CN203885445U - Self-moving robot and self-moving robot system - Google Patents
Self-moving robot and self-moving robot system Download PDFInfo
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- CN203885445U CN203885445U CN201420224012.8U CN201420224012U CN203885445U CN 203885445 U CN203885445 U CN 203885445U CN 201420224012 U CN201420224012 U CN 201420224012U CN 203885445 U CN203885445 U CN 203885445U
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- 235000014676 Phragmites communis Nutrition 0.000 claims abstract description 107
- 230000007246 mechanism Effects 0.000 claims abstract description 51
- 238000007789 sealing Methods 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 12
- 230000000694 effects Effects 0.000 claims description 6
- 230000001939 inductive effect Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 abstract description 6
- 230000009183 running Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 3
- 210000000697 sensory organ Anatomy 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000007373 indentation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
Abstract
The utility model discloses a self-moving robot, comprising a machine body in which a control unit (2), a drive unit (3) and a walking unit (6) are arranged in the machine body, wherein the control unit (2) controls the drive unit to drive the walking unit (3) to enable the machine body to walk, a battery charging reed component (51) is arranged in the machine body, the battery charging reed component (51) comprises a battery charging reed (511), the shell of the machine body is provided with an opening corresponding to the position of the battery charging reed (511), the machine body is also provided with a battery charging reed drive mechanism connected to the battery charging reed component (51), the battery charging reed drive mechanism drives the battery charging reed to stretch out or retreat back from the opening of the shell of the machine body so as to be connected or disconnected with an external battery charging electrode. According to the self-moving robot and the self-moving robot system provided by the utility model, the battery charging reed is driven by the drive mechanism to stretch out or retreat back with respect to the machine body so as to be no longer exposed out of the machine body, so that the battery charging reed is prevented from being damaged by collision in the running process of the machine.
Description
Technical field
The utility model relates to a kind of self-movement robot and self-movement robot system, belongs to daily-use electrical appliance manufacturing technology field.
Background technology
The charging reed of current existing self-movement robot is fixed on part on main frame and is exposed to main frame outside, by charging reed, contacts to play the object of charging with cradle, and this design exists following problem:
1, in the process of robot operation, usually can there is head-on crash, after charging reed is subject to multiple impacts, may affect outward appearance and successfully dock the probability of cradle.
2, charging reed is exposed outside body, affects the aesthetics of whole body, and the exposed place that can touch user of the metalwork of switching in addition, has reduced the sense of security of user to product from sense organ.
Utility model content
Technical problem to be solved in the utility model is, for the deficiencies in the prior art, provides a kind of self-movement robot, avoids in robot moving process producing collision, causes exposedly at extra-organismal charging reed, producing deformation and affecting charging effect.
Technical problem to be solved in the utility model is achieved by the following technical solution:
A kind of self-movement robot, comprise: body, in described body, be provided with control module, driver element and walking unit, described control module is controlled drive unit drives walking unit and is driven body walking, in described body, be provided with charging spring assembly, described charging spring assembly comprises charging reed, described body fuselage is provided with opening to the position of inductive charging reed, on described body, be also provided with the charging reed driving mechanism being connected with the spring assembly that charges, described charging reed driving mechanism drives charging reed stretch out or retract from the opening part of body fuselage, make dock or disconnect with external charging electrode.
In order to reach better sealing effectiveness, described body opening part is provided with seal.
Further, described seal is elastic sealing element, and described elastic sealing element and the sealing of body opening are fixing, and the position that inductive charging reed is stretched out is provided with gap.
In addition, described seal can also be cover plate assembly, described cover plate assembly comprises cover plate and spring, described cover plate comprises stiff end and free end, the stiff end of described cover plate is pivotally connected with one end of body opening, and the free end of described cover plate fits tightly with the other end of body opening under the elastic force effect of spring.
For the reed that makes to charge better stretches out or retracts in body, described charging reed driving mechanism has motor and transmission mechanism, and described motor is connected with charging reed by transmission mechanism.
In one embodiment, described transmission mechanism adopts leading screw and nut mechanism, and described leading screw and nut mechanism comprises screw mandrel and the nut cooperatively interacting, and described nut is fixedly connected with described charging spring assembly, and described screw mandrel is fixedly connected with motor output shaft.
In another embodiment, described transmission mechanism adopts eccentric mechanism, described eccentric mechanism comprises eccentric wheel and baffle plate, described eccentric wheel is connected with the output shaft of motor, described charging spring assembly is connected with baffle plate by a connecting rod, described eccentric wheel wheel face and baffle plate are close to, and on described connecting rod, are arranged with back-moving spring.
Also use a kind of embodiment, state charging reed driving mechanism and comprise push button and down-pressed pole, described charging reed is connected with linkage block by a gangbar, and described down-pressed pole comprises an inclined-plane, described inclined-plane and linkage block are close to, and in described gangbar, are arranged with back-moving spring.
The utility model also provides a kind of self-movement robot system, comprise above-mentioned self-movement robot and cradle, described cradle is provided with the external charging electrode corresponding with the reed that charges, and described charging reed driving mechanism drives charging reed dock or disconnect with the external charging electrode on cradle.
Self-movement robot of the present utility model and self-movement robot system, by driving mechanism, drive charging reed, when charging, driving mechanism drives charging reed to stretch out hull outside and docks charging, after charging, driving mechanism drives charging reed indentation enclosure interior, the reed that makes to charge of avoiding bumping in machine running process damages, and energising reed needn't be exposed in user's sight line again, from sense organ, has improved the sense of security of user to product.
Below in conjunction with the drawings and specific embodiments, the technical solution of the utility model is described in detail.
Accompanying drawing explanation
Fig. 1 is the utility model self-movement robot structured flowchart;
Fig. 2 is the structural representation of the utility model embodiment mono-charging device;
Fig. 3 A-Fig. 3 B is the utility model self-movement robot fundamental diagram;
Fig. 4 is the utility model embodiment bis-charging device structural representations;
Fig. 5 is the utility model embodiment tri-charging device structural representations;
Fig. 6 is the utility model self-movement robot system architecture schematic diagram.
The specific embodiment
Embodiment mono-
Fig. 1 is the utility model self-movement robot structured flowchart, as shown in Figure 1, the present embodiment provides a kind of self-movement robot, comprise: body, the walking unit 6 that is provided with control module 2, driver element 3, charging device 5 and is arranged on organism bottom in body, described control module 2 is controlled driver element 3 and is driven walking unit 6 to drive body walking.Fig. 2 is the structural representation of the utility model embodiment mono-charging device 5, and as shown in Figure 2, in the present embodiment, described charging device 5 comprises: charging spring assembly 51, charging reed briquetting 52 and motor 53.Described charging spring assembly 51 comprises charging reed 511, described body fuselage is provided with opening to the position of inductive charging reed 511, on described body, be also provided with the charging reed driving mechanism being connected with the spring assembly 51 that charges, described charging reed driving mechanism drives charging reed 511 stretch out or retract from the opening part of body fuselage, makes dock or disconnect with external charging electrode.The reed driving mechanism that charges is in the present embodiment motor 53 and transmission mechanism, described motor 51 is connected with charging reed 511 by transmission mechanism, and by described charging reed briquetting 52 location, specifically, please refer to shown in Fig. 2, at body inner wall, be provided with a plurality of steady pins 11, corresponding with gim peg 521 positions that arrange on described charging reed briquetting 52, described gim peg 521 is enclosed within on described steady pin 11 and by screws tighten, in order to fixing charging reed briquetting 52.The one end being connected with described charging spring assembly 51 at described charging reed briquetting 52 is provided with the first draw-in groove 522, described charging spring assembly 51 is arranged in described the first draw-in groove 522, and the part of described charging spring assembly 51 in described the first draw-in groove 522, between the inwall of its outer wall and described the first draw-in groove 522, be provided with gap, make to charge spring assembly 51 and charging reed briquetting 52 can relative sliding limit the rotation of charging spring assembly 51 simultaneously.Please refer again to shown in Fig. 2, the one end being connected with motor 53 at charging reed briquetting 52 is also provided with the second draw-in groove 523, motor 53 fixes in the second draw-in groove 523, and the first draw-in groove 522 is communicated with the second draw-in groove 523, and for charging, spring assembly 51 is connected with motor 53.The present embodiment transmission mechanism adopts leading screw and nut mechanism, specifically, on the output shaft of motor 53, be provided with screw mandrel, described charging spring assembly 51 is provided with nut, described leading screw and nut mechanism cooperatively interacts, and the rotating by motor 53 realizes the reciprocating motion of charging spring assembly 51 in electrical axis direction.Position corresponding with being arranged on charging reed 511 on described charging spring assembly 51 on described organism sidewall is provided with opening, when normal work, 511 contractings of charging reed are inner at sidewall opening, only under charged state, charging reed 511 stretches out sidewall opening and docks charging with the charging electrode on cradle, during for fear of work, dust or other chip are entered in sidewall charging spring assembly 51 or other functional unit are polluted by sidewall opening place, at sidewall opening, place is provided with elastic sealing element, described elastic sealing element and the sealing of body opening are fixing, in order not affect charging reed 511, stretch out sidewall opening simultaneously, on elastic sealing element, the position of inductive charging reed 511 is provided with to gap 12.Described elastic sealing element adopts rubber or plastic or other material to make.Certainly charging spring assembly 51 also can be used other modes to be connected with motor 53, and those skilled in the art are correct according to actual needs.
Fig. 3 A-Fig. 3 B is the utility model self-movement robot fundamental diagram, as Fig. 3 A-Fig. 3 B and with reference to as shown in figure 1 and Fig. 2, self-movement robot reaches after cradle, control module 2 is controlled motor 53 runnings, by screw nut driven, drive charging spring assembly 51 to move towards the direction that deviates from motor 53 along the axis of motor 53 output shafts, the charging reed 511 that makes to charge in spring assembly 51 stretches out organism sidewall and dock and start to charge with charging electrode on cradle at opening part; After charging completes, described control module 2 is controlled motor 53 driving charging spring assemblies 51 along the axis of motor 53 output shafts and is moved towards the direction of motor 53, the reed 511 that makes to charge is separated with the charging electrode on cradle, stop charging, and charging reed 511 is in sidewall opening place retracts body again.
Specifically, before self-movement robot arrives cradle and prepares charging, first self-movement robot carries out miniature calibration to the position of charging reed 511, the reed 511 that makes to charge ejects position and aims at the charging electrode of cradle, then control module 2 is controlled motor 53 startups, feed screw nut between motor 53 and charging spring assembly 51 is connected, make rotatablely moving of motor 53 change the linear reciprocating motion of charging spring assembly 51 into, charging reed 511 is ejected to sidewall and the cradle electrode contact of body and charges.Wherein, when charging reed 511 ejects, charging reed 511 is supported the place, gap at elastic sealing element, and under the effect of charging reed 511 pressure, place, elastic sealing element gap produces deformation, gap expands, and described charging reed 511 stretches out from the gap of elastic sealing element.After charging, described control module 2 is controlled motor 53 and is again started, the reed 511 that makes to charge resets and shrinks back in body, place, elastic sealing element gap loses the extruding force of charging reed 511, under the character of self material, reset, the organism sidewall position of reed 511 correspondences that make to charge is in sealing state.
In the present embodiment, between motor 53 and charging spring assembly 51, by feed screw nut, be connected, by the rotating of motor 53, realize the reciprocating motion of charging reed 511, can certainly drive charging spring to move back and forth by other mechanisms, such as: linear electric motors or eccentric mechanism etc., those skilled in the art can modify according to actual needs.
Embodiment bis-
Fig. 4 is the utility model embodiment bis-charging device structural representations, as shown in Figure 4, in the present embodiment, the operation principle of self-movement robot and embodiment mono-is basically identical, its difference is, in the present embodiment, transmission mechanism adopts eccentric mechanism, realize the reciprocating motion of charging reed 511, described eccentric mechanism comprises eccentric wheel 55 ' and baffle plate 54 ', described eccentric wheel 55 ' is connected with the output shaft of motor 53, described charging spring assembly 51 is connected with baffle plate 54 ' by a connecting rod 525 ', described eccentric wheel 55 ' wheel face and baffle plate 54 ' are close to, on described connecting rod 525 ', be arranged with back-moving spring 526 ', one end of described back-moving spring 526 ' is supported on charging reed briquetting 52, the other end is supported on baffle plate 54 '.
On definition eccentric wheel 55 ' wheel face, the distance in any point and eccentric wheel rotating shaft axle center is this some place eccentric radius, shown in Fig. 4, there is a least radius a and a maximum radius b in eccentric wheel 55 ',, when motor 53 band movable eccentric wheel 55 ' rotation, the distance between eccentric wheel rotating shaft axle center and baffle plate is cyclically-varying between a and b.When preparing charging, described motor 53 band movable eccentric wheel 55 ' rotations, distance between eccentric wheel rotating shaft axle center and baffle plate is increased to b gradually by a, described baffle plate 54 ' is towards the opposite direction motion of motor 53, making connecting rod 525 ' promote charging reed 511 stretches out body shell nozzle and dock and start to charge with charging electrode on cradle at opening part, and when the distance between eccentric wheel rotating shaft axle center and baffle plate reaches maximum b, motor 53 stops the rotation, and makes self-movement robot keep charged state; When completing rear motor 53, charging again drive eccentric wheel 55 ' to rotate, distance between eccentric wheel rotating shaft axle center and baffle plate is reduced to a gradually by b, described baffle plate 54 ' is towards the direction motion of motor 53, the reed 511 that makes to charge is separated with the charging electrode on cradle, stop charging, and when the distance between eccentric wheel rotating shaft axle center and baffle plate reaches minimum of a value a, motor 53 stops the rotation, charging reed 511 is in sidewall opening place retracts body again.
Embodiment tri-
Fig. 5 is the utility model embodiment tri-charging device structural representations, in the present embodiment, the operation principle of self-movement robot and above-described embodiment is basically identical, difference is, in the present embodiment, charging device 5 comprises: charging spring assembly 51, charging reed briquetting 52 and charging reed push button 54.The mode that described charging reed briquetting 52 is fixed in body is identical with embodiment mono-, does not repeat them here.Described push button 54 is arranged on the top of described body, and a side of passing body and described down-pressed pole 541 by down-pressed pole 541 is inclined-plane, this inclined-plane and linkage block 524 are close to, the gangbar 525 arranging in described linkage block 524 is fixedly connected with charging spring assembly 51 through described charging reed briquetting 52, in described gangbar 525, be arranged with back-moving spring 526, this back-moving spring 526 arranges between charging reed briquetting 52 and linkage block 524, one end of described back-moving spring 526 is against on described charging reed briquetting 52, and the other end is against in described linkage block 524.
Operation principle:
Distance between the top cover of the cradle of self-movement robot system and ground and the height of self-movement robot are consistent, on described top cover, be provided with push button guiding groove, when self-movement robot arrives cradle, described push button 54 enters in push button guiding groove, now down-pressed pole 541 moves downward, the inclined-plane that described down-pressed pole 541 and linkage block 524 are close to causes described linkage block 524 to be moved towards body fuselage opening direction along the axis direction of gangbar 525, described gangbar 525 ejects charging reed 511 shell aperture of body, now back-moving spring 526 is because of downforce generation deformation.After charging, self-movement robot leaves cradle, and push button 54 is no longer subject to the downforce of the push button guiding groove of cradle top cover, and back-moving spring 526 resets and drives linkage block 524 that charging reed 511 is retracted in body.
Embodiment tetra-
The self-movement robot that the present embodiment provides and above-described embodiment operation principle are basically identical, its difference is, the seal of the present embodiment self-movement robot is cover plate assembly, described cover plate assembly comprises cover plate and spring, described cover plate comprises stiff end and free end, the stiff end of described cover plate is pivotally connected with one end of body opening, and the free end of described cover plate fits tightly with the other end of body opening under the elastic force effect of spring.
The specific works process of described cover plate assembly is: when self-movement robot is prepared charging, charging reed driving mechanism drives charging reed 511 towards the direction motion of body fuselage opening, it is moving that charging reed 511 is supported on the cover board follow-up reforwarding, make cover plate Unscrew centered by its pivot, charging reed 511 stretches out shell nozzle and docks charging with external charging electrode; After charging completes, charging reed driving mechanism drives in charging reed 511 retraction bodies, and cover plate is again closed under the elastic force effect of spring, fits tightly with body opening.
The utility model also provides a kind of self-movement robot system, as shown in Figure 6, described self-movement robot system comprises the self-movement robot described in above-described embodiment and cradle 10, described cradle 10 is provided with the external charging electrode 101 corresponding with the reed 511 that charges, and described charging reed driving mechanism drives charging reed 511 dock or disconnect with the external charging electrode 101 on cradle.
Cradle 10 in certain above-mentioned self-movement robot system is applicable to the self-movement robot in embodiment mono-and embodiment bis-, for the self-movement robot in embodiment tri-, the upper cover of cradle 10 can be fitted in to the top of self-movement robot, that is to say, distance between the top cover of the cradle of self-movement robot system and ground and the height of self-movement robot are consistent, and with pressing the corresponding position of button 54, guiding groove are set.
Those skilled in the art can arrange the structure of cradle 10 according to actual needs.
Self-movement robot of the present utility model drives charging reed 511 by driving mechanism, when charging, driving mechanism drives charging reed 511 to stretch out shell nozzle and docks charging, after charging, driving mechanism drives charging reed 511 indentation enclosure interior, avoid bumping and making to charge reed 511 damages in machine running process, and energising reed needn't be exposed in user's sight line again, from sense organ, has improved the sense of security of user to product.
Claims (9)
1. a self-movement robot, comprise: body, in described body, be provided with control module (2), driver element (3) and walking unit (6), described control module (2) is controlled driver element (3) and is driven walking unit (6) to drive body walking, it is characterized in that, in described body, be provided with charging spring assembly (51), described charging spring assembly (51) comprises charging reed (511), described body fuselage is provided with opening to the position of inductive charging reed (511), on described body, be also provided with the charging reed driving mechanism being connected with the spring assembly that charges (51), described charging reed driving mechanism drives charging reed (511) stretch out or retract from the opening part of body fuselage, make dock or disconnect with external charging electrode.
2. self-movement robot as claimed in claim 1, is characterized in that, described body fuselage opening part is provided with seal.
3. self-movement robot as claimed in claim 2, is characterized in that, described seal is elastic sealing element, and described elastic sealing element and the sealing of body opening are fixing, and the position that inductive charging reed (511) is stretched out is provided with gap (12).
4. self-movement robot as claimed in claim 2, it is characterized in that, described seal is cover plate assembly, described cover plate assembly comprises cover plate and spring, described cover plate comprises stiff end and free end, the stiff end of described cover plate is pivotally connected with one end of body opening, and the free end of described cover plate fits tightly with the other end of body opening under the elastic force effect of spring.
5. self-movement robot as claimed in claim 1, is characterized in that, described charging reed driving mechanism has motor (53) and transmission mechanism, and described motor (53) is connected with charging reed (511) by transmission mechanism.
6. self-movement robot as claimed in claim 5, it is characterized in that, described transmission mechanism adopts leading screw and nut mechanism, described leading screw and nut mechanism comprises screw mandrel and the nut cooperatively interacting, described nut is fixedly connected with described charging spring assembly (51), and described screw mandrel is fixedly connected with motor (53) output shaft.
7. self-movement robot as claimed in claim 5, it is characterized in that, described transmission mechanism adopts eccentric mechanism, described eccentric mechanism comprises eccentric wheel (55 ') and baffle plate (54 '), described eccentric wheel (55 ') is connected with the output shaft of motor (53), described charging spring assembly (51) is connected with baffle plate (54 ') by a connecting rod (525 '), described eccentric wheel (55 ') wheel face and baffle plate (54 ') are close to, and are arranged with back-moving spring (526 ') on described connecting rod (525 ').
8. self-movement robot as claimed in claim 1, it is characterized in that, described charging reed driving mechanism comprises push button (54) and down-pressed pole (541), described charging reed (511) is connected with linkage block (524) by a gangbar (525), described down-pressed pole (541) comprises an inclined-plane, described inclined-plane and linkage block (524) are close to, and are arranged with back-moving spring (526) in described gangbar (525).
9. a self-movement robot system, it is characterized in that, comprise self-movement robot and cradle (10) as described in claim 1-8 any one, described cradle (10) is provided with the external charging electrode (101) corresponding with the reed that charges (511), and described charging reed driving mechanism drives charging reed (511) dock or disconnect with the external charging electrode (101) on cradle (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420224012.8U CN203885445U (en) | 2014-05-04 | 2014-05-04 | Self-moving robot and self-moving robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420224012.8U CN203885445U (en) | 2014-05-04 | 2014-05-04 | Self-moving robot and self-moving robot system |
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| Publication Number | Publication Date |
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| CN203885445U true CN203885445U (en) | 2014-10-22 |
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| CN201420224012.8U Expired - Lifetime CN203885445U (en) | 2014-05-04 | 2014-05-04 | Self-moving robot and self-moving robot system |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105186176A (en) * | 2015-09-16 | 2015-12-23 | 成都四威高科技产业园有限公司 | Charging contact head for AVG vehicle |
| CN105261858A (en) * | 2015-11-03 | 2016-01-20 | 莱克电气股份有限公司 | Charging seat with conductive needle |
| CN105743197A (en) * | 2016-05-12 | 2016-07-06 | 上海思岚科技有限公司 | Mobile robot system and autonomous charging method thereof |
| CN106329657A (en) * | 2016-09-30 | 2017-01-11 | 成都普诺思博科技有限公司 | Robot charging holder |
| CN107037807A (en) * | 2016-02-04 | 2017-08-11 | 科沃斯机器人股份有限公司 | Self-movement robot pose calibration system and method |
| CN107193282A (en) * | 2017-06-16 | 2017-09-22 | 北京军立方机器人科技有限公司 | A kind of intelligent security guard robot and intelligent safety and defence system |
| CN107811581A (en) * | 2016-09-13 | 2018-03-20 | Seb公司 | Cleaning automatics for ground |
| CN108602189A (en) * | 2015-10-28 | 2018-09-28 | 巴伊兰大学 | Robot cooperated system |
| CN110448230A (en) * | 2019-08-09 | 2019-11-15 | 湛江维尔科技服务有限公司 | A kind of intelligent domestic clears up sweeping robot automatically |
| CN110601291A (en) * | 2019-09-17 | 2019-12-20 | 南通明诺电动科技股份有限公司 | Electronic quick-witted charging base of sweeping floor of magnetism formula intelligence |
| CN112512394A (en) * | 2018-06-22 | 2021-03-16 | 必胜公司 | Surface cleaning apparatus and tray |
| CN113054465A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Anti-drop pile charging structure |
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2014
- 2014-05-04 CN CN201420224012.8U patent/CN203885445U/en not_active Expired - Lifetime
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105186176B (en) * | 2015-09-16 | 2018-03-30 | 成都四威高科技产业园有限公司 | A kind of AGV Vehicular rechargeables contact head |
| CN105186176A (en) * | 2015-09-16 | 2015-12-23 | 成都四威高科技产业园有限公司 | Charging contact head for AVG vehicle |
| CN108602189A (en) * | 2015-10-28 | 2018-09-28 | 巴伊兰大学 | Robot cooperated system |
| CN105261858A (en) * | 2015-11-03 | 2016-01-20 | 莱克电气股份有限公司 | Charging seat with conductive needle |
| CN107037807A (en) * | 2016-02-04 | 2017-08-11 | 科沃斯机器人股份有限公司 | Self-movement robot pose calibration system and method |
| CN105743197A (en) * | 2016-05-12 | 2016-07-06 | 上海思岚科技有限公司 | Mobile robot system and autonomous charging method thereof |
| CN107811581A (en) * | 2016-09-13 | 2018-03-20 | Seb公司 | Cleaning automatics for ground |
| CN106329657A (en) * | 2016-09-30 | 2017-01-11 | 成都普诺思博科技有限公司 | Robot charging holder |
| CN106329657B (en) * | 2016-09-30 | 2019-05-24 | 成都普诺思博科技有限公司 | A kind of robot cradle |
| CN107193282A (en) * | 2017-06-16 | 2017-09-22 | 北京军立方机器人科技有限公司 | A kind of intelligent security guard robot and intelligent safety and defence system |
| CN112512394A (en) * | 2018-06-22 | 2021-03-16 | 必胜公司 | Surface cleaning apparatus and tray |
| CN110448230A (en) * | 2019-08-09 | 2019-11-15 | 湛江维尔科技服务有限公司 | A kind of intelligent domestic clears up sweeping robot automatically |
| CN110601291A (en) * | 2019-09-17 | 2019-12-20 | 南通明诺电动科技股份有限公司 | Electronic quick-witted charging base of sweeping floor of magnetism formula intelligence |
| CN113054465A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Anti-drop pile charging structure |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: Ecovacs robot Limited by Share Ltd Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: Ecovacs Robot Co., Ltd. |