CN103505143A - Glass cleaning robot and walking method thereof - Google Patents

Glass cleaning robot and walking method thereof Download PDF

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Publication number
CN103505143A
CN103505143A CN201210217613.1A CN201210217613A CN103505143A CN 103505143 A CN103505143 A CN 103505143A CN 201210217613 A CN201210217613 A CN 201210217613A CN 103505143 A CN103505143 A CN 103505143A
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CN
China
Prior art keywords
glass
vacuum chuck
speed
chuck turntable
cleaning robot
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CN201210217613.1A
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Chinese (zh)
Inventor
冯勇兵
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ECOVACS ELECTRICAL Co Ltd
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ECOVACS ELECTRICAL Co Ltd
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Priority to CN201210217613.1A priority Critical patent/CN103505143A/en
Publication of CN103505143A publication Critical patent/CN103505143A/en
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Abstract

The invention discloses a glass cleaning robot and a walking method of the glass cleaning robot. The glass cleaning robot comprises a machine body (1), wherein a control unit, driving units and a cleaning unit (9) are arranged on the machine body, and the control unit is connected with the driving units. The glass cleaning robot further comprises a pair of adsorption rotating discs (300), wherein the adsorption rotating discs (300) are arranged at the end A and the end A' of the two sides of the bottom of the machine body in a rotatable mode respectively, the adsorption rotating discs are connected with a vacuum pump through suction pipes, the control unit is connected with the pair of adsorption rotating discs through the driving units, controls the size of the power output from the two adsorption rotating discs and the direction of the power output from the two adsorption rotating discs, and drives the pair of adsorption rotating discs to rotate around the vertical axis perpendicular to the surface of glass or keep still so that the pair of adsorption rotating discs can alternatively be a high-speed end and a low-speed end or a high-speed end and a still end, and therefore the difference of the rotating speeds is formed, and the walking of the robot is achieved. The glass cleaning robot has the lower requirements for the working environment when adsorbed to the surface of the glass to work in a single machine state, and therefore glass with different thicknesses can be cleaned, and the glass cleaning robot is simple in structure, low in cost, high in flexibility, smooth in walking and high in cleaning efficiency.

Description

Glass-cleaning robot and traveling method thereof
Technical field
The present invention relates to a kind of glass-cleaning robot and traveling method thereof, belong to family expenses small electric apparatus manufacturing technology field.
Background technology
Existing cleaning glass machine people has developed in by automated movement, the action of simulation manual wipping glass surface, and positive and negative two planes of the rag wiped clean glass compressing by the magnet mutually being adsorbed, play the effect of cleaning glass.Cleaning glass machine people is adsorbed mutually by active machine, driven machine on the market at present, and machine is clamped in glass both sides, and utilization is clipped in machine and the middle rag cleaning glass surface of glass.Although this design is positive and negative two planes of cleaning glass simultaneously, higher to the requirement of magnet, and restricted to the working environment of machine, if on one side glass has barrier, initiatively machine and driven machine are just easy to misplace and cause falling.And this structure also has certain requirement to the thickness of glass, when the thickness of glass surpasses certain limit, this machine just cannot use.Meanwhile, while using machine, need bimanualness, active machine and driven machine are placed on to the positive and negative both sides of glass simultaneously, it is not too convenient to use, particularly operation under high altitude environment, and people is bimanualness, inconvenience is also more dangerous.
Summary of the invention
Technical problem to be solved by this invention is for the deficiencies in the prior art, and a kind of glass-cleaning robot and traveling method thereof are provided, and the present invention is simple in structure, and cost is low, highly sensitive, and controllability is strong, walking freely and cleaning efficiency high.
Technical problem to be solved of the present invention is achieved by the following technical solution:
, comprising body, body is provided with control module, driver element and cleaning unit, and described body is adsorbed on glass surface by absorbing unit, and described control module is connected with driver element, described glass-cleaning robot also comprises the rotatable a pair of vacuum chuck turntable that is arranged on organism bottom both sides A end and A ' end, described vacuum chuck turntable is connected with vavuum pump by exhaust tube, described control module is connected with a pair of described vacuum chuck turntable respectively by driver element, control module is controlled respectively the size and Orientation that power is exported on a pair of vacuum chuck turntable, drive a pair of described vacuum chuck turntable to rotate centered by the vertical axes perpendicular to glass surface or static, the a pair of vacuum chuck turntable of A end and A ' end alternately becomes speed end and low speed end, or speed end and stationary end, both form speed discrepancy, realize the walking of glass-cleaning robot.
In order to change timely and effectively, the a pair of vacuum chuck turntable of described A end and A ' end is connected respectively at driver element separately, described driver element has respectively two circuit for its power supply, comprise high-tension circuit and low-voltage circuit, described control module is realized running up and low-speed running of control driver element by being controlled at two switchings between circuit.
Further, be provided with PWM controller in described control module, described PWM controller is by regulating its dutycycle to realize running up of driver element and low-speed running.
For the ease of connecting, described vacuum chuck turntable is connected with body by bearing.
As required, described driver element comprises motor, and its output is connected with reducing gear, after the power of described motor output slows down by reducing gear, passes to vacuum chuck turntable.
The final-stage gear of described reducing gear drives travelling gear, and described travelling gear is connected in body by bearing, and described travelling gear is fixedly connected with described vacuum chuck turntable.
Described vacuum chuck turntable comprises support and sucker, and in order to increase adsorption effect, described sucker is annular flexible glue sucker, and described support is provided with groove, and described flexible glue sucker is embedded in groove and is located by elastic washer.
Described cleaning unit is fixed in the hollow region of described sucker.
The present invention also provides a kind of traveling method of above-mentioned glass-cleaning robot, and the method comprises the steps:
Step 1: glass-cleaning robot is placed into glass surface, and vavuum pump is started working, the sucker on A end and A ' end vacuum chuck turntable is adsorbed on glass surface simultaneously, and the size of both suction and the mode of absorption are identical all the time;
Step 2: control module is controlled respectively the size and Orientation that power is exported on a pair of vacuum chuck turntable of A end and A ' end, drives described a pair of vacuum chuck turntable to rotate centered by the vertical axes perpendicular to glass surface or static, makes to form speed discrepancy between the two;
Step 3: control module is controlled and made the vacuum chuck turntable rotating speed of A end lower than the rotating speed of A ' end, and body is held rotation around A under the drive of A ' end vacuum chuck turntable;
Step 4: body is when A end rotates to certain angle, and the vacuum chuck turntable rotating speed of control module control A ' end is lower than the rotating speed of A end, and body rotates around A ' end under the drive of A end vacuum chuck turntable;
Step 5: as described in step 3 and step 4, the driver element of A end and A ' end hockets and transports speed discrepancy control, makes both alternately become speed end and low speed end or speed end and stationary end, realizes the walking of glass-cleaning robot on glass surface.
Speed discrepancy in described step 2 is that control module is controlled driver element outputting power is to described vacuum chuck turntable respectively, one end vacuum chuck turntable rotates with respect to glass surface, and other end vacuum chuck turntable is static and form with respect to glass surface.
Speed discrepancy in described step 2 be one end vacuum chuck turntable with respect to glass surface high speed rotating, a vacuum chuck turntable slowly runs and forms with respect to glass surface.
Certain angle in described step 4 is 10 ° of-30 ° of degree.
In sum, the present invention is simple in structure, and cost is low, highly sensitive, and controllability is strong, walking freely and cleaning efficiency high.
Below in conjunction with the drawings and specific embodiments, technical scheme of the present invention is described in detail.
Accompanying drawing explanation
Fig. 1 is the cross-sectional view of glass-cleaning robot of the present invention;
Fig. 2 is the plan structure schematic diagram of glass-cleaning robot of the present invention;
Fig. 3 is the structural representation of looking up of glass-cleaning robot of the present invention;
Fig. 4 is the working state schematic representation of glass-cleaning robot of the present invention.
The specific embodiment
Fig. 1, Fig. 2 and Fig. 3 are respectively cross-sectional view, the plan structure schematic diagram of glass-cleaning robot of the present invention and look up structural representation.As shown in Figure 1 to Figure 3, the invention provides a kind of glass-cleaning robot, this glass-cleaning robot comprises body 1, and body 1 is provided with control module, driver element and cleaning unit 9, also comprises the rotatable a pair of vacuum chuck turntable 300 that is arranged on body 1 two bottom sides A end and A ' end.Each vacuum chuck turntable 300 is comprised of support 3 and sucker 21.In fact, vacuum chuck turntable 300 should at least comprise sucker, better simply, and vacuum chuck turntable itself also can only consist of sucker, is connected, but the material of sucker is had relatively high expectations by its rotary middle spindle with body.Body 1 is adsorbed on glass B surface by the sucker 21 in vacuum chuck turntable 300, and sucker 21 is connected with vavuum pump 25 by exhaust tube 23.As shown in Figure 2, vavuum pump 25 is connected with sucker 21 by exhaust tube 23, and when vavuum pump 25 is started working, vavuum pump 25 is in the interior generation negative pressure of sucker 21, and sucker 21 produces suction, and glass-cleaning robot is adsorbed on glass B.Control module is connected with driver element, and control instruction is passed to driver element.Sucker 21 is separately positioned on the bottom of vacuum chuck turntable 300, control module is connected with two vacuum chuck turntables 300 respectively by driver element, control module is controlled respectively the size and Orientation that power is exported on a pair of vacuum chuck turntable 300, drive the rotation or static centered by the vertical axes perpendicular to glass B surface in turn of a pair of vacuum chuck turntable 300, make both alternately become speed end and low speed end or speed end and stationary end, form speed discrepancy, realize the walking of glass-cleaning robot.
As mentioned above, the present invention, by high speed and the low speed rotation of driver element, drives vacuum chuck turntable High Rotation Speed and low speed rotation or static.Below by various ways, realize and control a vacuum chuck turntable High Rotation Speed, another vacuum chuck turntable low speed rotation or static.As the driver element of a pair of vacuum chuck turntable 300 of implementation one: A end and A ' end has respectively two potential circuits, comprise high-tension circuit and low-voltage circuit, control module is realized running up and low-speed running of control driver element by being controlled at two switchings between circuit.When A end driver element connects high-tension circuit, the input voltage of driver element is high, and rotating speed is fast, and A ' end connects low-voltage circuit, and driver element input voltage is low, and rotating speed is slow; Otherwise when A ' end driver element connects high-tension circuit, the input voltage of driver element is high, rotating speed is fast, and A ' end connects low-voltage circuit, and the input voltage of driver element is low, and rotating speed is slow.The driver element that is vacuum chuck turntable 300 by high-tension circuit and these two circuit of low-voltage circuit is powered, and can change timely and effectively that vacuum chuck turntable 300 rotates centered by the vertical axes perpendicular to glass B surface or static.As implementation two: as described in be provided with PDM keyer (being called for short PWM controller) in control module, PWM controller is by regulating its dutycycle to realize running up of driver element and low-speed running.By increasing or reduce dutycycle, make input voltage or the corresponding increase of electric current of driver element or reduce.As PWM controller increases the dutycycle that A holds input voltage, the input voltage of driver element is high, and rotating speed is fast, and reduces the dutycycle of A ' end input voltage, and driver element input voltage is low, and rotating speed is slow; Otherwise when increasing the dutycycle of A ' end input voltage, the input voltage of driver element is high, rotating speed is fast, and reduces the dutycycle of A end input voltage, and the input voltage of driver element is low, and rotating speed is slow.Concrete PWM controller can be realized by single-chip microcomputer, and the present invention no longer describes in detail at this.
For the ease of connecting, described vacuum chuck turntable 300 is connected with body 1 by bearing.Bearing, under the driving of driver element, drives vacuum chuck turntable 300 to rotate with respect to body 1.
In general, driver element is motor 4, but the present invention is not as limit.Motor 4 outputs are connected with reducing gear, after the power of motor 4 outputs slows down by reducing gear, pass to vacuum chuck turntable 300.The final-stage gear of reducing gear drives travelling gear 41, and travelling gear 41 is connected in body 1 by bearing, and travelling gear 41 is fixedly connected with vacuum chuck turntable 300.Motor 4 can also pass through other transmission mechanism, as Timing Belt, drives vacuum chuck turntable 300 rotations.
As shown in Figure 3, the sucker 21 described in the present embodiment is annular flexible glue sucker, and sucker 21 is arranged on the bottom of support 3.In the bottom of support 3, be provided with annular groove 31, flexible glue sucker is embedded in the interior location of groove 31 by elastic washer 33.Sucker 21 produces deformation when work, and elastic washer 33 can absorb deformation, sucker 21 is adsorbed on glass.Cleaning unit 9 is arranged on vacuum chuck turntable, as is installed in the hollow region of sucker 21 on support or as described in being fixed on.Cleaning unit 9 can be cloths for cleaning, bristle or scouring pad etc.Fig. 4 is the working state schematic representation of glass-cleaning robot of the present invention.As Fig. 4 and in conjunction with as shown in Fig. 1 to Fig. 3, the traveling method of glass-cleaning robot of the present invention comprises the steps:
Step 1: glass-cleaning robot is placed into glass B surface, and vavuum pump 25 is started working, the sucker 21 on A end and A ' end vacuum chuck turntable 300 is adsorbed on glass B surface simultaneously.
Step 2: control module is controlled respectively the size and Orientation of power output on a pair of vacuum chuck turntable 300 of A end and A ' end, drive the rotation or static centered by the vertical axes perpendicular to glass B surface in turn of a pair of described vacuum chuck turntable 300, make both alternately become speed end or low speed end, make to form speed discrepancy between the two.
Specifically, speed discrepancy be control module control driver element respectively outputting power to described vacuum chuck turntable 300, one end vacuum chuck turntable 300 with respect to the surperficial rotation of glass B, other end vacuum chuck turntable 300 surperficial static and formation with respect to glass B; Or, speed discrepancy be one end vacuum chuck turntable 300 with respect to the surperficial high speed rotating of glass B, a vacuum chuck turntable 300 slowly runs and forms with respect to glass B surface.
Step 3: control module is controlled and made the rotating speed of A end lower than the rotating speed of A ' end, and body 1 is held rotation around A under the drive of A ' end vacuum chuck turntable 300;
Step 4: body 1 is when A end rotates to certain angle, and such as this angle can be arbitrarily angled between 10 °-30 °, control module is controlled the rotating speed of A ' end lower than the rotating speed of A end, body 1 under the drive of A end vacuum chuck turntable 300 around the rotation of A ' end;
Step 5: as described in step 3 and step 4, the driver element of A end and A ' end hockets and transports speed discrepancy control, realizes the straight line moving of glass-cleaning robot on glass surface.
Below, by different embodiment, the walking manner of glass-cleaning robot provided by the present invention is specifically described:
Embodiment mono-
First, robot is placed on glass B, press power knob, vavuum pump 25 is started working, and the sucker 21 laying respectively in the vacuum chuck turntable 300 that A holds and A ' holds is adsorbed on glass B above simultaneously, preferably, A end is connected a vavuum pump with the sucker of A ' end simultaneously, the size of both suction and the mode of absorption are identical all the time, and in addition, A end also can be connected respectively vavuum pump with the sucker of A ' end;
Secondly, control module is controlled and made the rotating speed of A end vacuum chuck turntable is zero, and A ' holds still High Rotation Speed of vacuum chuck turntable, and now, body 1 is under the drive of A ' end vacuum chuck turntable High Rotation Speed, and centered by A end, A ' end twists forward;
Again, when body 1 is when A end is torqued into certain angle, such as 25 °, the rotating speed that control module is controlled A ' end is zero, and A end becomes High Rotation Speed, now, 1 of body is held at A under the High Rotation Speed drive of vacuum chuck turntable 300, and A end twists forward centered by A ' end;
Finally, when body 1 is when A ' end is torqued into certain angle, such as 25 °, state when control module is returned to initial actuating again, it is zero that control makes the vacuum chuck turntable rotating speed of A end, and A ' holds still High Rotation Speed of vacuum chuck turntable, now, body 1 again can be under the drive of A ' end High Rotation Speed, and A ' end twists forward centered by A end.
In sum, so alternately control the rotating speed of A end and A ' end, make both alternately become speed end or low speed end, form speed discrepancy, thereby body 1 rotating speed Gao one end is twisted centered by rotating speed Di one end, and realize the walking of robot.
Embodiment bis-
First, robot is placed on glass B, vavuum pump 25 starts starts working, the sucker 21 laying respectively in a pair of vacuum chuck turntable 300 that A holds and A ' holds is adsorbed on glass B simultaneously, preferably, A end is connected a vavuum pump with the sucker of A ' end simultaneously, and the size of both suction and the mode of absorption are identical all the time.
Secondly, control module is controlled the vacuum chuck turntable low-speed running that makes A end, and A ' end vacuum chuck turntable High Rotation Speed, now, body 1 is under the drive of A ' end vacuum chuck turntable High Rotation Speed, and A ' end twists forward centered by A end;
Again, when body 1 is when A end is torqued into certain angle, such as 30 °, control module is controlled A ' end vacuum chuck turntable low-speed running, and A end vacuum chuck turntable becomes High Rotation Speed, now, 1 of body is held at A under the High Rotation Speed drive of vacuum chuck turntable 300, and A end twists forward centered by A ' end;
Finally, when body 1 is when A end is torqued into certain angle, such as 30 °, state when control module is returned to initial actuating again, control makes A end vacuum chuck turntable low-speed running, and A ' end vacuum chuck turntable High Rotation Speed, now, body 1 again can be under the drive of A ' end High Rotation Speed, and A ' end twists forward centered by A end.
In sum, so alternately control the rotating speed of A end and A ' end vacuum chuck turntable, make both alternately become speed end or low speed end, form speed discrepancy, thereby body 1 rotating speed Gao one end is twisted centered by rotating speed Di one end, and realize the walking of robot.
It should be noted that, the present invention is also not limited to actual high speed or low speed and the rotation or static of vacuum chuck turntable, and needs to consider the frictional force between vacuum chuck turntable and glass surface.If A end vacuum chuck turntable is speed end, the driving force of driver element makes greatly the rotary speed of vacuum chuck turntable larger, can overcome the stiction between sucker and glass, force of sliding friction promotion body between sucker and glass is rotated around low speed end, and A ' end vacuum chuck turntable is while being low speed end, the corresponding static or low speed rotation of vacuum chuck turntable, and the frictional force between glass surface is less, and making it is just the pivot of body.
Therefore, this glass-cleaning robot provided by the present invention without the mutual absorption of active machine and driven machine, can be fixed on and on glass surface, carry out work in the situation that only having unit.Simultaneously, this glass-cleaning robot provided by the present invention is lower to the requirement of working environment, can be at the cleaning operation that carries out on glass of any thickness, it is simple in structure, and cost is low, highly sensitive, only by controlling being arranged on the replacing of rotating speed height of the vacuum chuck turntable of organism bottom, by rotating speed official post body, twist, and then realize the walking freely of robot, this glass-cleaning robot controllability is strong and cleaning efficiency is high.

Claims (12)

1. a glass-cleaning robot, comprises body (1), and body (1) is provided with control module, driver element and cleaning unit (9), described control module is connected with driver element, it is characterized in that: described glass-cleaning robot also comprises the rotatable a pair of vacuum chuck turntable (300) that is arranged on body (1) two bottom sides A end and A ' end, described vacuum chuck turntable is connected with vavuum pump by exhaust tube, described control module is connected with a pair of described vacuum chuck turntable (300) by driver element respectively, control module is controlled respectively power at the size and Orientation of the upper output of two vacuum chuck turntables (300), drive a pair of described vacuum chuck turntable (300) to rotate centered by the vertical axes perpendicular to glass surface or static, the a pair of vacuum chuck turntable of A end and A ' end alternately becomes speed end and low speed end, or speed end and stationary end, both form speed discrepancy, realize the walking of glass-cleaning robot.
2. glass-cleaning robot as claimed in claim 1, it is characterized in that: a pair of described vacuum chuck turntable (300) is connected with driver element separately respectively, described driver element has respectively two circuit for its power supply, comprise high-tension circuit and low-voltage circuit, described control module is realized running up and low-speed running of control driver element by being controlled at two switchings between circuit.
3. glass-cleaning robot as claimed in claim 1, is characterized in that: in described control module, be provided with PWM controller, described PWM controller is by regulating its dutycycle to realize running up of driver element and low-speed running.
4. glass-cleaning robot as claimed in claim 1, is characterized in that, described vacuum chuck turntable (300) is connected with body (1) by bearing.
5. glass-cleaning robot as claimed in claim 1, is characterized in that: described driver element comprises motor (4), and its output is connected with reducing gear, after the power of described motor (4) output slows down by reducing gear, passes to vacuum chuck turntable (300).
6. glass-cleaning robot as claimed in claim 5, it is characterized in that, the final-stage gear of described reducing gear drives travelling gear (41), and described travelling gear (41) is connected in body (1) by bearing, and described travelling gear (41) is fixedly connected with described vacuum chuck turntable (300).
7. glass-cleaning robot as claimed in claim 1, it is characterized in that: described vacuum chuck turntable (300) comprises support (3) and sucker (21), described sucker is annular flexible glue sucker, described support is provided with groove (31), and described flexible glue sucker is embedded location in groove (31) by elastic washer (33).
8. glass-cleaning robot as claimed in claim 7, is characterized in that: described cleaning unit (9) is fixed in the hollow region of described sucker (21).
9. a traveling method for glass-cleaning robot as claimed in claim 1, is characterized in that, the method comprises the steps:
Step 1: glass-cleaning robot is placed into glass surface, and vavuum pump (25) is started working, the sucker (21) on A end and A ' end vacuum chuck turntable (300) is adsorbed on glass surface simultaneously;
Step 2: control module is controlled respectively power at the size and Orientation of the upper output of two vacuum chuck turntables (300) of A end and A ' end, drive described a pair of vacuum chuck turntable (300) to rotate centered by the vertical axes perpendicular to glass surface or static, make to form speed discrepancy between the two;
Step 3: control module is controlled and made the rotating speed of A end lower than the rotating speed of A ' end, and body (1) is held rotation around A under the drive of A ' end vacuum chuck turntable (300);
Step 4: body (1) is when A end rotates to certain angle, and the rotating speed of control module control A ' end is lower than the rotating speed of A end, and body (1) rotates around A ' end under the drive of A end vacuum chuck turntable (300);
Step 5: as described in step 3 and step 4, the driver element of A end and A ' end hockets and transports speed discrepancy control, makes both alternately become speed end and low speed end or speed end and stationary end, realizes the walking of glass-cleaning robot on glass surface.
10. the traveling method of glass-cleaning robot as claimed in claim 9, it is characterized in that, speed discrepancy in described step 2 is that control module is controlled driver element difference outputting power to described vacuum chuck turntable (300), one end vacuum chuck turntable (300) rotates with respect to glass surface, and other end vacuum chuck turntable (300) is static and form with respect to glass surface.
The traveling method of 11. glass-cleaning robots as claimed in claim 9, it is characterized in that: the speed discrepancy in described step 2 be the motor (4) of one end vacuum chuck turntable (300) with respect to glass surface high speed rotating, a vacuum chuck turntable (300) slowly runs and forms with respect to glass surface.
The traveling method of 12. glass-cleaning robots as claimed in claim 9, is characterized in that, the certain angle in described step 4 is 10 °-30 °.
CN201210217613.1A 2012-06-28 2012-06-28 Glass cleaning robot and walking method thereof Pending CN103505143A (en)

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CN105919502A (en) * 2016-06-22 2016-09-07 洛阳圣瑞智能机器人有限公司 Parallelogram glass wiping device and travel method implemented by same
WO2017152409A1 (en) * 2016-03-10 2017-09-14 深圳市赛亿科技开发有限公司 Ultrasonic cleaning robot
CN107224242A (en) * 2017-06-01 2017-10-03 曲鹏 A kind of glass door and window clean robot
CN107427171A (en) * 2015-11-10 2017-12-01 深圳市赛亿科技开发有限公司 A kind of glass-cleaning robot
US10383492B2 (en) 2015-12-09 2019-08-20 Alfred Kärcher SE & Co. KG Window cleaning robot
WO2020151562A1 (en) * 2019-01-22 2020-07-30 北京赫特智慧科技有限公司 Surface processing device, and driving apparatus and gear speed-change transmission apparatus thereof
WO2020244367A1 (en) * 2019-06-04 2020-12-10 罗积川 Wiping device and wiping method
CN113352192A (en) * 2021-06-11 2021-09-07 中国建筑土木建设有限公司 Template polisher and control method thereof

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CN102259671A (en) * 2011-06-25 2011-11-30 南昌大学 Micro-robot mechanism walking with double-foot walls
CN202279177U (en) * 2011-10-25 2012-06-20 南京拓控信息科技有限公司 Planetary gear train-type mechanism walking on wall surface
CN202665434U (en) * 2012-06-28 2013-01-16 科沃斯机器人科技(苏州)有限公司 Glass-wiping robot

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CN107427171A (en) * 2015-11-10 2017-12-01 深圳市赛亿科技开发有限公司 A kind of glass-cleaning robot
CN105286715A (en) * 2015-11-18 2016-02-03 杭州柯元电器科技有限公司 Window cleaning machine
US10383492B2 (en) 2015-12-09 2019-08-20 Alfred Kärcher SE & Co. KG Window cleaning robot
US11284756B2 (en) 2015-12-09 2022-03-29 Alfred Kärcher SE & Co. KG Window cleaning robot
WO2017152409A1 (en) * 2016-03-10 2017-09-14 深圳市赛亿科技开发有限公司 Ultrasonic cleaning robot
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