting rod (15), lower link (25), upper slide (1), lower skateboard (22), upper lower skateboard guide groove.The power output gear (21) of creeping is fixed in the steering wheel of creeping (14) output, central shaft gear (20) is positioned at upper machine body (11), the power output gear (21) of creeping is meshed with central shaft gear (20), form fixed shaft gear train, the power of the steering wheel (14) of creeping output is by the power output gear of creeping (21) and central shaft gear (20), with transmission of power to central shaft (33), central shaft is through the upper, middle and lower body, fixed center shaft gear (20) in the middle of the central shaft, the central shaft upper and lower side is the fixing upper crank (16) of antisymmetry respectively, lower crank (26), on, lower crank connects respectively connecting rod (15), lower link (25) one ends, the upper and lower strut other end connects respectively upper slide (1), lower skateboard (22), upper lower skateboard guide groove (31), (32) be separately fixed at lower box central authorities, upper lower skateboard can slide in upper lower skateboard guide groove respectively, upper lower crank, upper and lower strut and upper sliding block form slider-crank mechanism; Described steering gear comprises steering power output gear (19), middle body gear (17), steering power output gear (19) is fixed in steering-engine (18) output, body (11) in the middle of middle body gear (17) is positioned at, body (11) in the middle of middle body gear (17) one end wheel hubs stretch out, be fixed on the lower body (30) steering power output gear (19) the formation cyclic train that is meshed with middle body gear (17); Described foot mechanism comprises foot fluctuating mechanism and adsorbing mechanism, described foot fluctuating mechanism comprises upper machine body connecting rod (28), lower body connecting rod (24), two upper slide connecting bar and crankshafts (3), two lower skateboard connecting bar and crankshafts (7) and four swing slide blocks (23), four upper slide sucker guide rods (2) and upper slide stem guiding trough (4), four lower skateboard sucker guide rods (6) and four lower skateboard sucker stem guiding troughs (8), four slide plate connecting bar and crankshafts (3), (7) lay respectively at lower skateboard downside rear and front end, upper lower body connecting rod (28), (24) with slide plate connecting bar and crankshaft (3), (7) link to each other by swinging slide block (23), consist of tangent mechanism, slide plate connecting bar and crankshaft (3), (7) two ends connect respectively a sucker guide rod (2), (6), the sucker guide rod is positioned at slide plate sucker stem guiding trough (4), (8) in, slide plate connecting bar and crankshaft two ends consist of sine mechanism with corresponding slide plate sucker guide rod respectively; Described absorbed portion comprises four lower skateboard suckers (9), four upper slide suckers (6), some breather pipes, upper and lower magnetic valve, vavuum pump, per four slide plate suckers (9) or (6) consist of one group and are connected with magnetic valve by breather pipe, and magnetic valve is connected with vavuum pump by breather pipe.Described control system comprises circuit board case (2), remote controller, circuit board case (2) is positioned at upper slide guide groove (31) upper surface central authorities, and circuit board case (2) is connected with the steering wheel of creeping (14), steering-engine (18), cleaning motor, magnetic valve respectively by wire.
2. the robot for cleaning wall surfaces based on vacuum adsorption principle according to claim 1, it is characterized in that described creep drive mechanism, comprise the power output gear of creeping (21), central shaft (33), central shaft gear (20), upper crank (16), lower crank (26), upper connecting rod (15), lower link (25), upper slide (1), lower skateboard (22), upper lower skateboard guide groove, the power output gear (21) of creeping is fixed in the steering wheel of creeping (14) output, central shaft gear (20) is positioned at upper machine body (11), the power output gear (21) of creeping is meshed with central shaft gear (20), forms fixed shaft gear train;
3. the robot for cleaning wall surfaces based on vacuum adsorption principle according to claim 1, it is characterized in that the power of the described steering wheel of creeping (14) output is by the power output gear of creeping (21) and central shaft gear (20), with transmission of power to central shaft (33), central shaft is through the upper, middle and lower body, fixed center shaft gear (20) in the middle of the central shaft, the central shaft upper and lower side is the fixing upper crank (16) of antisymmetry respectively, lower crank (26), on, lower crank connects respectively connecting rod (15), lower link (25) one ends, the upper and lower strut other end connects respectively upper slide (1), lower skateboard (22), upper lower skateboard guide groove (31), (32) be separately fixed at lower box central authorities, upper lower skateboard can slide in upper lower skateboard guide groove respectively, upper lower crank, upper and lower strut and upper sliding block form slider-crank mechanism.
4. the robot for cleaning wall surfaces based on vacuum adsorption principle according to claim 1, it is characterized in that described steering gear comprises steering power output gear (19), middle body gear (17), steering power output gear (19) is fixed in steering-engine (18) output, body (11) in the middle of middle body gear (17) is positioned at, body (11) in the middle of middle body gear (17) one end wheel hubs stretch out, be fixed on the lower body (30) steering power output gear (19) the formation cyclic train that is meshed with middle body gear (17).
5. the robot for cleaning wall surfaces based on vacuum adsorption principle according to claim 1, it is characterized in that described foot mechanism comprises foot fluctuating mechanism and adsorbing mechanism, described foot fluctuating mechanism comprises upper machine body connecting rod (28), lower body connecting rod (24), two upper slide connecting bar and crankshafts (3), two lower skateboard connecting bar and crankshafts (7) and four swing slide blocks (23), four upper slide sucker guide rods (2) and upper slide stem guiding trough (4), four lower skateboard sucker guide rods (6) and four lower skateboard sucker stem guiding troughs (8), four slide plate connecting bar and crankshafts (3), (7) lay respectively at lower skateboard downside rear and front end, upper lower body connecting rod (28), (24) with slide plate connecting bar and crankshaft (3), (7) link to each other by swinging slide block (23), consist of tangent mechanism; Slide plate connecting bar and crankshaft (3), (7) two ends connect respectively a sucker guide rod (2), (6), the sucker guide rod is positioned at slide plate sucker stem guiding trough (4), (8), and slide plate connecting bar and crankshaft two ends consist of sine mechanism with corresponding slide plate sucker guide rod respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN 201220163936 CN202681848U (en) | 2012-04-18 | 2012-04-18 | Wall surface cleaning robot based on vacuum absorption principle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201220163936 CN202681848U (en) | 2012-04-18 | 2012-04-18 | Wall surface cleaning robot based on vacuum absorption principle |
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| CN 201220163936 Expired - Fee Related CN202681848U (en) | 2012-04-18 | 2012-04-18 | Wall surface cleaning robot based on vacuum absorption principle |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103231751A (en) * | 2013-04-07 | 2013-08-07 | 哈尔滨工程大学 | Single-joint-sealed amphibious multi-legged robot |
| CN103690100A (en) * | 2014-01-10 | 2014-04-02 | 中山职业技术学院 | Pneumatic high-altitude glass wiping robot |
| CN104058016A (en) * | 2014-05-21 | 2014-09-24 | 苏州工业园区职业技术学院 | Vacuum adsorption system for wall climbing robot |
| CN104887145A (en) * | 2015-03-04 | 2015-09-09 | 哈尔滨理工大学 | Novel glass and car wiping domestic robot |
| CN105534392A (en) * | 2015-12-16 | 2016-05-04 | 上海大学 | Walking-type glass-curtain-wall cleaning robot |
| CN105595924A (en) * | 2014-06-04 | 2016-05-25 | 南通大学 | Method for effectively achieving transition of stair cleaning robot from stair to middle platform to stair |
| CN105686764A (en) * | 2016-03-16 | 2016-06-22 | 孙振博 | Cleaning device for glass curtain wall |
| CN106037576A (en) * | 2016-05-31 | 2016-10-26 | 南昌理工学院 | Adsorption device and climbing cleaning robot using adsorption device |
| CN106923757A (en) * | 2017-04-27 | 2017-07-07 | 车成凯 | A kind of convenient humanoid robot cleaned based on dining room |
| CN106983453A (en) * | 2017-04-27 | 2017-07-28 | 张欣 | The fast sweep machine people that a kind of dining room is used |
| CN107625478A (en) * | 2017-10-27 | 2018-01-26 | 孙洪军 | A kind of good intelligent glass-cleaning robot of cleaning effect based on Internet of Things |
| CN107928536A (en) * | 2017-12-29 | 2018-04-20 | 南京工程学院 | Spider-shaped glass outer wall clears up robot |
| CN109176468A (en) * | 2018-09-11 | 2019-01-11 | 清华大学 | Sliding rail is oriented to the flexible imitative worm climbing robot device of sucker |
| CN109229227A (en) * | 2018-11-09 | 2019-01-18 | 燕山大学 | Climbing robot |
| CN109821832A (en) * | 2019-03-18 | 2019-05-31 | 金陵科技学院 | A kind of duct cleaning dredging robot and application method |
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- 2012-04-18 CN CN 201220163936 patent/CN202681848U/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103231751B (en) * | 2013-04-07 | 2015-05-27 | 哈尔滨工程大学 | Single-joint-sealed amphibious multi-legged robot |
| CN103231751A (en) * | 2013-04-07 | 2013-08-07 | 哈尔滨工程大学 | Single-joint-sealed amphibious multi-legged robot |
| CN103690100A (en) * | 2014-01-10 | 2014-04-02 | 中山职业技术学院 | Pneumatic high-altitude glass wiping robot |
| CN104058016A (en) * | 2014-05-21 | 2014-09-24 | 苏州工业园区职业技术学院 | Vacuum adsorption system for wall climbing robot |
| CN105595924A (en) * | 2014-06-04 | 2016-05-25 | 南通大学 | Method for effectively achieving transition of stair cleaning robot from stair to middle platform to stair |
| CN104887145A (en) * | 2015-03-04 | 2015-09-09 | 哈尔滨理工大学 | Novel glass and car wiping domestic robot |
| CN105534392A (en) * | 2015-12-16 | 2016-05-04 | 上海大学 | Walking-type glass-curtain-wall cleaning robot |
| CN105686764B (en) * | 2016-03-16 | 2018-08-03 | 日照华贵科技工程开发有限公司 | A kind of clearing apparatus for glass curtain wall |
| CN105686764A (en) * | 2016-03-16 | 2016-06-22 | 孙振博 | Cleaning device for glass curtain wall |
| CN106037576A (en) * | 2016-05-31 | 2016-10-26 | 南昌理工学院 | Adsorption device and climbing cleaning robot using adsorption device |
| CN106037576B (en) * | 2016-05-31 | 2018-09-04 | 南昌理工学院 | The climbing cleaning robot of adsorbent equipment and the application adsorbent equipment |
| CN106983453A (en) * | 2017-04-27 | 2017-07-28 | 张欣 | The fast sweep machine people that a kind of dining room is used |
| CN106923757A (en) * | 2017-04-27 | 2017-07-07 | 车成凯 | A kind of convenient humanoid robot cleaned based on dining room |
| CN106983453B (en) * | 2017-04-27 | 2019-11-12 | 蒋玉素 | A kind of fast sweep machine people that dining room uses |
| CN107625478A (en) * | 2017-10-27 | 2018-01-26 | 孙洪军 | A kind of good intelligent glass-cleaning robot of cleaning effect based on Internet of Things |
| CN107928536A (en) * | 2017-12-29 | 2018-04-20 | 南京工程学院 | Spider-shaped glass outer wall clears up robot |
| CN109176468A (en) * | 2018-09-11 | 2019-01-11 | 清华大学 | Sliding rail is oriented to the flexible imitative worm climbing robot device of sucker |
| CN109176468B (en) * | 2018-09-11 | 2021-08-13 | 清华大学 | Sliding rail guiding sucker telescopic worm-imitating wall-climbing robot device |
| CN109229227A (en) * | 2018-11-09 | 2019-01-18 | 燕山大学 | Climbing robot |
| CN109229227B (en) * | 2018-11-09 | 2019-10-01 | 燕山大学 | Climbing robot |
| CN109821832A (en) * | 2019-03-18 | 2019-05-31 | 金陵科技学院 | A kind of duct cleaning dredging robot and application method |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130123 Termination date: 20130418 |