CN104146649A - Self-moving adsorption robot - Google Patents
Self-moving adsorption robot Download PDFInfo
- Publication number
- CN104146649A CN104146649A CN201310175900.5A CN201310175900A CN104146649A CN 104146649 A CN104146649 A CN 104146649A CN 201310175900 A CN201310175900 A CN 201310175900A CN 104146649 A CN104146649 A CN 104146649A
- Authority
- CN
- China
- Prior art keywords
- robot
- adsorbs
- connecting rod
- working cell
- mobile robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Abstract
The invention discloses a self-moving adsorption robot which comprises a robot body (100), a control unit is arranged in the body, the bottom of the body is provided with an adsorption unit (200), and a work unit (300) is arranged on the body through an overturning device (400). The self-moving adsorption robot is further provided with a sensing unit, the control unit is connected with the sensing unit and the turning unit respectively, and the control unit controls the overturning device to drive the work unit to overturn after receiving sensing signals of the sensing unit. The work unit of the self-moving adsorption robot conducts overturning motion when touching a barrier, the robot turns in direction soon afterwards, so that the turning radius of the robot in the turning process is effectively reduced, the situation that the robot cannot turn in direction due to the fact that the work unit is clamped by the barrier is avoided, and the self-moving adsorption robot is simple in structure, flexible to move and high in reliability. According to the self-moving adsorption robot, the work unit is separated from the robot body, modularization and replacement of the work unit are more facilitated, the space occupied by packing after detaching is conducted is small, and convenience is brought to both installation and transport.
Description
Technical field
The present invention relates to a kind of certainly mobile robot that adsorbs, belong to small household appliances manufacturing technology field.
Background technology
Existing small-sized household glass-cleaning robot, robot body is provided with driver element, absorbing unit, walking unit, cleaning unit and the several major parts of control module, and its build is conventionally less, is not suitable for use in large glass curtain wall clean.Especially it is apertured forming between the glass of large glass curtain wall, a plurality of suckers need to be set at the diverse location of body and be used for preventing from falling.But, if arranged behind a plurality of suckers and walking unit at the organism bottom of glass-cleaning robot, just do not have larger space to arrange cleaning unit.Therefore, this structure of existing glass-cleaning robot makes apparatus arrangement produce to a certain extent contradiction between the two with preventing from falling.In addition, the cleaning unit of existing glass-cleaning robot is conventionally set to length and exceeds outside robot body, when robot needs to turn in operation process, if cleaning unit is fixed on robot body, will make the radius of turn of robot very large, motion gets up not only can occupy very large space, and seems very clumsy.
Summary of the invention
Technical problem to be solved by this invention is for the deficiencies in the prior art, provide a kind of from the mobile robot that adsorbs, working cell is arranged on working cell on moving the body of absorption robot by turning device, when barrier is encountered in certainly mobile working cell of adsorbing robot, carry out rotary movement, robot is with rear steering, radius of turn while having effectively reduced robot rotation, robot can not blocked in stays because of working cell by barrier, simple in structure, flexibly, reliability is strong in motion.In addition, adopt the structure of this working cell of the present invention and the separated setting of robot body, be more conducive to modularization and the replacing of working cell, after dismounting, packing takes up room littlely, gives and installs and transportation has all brought convenience.
Technical problem to be solved of the present invention is achieved by the following technical solution:
A kind of from the mobile robot that adsorbs, comprise robot body, in body, be provided with control module, body bottom is provided with absorbing unit, body is provided with working cell, described working cell is arranged on described body by turning device, the described certainly mobile robot that adsorbs is also provided with sensing cell, described control module is connected with described turning device with described sensing cell respectively, described control module receives after the sensing signal of described sensing cell, controls described turning device and drives the upset of described working cell.
In order to make to treat operation surface and be difficult for falling from robot stabilized being adsorbed on of mobile absorption, described absorbing unit comprises a plurality of suckers, the irregular body bottom that is distributed in of a plurality of described suckers, or described a plurality of sucker is interspersed in body bottom, or the equal conllinear not of center line of any two sucker in the vertical directions in described a plurality of sucker.
As required, described sensing cell can be arranged on the leading section of described working cell; Or described sensing cell also can be arranged in the outer circumference of described robot body; Or described sensing cell is arranged on described turning device.
Specifically, described turning device comprises drive motors, transmission mechanism and connecting rod, and the end of connecting rod is connected with described working cell, and the power of drive motors output passes to connecting rod by transmission mechanism, connecting rod is swung, and drive the upset of described working cell.
Described transmission mechanism can adopt different version to realize, can comprise driving gear and driven gear, driven gear is synchronizeed and is rotated with described connecting rod, and the power of described drive motors output passes to the driven gear with its engagement through driving gear, and drives connecting rod motion.
Described transmission mechanism can be also winder, and one end of connecting rod is connected with winder, and the other end is connected with described working cell, and drive motors drives winder to rotate, and winder pulls connecting rod motion.
In order effectively to adjust the speed of drive motors, between described drive motors and transmission mechanism, be also provided with decelerator.
For convenient for cleaning, make working cell laminating glass surface, described working cell is cleaner, comprise clean body, support and cleaning head, described cleaning head is rotatable to be fixed on support, and described support is telescopic to be fixed in clean body, and clean body is connected with described connecting rod.
In order to treat operation surface water spray in clean, described cleaning head top is also provided with shower nozzle, and shower nozzle is connected with the water tank being arranged on robot body by flexible pipe, the operation of spraying water of control module control shower nozzle.
In order to realize different purposes, meet the operation needs that adsorb robot from mobile, on described cleaning head, can also be provided with rag, ultrasonic generator, polishing machine or spray equipment.
In order being more convenient for, to treat the cleaning of operation surface, to be also provided with scraping article frame on described support, described scraping article frame is provided with opening towards operation surface, and the front side, end of this opening is equipped with scraping article, and described opening is connected with air channel.
Described scraping article frame is connected by spring with support, plays the effect of buffering.
In sum, the present invention is arranged on working cell on moving the body of absorption robot by turning device, when barrier is encountered in certainly mobile working cell of adsorbing robot, carry out rotary movement, robot is with rear steering, radius of turn while having effectively reduced robot rotation, robot can not blocked in stays because of working cell by barrier, simple in structure, flexibly, reliability is strong in motion.
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 that the present invention is from the mobile robot overall structure schematic diagram that adsorbs;
Fig. 2 is that the present invention is from the mobile robot bottom chuck position schematic diagram that adsorbs;
Fig. 3 is that the present invention is from mobile absorption robot working unit upturned position schematic diagram;
Fig. 4 is transmission mechanism structural representation of the present invention;
Fig. 5 is working cell of the present invention structural representation;
Fig. 6 is that the present invention manually makes view from mobile absorption machine.
The specific embodiment
Fig. 1 is that the present invention is from the mobile robot overall structure schematic diagram that adsorbs; Fig. 2 is that the present invention is from the mobile robot bottom chuck position schematic diagram that adsorbs.As shown in Figure 1, the invention provides a kind of certainly mobile absorption A of robot, comprise robot body 100, in body 100, be provided with control module (not shown).Shown in Fig. 2, body 100 bottoms are provided with absorbing unit 200.Body 100 is provided with working cell 300, and described working cell 300 is arranged on described body 100 by turning device 400.The described certainly mobile robot that adsorbs is also provided with sensing cell (not shown), described control module is connected with described turning device 400 with described sensing cell respectively, described control module receives after the sensing signal of described sensing cell, controls described turning device 400 and drives 300 upsets of described working cell.
As shown in Figure 2, when the bulk volume of certainly mobile absorption robot is larger, the sucker of considering in moving process its bottom may encounter projection or crack causes losing vacuum and produces the risk of falling, in order to make to treat operation surface and be difficult for falling from robot stabilized being adsorbed on of mobile absorption, described absorbing unit 200 comprises a plurality of suckers 201, the irregular bottom that is distributed in body 100 of a plurality of suckers 201; Or a plurality of suckers are interspersed in body bottom.In order to prevent the inefficacy of some or certain several sucker, cause falling from mobile absorption robot, preferably, the center line of any two sucker 201 in the vertical directions is conllinear not all.Sucker 201 is vacuum cup, is connected to produce vacuum with the vavuum pump of robot interior.The pressure that vacuum produces finally can be delivered on driving wheel, and driving wheel and treat will produce frictional force between operation surface is treated on operation surface and do not dropped to guarantee that robot is attracted to.
As required, described sensing cell can be arranged on the leading section of described working cell 300; Or described sensing cell also can be arranged in the outer circumference of described robot body 100; Or described sensing cell is arranged on described turning device.Generally, certainly move absorption robot in the course of the work, working cell 300, in elongation state, therefore, is arranged on the sensing cell of working cell 300 leading sections, can adopt contact sensing cell.And if sensing cell is arranged on robot body 100, need to use contactless sensing cell, according to working cell 300, stretch out in the length dimension outside robot basis 100, carry out the default of contactless detection-sensitive distance, before can bumping with barrier in working cell 300, sense in time and send sensing signal to control module, controlling turning device and drive working cell 300 upsets.In addition, while encountering the barriers such as glass frame when working cell 300, there is certain contraction displacement working cell 300 with respect to turning device, now, be arranged on sensing cell on turning device as travel switch etc. can send to sensing signal control module, thereby control turning device, drive working cell 300 upsets.
Fig. 3 is that the present invention is from mobile absorption robot working unit upturned position schematic diagram.As shown in Figure 3, specifically, described turning device 400 comprises drive motors 401, transmission mechanism 402 and connecting rod 403.The end of connecting rod 403 is connected with described working cell 300, and the power of drive motors 401 outputs passes to connecting rod 403 by transmission mechanism 402, and connecting rod 403 is swung, and drives 300 upsets of described working cell.
Described transmission mechanism can adopt different version to realize, and Fig. 4 is transmission mechanism structural representation of the present invention.As shown in Figure 4, in the present embodiment, transmission mechanism 402 can comprise driving gear 420 and driven gear 430, and driven gear 430 is synchronizeed rotation with described connecting rod 403.The power of described drive motors output passes to the driven gear 430 with its engagement through driving gear 420, and drive connecting rod 403 to move, make connecting rod 403 around the central rotation of driven gear 430, to drive the state of working cell angle of upset in being elevated, so just can when turning to, robot reduce its radius of turn.In order effectively to adjust the speed of drive motors, between described drive motors and transmission mechanism 402, be also provided with decelerator 440.
Certainly, except the version of above-mentioned driving mechanism, transmission mechanism can also adopt other structures, such as: winder, one end of connecting rod 403 can be connected with a winder, and the other end is connected with described working cell 300, and drive motors drives winder to rotate, winder pulls connecting rod 403 motions, can realize equally working cell 300 with respect to the upset of body 100.
Fig. 5 is working cell of the present invention structural representation.As shown in Figure 5, for convenient for cleaning, described working cell is cleaner 500, comprises clean body 501, support 502 and cleaning head 503.Described cleaning head 503 is rotatable to be fixed on support 502, and described support 502 is telescopic to be fixed in cleaning head 503, and cleaner 500 is connected with described connecting rod 403.In order to be more convenient for, treat the cleaning of operation surface, on described support 502, be also provided with scraping article frame 504, described scraping article frame 504 is provided with opening 505 towards operation surface, the front side, end of this opening 505 is equipped with scraping article 506, described opening 505 is connected with air channel, when using 500 pairs of glass curtain walls of cleaner to carry out cleaning operation, while can scrape to wash by air channel, sewage is recycled to the foul water tank (not shown) in cleaner body, prevent that glass surface from leaving washmarking.In order to strengthen the flexibility of cleaner 500, and can meet different action needs, between cleaning head 503 and support 502, a position limiting structure is also set, make cleaning head 503 to carry out the rotation of certain angle spacing with respect to support 502, to guarantee cleaning head and glass surface laminating, between scraping article frame 504 and support 502, by back-moving spring, be connected to guarantee that scraping article is close on glass surface, in clean body 501, offer a groove, support 502 is arranged in described groove, and can in groove, carry out small amplitude slip, cleaning head is contacted with glass surface all the time.
In order to treat operation surface water spray in clean, can also be provided with shower nozzle at the top of cleaning head 503, shower nozzle is connected with the water tank being arranged on robot body by flexible pipe 507, the operation of spraying water of control module control shower nozzle.
Have again, in order to realize different purposes, meet the operation needs that adsorb robot from mobile, on described cleaning head 503, can also be provided with rag, ultrasonic generator, polishing machine or spray equipment.That is to say, working cell 300 can adopt the combination of single or several functions, for example: the combination of water spray, supersonic cleaning, scraping article and water suction; The combination of water spray, rag and scraping article; Or, combination of water spray, polishing disk, scraping article and water suction etc.
Fig. 6 is that the present invention manually makes view from mobile absorption machine.In embodiment as shown in Figure 6, the described automated cleaning absorption robot that is a kind of glass curtain wall from the mobile absorption A of robot.The balcony B that the body of this robot is fixed on building by safety rope 1000 is upper, and the glass surface to be cleaned that the certainly mobile absorption A of robot is adsorbed on glass curtain wall C carries out cleaning operation.As Fig. 6 and in conjunction with as shown in Fig. 1, from the mobile absorption A of robot, at the glass surface to be cleaned of glass curtain wall C, carry out cleaning operation, its run trace is to move towards upper left corner direction along the lower left corner of glass curtain wall C, and working cell 300 is in elongation state, is that the glass surface to be cleaned that is fitted in glass curtain wall C carries out operation.Along with upwards walking of robot, the sensing cell that is arranged on working cell 300 leading sections can receive sensing signal, informs that this working cell 300 of control module bumps with the upper limb D of glass curtain wall C.Now, control module outputs signal to the drive motors 401 in turning device 400, makes its outputting power, after decelerator 440 slows down, drives driving gear 420 to rotate, and driving gear 420 drives driven gear 430 to rotate.Because connecting rod 403 is fixed on driven gear 420, thereby synchronize rotation with driven gear 420, connecting rod 403 drives working cells 300 to turn to front upper end position by the front position of robot body 100, and then control turns to.Obviously, due to the action of lifting of working cell 300, reduce the radius of turn of robot, avoided robot because being blocked the generation of problem in stays by barrier in working cell.
In sum, provided by the present invention from the mobile robot that adsorbs, its working cell is not set directly on robot body, but by turning device, working cell is arranged on to the front end that adsorbs the body of robot from mobile, when barrier is encountered in certainly mobile working cell of adsorbing robot, carry out rotary movement, robot is with rear steering, radius of turn while having effectively reduced robot rotation, robot can not blocked in stays because of working cell by barrier, simple in structure, flexibly, reliability is strong in motion.In addition, adopt the structure of this working cell of the present invention and the separated setting of robot body, be more conducive to modularization and the replacing of working cell, after dismounting, packing takes up room littlely, gives and installs and transportation has all brought convenience.
Claims (12)
1. one kind adsorbs robot from moving, comprise robot body (100), in body, be provided with control module, body bottom is provided with absorbing unit (200), body is provided with working cell (300), it is characterized in that, described working cell is arranged on described body by turning device (400), the described certainly mobile robot that adsorbs is also provided with sensing cell, described control module is connected with described turning device with described sensing cell respectively, described control module receives after the sensing signal of described sensing cell, control described turning device and drive the upset of described working cell.
2. the certainly mobile robot that adsorbs as claimed in claim 1, is characterized in that, described absorbing unit (200) comprises a plurality of suckers (201), irregular body (100) bottom that is distributed in of a plurality of described suckers;
Or a plurality of described suckers are interspersed in body bottom;
Or the center line of any two the sucker in the vertical directions in a plurality of described suckers is conllinear not all.
3. the certainly mobile robot that adsorbs as claimed in claim 1, is characterized in that, described sensing cell is arranged on the leading section of described working cell (300);
Or described sensing cell is arranged in the outer circumference of described robot body (100);
Or described sensing cell is arranged on described turning device (400).
4. as claimed in claim 1 from the mobile robot that adsorbs, it is characterized in that, described turning device (400) comprises drive motors (401), transmission mechanism (402) and connecting rod (403), the end of connecting rod is connected with described working cell (300), the power of drive motors output passes to connecting rod by transmission mechanism, connecting rod is swung, and drive the upset of described working cell.
5. as claimed in claim 4 from the mobile robot that adsorbs, it is characterized in that, described transmission mechanism (402) comprises driving gear (420) and driven gear (440), driven gear is synchronizeed rotation with described connecting rod (403), the power of described drive motors output passes to the driven gear with its engagement through driving gear, and drives connecting rod motion.
6. the certainly mobile robot that adsorbs as claimed in claim 4, is characterized in that, described transmission mechanism is winder, one end of connecting rod is connected with winder, the other end is connected with described working cell (300), and drive motors drives winder to rotate, and winder pulls connecting rod motion.
7. the certainly mobile robot that adsorbs as described in claim 5 or 6, is characterized in that, between described drive motors (401) and transmission mechanism (402), is also provided with decelerator (430).
8. as claimed in claim 4 from the mobile robot that adsorbs, it is characterized in that, described working cell is cleaner (500), comprise clean body (501), support (502) and cleaning head (503), described cleaning head is rotatable to be fixed on support, described support is telescopic to be fixed in clean body, and clean body is connected with described connecting rod.
9. as claimed in claim 8ly from mobile absorption robot, it is characterized in that, described cleaning head (503) top is also provided with shower nozzle, and shower nozzle is connected with the water tank being arranged on robot body by flexible pipe, the operation of spraying water of control module control shower nozzle.
10. the certainly mobile robot that adsorbs as claimed in claim 8, is characterized in that, described cleaning head (503) is provided with rag, ultrasonic generator, polishing machine or spray equipment.
11. is as claimed in claim 8 from the mobile robot that adsorbs, it is characterized in that, on described support (502), be also provided with scraping article frame (504), described scraping article frame is provided with opening (505) towards operation surface, the front side, end of this opening is equipped with scraping article (506), and described opening is connected with air channel.
The 12. certainly mobile robots that adsorb as claimed in claim 11, is characterized in that, described scraping article frame (504) is connected by spring with support (502).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310175900.5A CN104146649B (en) | 2013-05-13 | 2013-05-13 | Self-moving adsorption robot |
| PCT/CN2014/077385 WO2014183632A1 (en) | 2013-05-13 | 2014-05-13 | Autonomous mobile suction robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310175900.5A CN104146649B (en) | 2013-05-13 | 2013-05-13 | Self-moving adsorption robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104146649A true CN104146649A (en) | 2014-11-19 |
| CN104146649B CN104146649B (en) | 2017-05-10 |
Family
ID=51872443
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310175900.5A Active CN104146649B (en) | 2013-05-13 | 2013-05-13 | Self-moving adsorption robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN104146649B (en) |
| WO (1) | WO2014183632A1 (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105769042A (en) * | 2016-04-25 | 2016-07-20 | 蔡淳 | Glass cleaning robot |
| CN106108769A (en) * | 2016-08-16 | 2016-11-16 | 郑州邦浩电子科技有限公司 | A kind of clean robot |
| CN106264301A (en) * | 2015-06-04 | 2017-01-04 | 赵志谋 | Robot |
| CN107981801A (en) * | 2017-12-08 | 2018-05-04 | 梁平县足金机电设备有限公司 | Convertible wall surface cleaner |
| CN111671355A (en) * | 2020-06-09 | 2020-09-18 | 广州晒帝智能科技有限公司 | Window cleaning robot |
| CN112438646A (en) * | 2019-08-31 | 2021-03-05 | 郭嘉辉 | Window cleaning robot with window cleaning frame function |
| CN114174014A (en) * | 2019-07-31 | 2022-03-11 | Lg电子株式会社 | Mobile robot |
| CN114176452A (en) * | 2021-09-23 | 2022-03-15 | 上海工程技术大学 | High-rise curtain wall cleaning robot |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107865619B (en) * | 2016-09-23 | 2023-12-05 | 京东方科技集团股份有限公司 | Mobile device, chassis of mobile device and angle changing method of chassis |
| CN106725141B (en) * | 2017-01-23 | 2022-05-27 | 北京嘉寓门窗幕墙股份有限公司 | Obstacle-crossing outer wall cleaning robot and operation method |
| CN106873602A (en) * | 2017-04-14 | 2017-06-20 | 广西师范大学 | A kind of mobile robot of autonomous positioning in real time |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2599772A1 (en) * | 1986-06-04 | 1987-12-11 | Hyper Robotics Inc | Robot for the maintenance of buildings |
| DE4139590A1 (en) * | 1991-11-30 | 1993-06-24 | Ind Lackieranlagen Schmidt Gmb | DEVICE FOR THE EXTERNAL PRESERVATION OF MOTOR VEHICLES |
| CN2243261Y (en) * | 1995-06-28 | 1996-12-25 | 王镇虎 | Automatic self-sucking window cleaner |
| CN101293541A (en) * | 2008-03-31 | 2008-10-29 | 浙江大学 | Telecontrol wall-climbing cleaning robot |
| CN101518429A (en) * | 2009-03-17 | 2009-09-02 | 江苏威汇力自动化技术有限公司 | Robot cleaning system for cleaning outside vertical surface of building and cleaning method thereof |
| CN101626873A (en) * | 2007-02-09 | 2010-01-13 | 金容旭 | Robot for cleaning outer wall |
| CN202557649U (en) * | 2012-04-17 | 2012-11-28 | 潘智鹏 | Six-legged pneumatic wall-climbing robot |
| CN102908109A (en) * | 2011-08-01 | 2013-02-06 | 宗鹏 | Adsorption tracked glass cleaning robot |
| CN203290843U (en) * | 2013-05-13 | 2013-11-20 | 科沃斯机器人科技(苏州)有限公司 | Self-moving adsorption robot |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN85108823A (en) * | 1985-12-04 | 1987-04-15 | 林森 | Electric glass erasering agent and manufacture method thereof |
| JPH1119005A (en) * | 1997-07-04 | 1999-01-26 | Akiyasu Takashima | Building cleaning robot |
| CN201029846Y (en) * | 2007-05-11 | 2008-03-05 | 陕西科技大学 | Wall type glass curtain wall automatic rinser |
| JP5243879B2 (en) * | 2008-08-04 | 2013-07-24 | 富士重工業株式会社 | Side brush support device for cleaning robot |
| CN101999871A (en) * | 2010-11-05 | 2011-04-06 | 广州大学 | Multi-joint creeping high-altitude cleaning robot |
| CN202751320U (en) * | 2012-06-28 | 2013-02-27 | 科沃斯机器人科技(苏州)有限公司 | Glass wiping device |
-
2013
- 2013-05-13 CN CN201310175900.5A patent/CN104146649B/en active Active
-
2014
- 2014-05-13 WO PCT/CN2014/077385 patent/WO2014183632A1/en active Application Filing
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2599772A1 (en) * | 1986-06-04 | 1987-12-11 | Hyper Robotics Inc | Robot for the maintenance of buildings |
| DE4139590A1 (en) * | 1991-11-30 | 1993-06-24 | Ind Lackieranlagen Schmidt Gmb | DEVICE FOR THE EXTERNAL PRESERVATION OF MOTOR VEHICLES |
| CN2243261Y (en) * | 1995-06-28 | 1996-12-25 | 王镇虎 | Automatic self-sucking window cleaner |
| CN101626873A (en) * | 2007-02-09 | 2010-01-13 | 金容旭 | Robot for cleaning outer wall |
| CN101293541A (en) * | 2008-03-31 | 2008-10-29 | 浙江大学 | Telecontrol wall-climbing cleaning robot |
| CN101518429A (en) * | 2009-03-17 | 2009-09-02 | 江苏威汇力自动化技术有限公司 | Robot cleaning system for cleaning outside vertical surface of building and cleaning method thereof |
| CN102908109A (en) * | 2011-08-01 | 2013-02-06 | 宗鹏 | Adsorption tracked glass cleaning robot |
| CN202557649U (en) * | 2012-04-17 | 2012-11-28 | 潘智鹏 | Six-legged pneumatic wall-climbing robot |
| CN203290843U (en) * | 2013-05-13 | 2013-11-20 | 科沃斯机器人科技(苏州)有限公司 | Self-moving adsorption robot |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106264301A (en) * | 2015-06-04 | 2017-01-04 | 赵志谋 | Robot |
| CN106264301B (en) * | 2015-06-04 | 2018-10-23 | 赵志谋 | Robot |
| CN105769042A (en) * | 2016-04-25 | 2016-07-20 | 蔡淳 | Glass cleaning robot |
| CN106108769A (en) * | 2016-08-16 | 2016-11-16 | 郑州邦浩电子科技有限公司 | A kind of clean robot |
| CN107981801A (en) * | 2017-12-08 | 2018-05-04 | 梁平县足金机电设备有限公司 | Convertible wall surface cleaner |
| CN114174014A (en) * | 2019-07-31 | 2022-03-11 | Lg电子株式会社 | Mobile robot |
| CN114174014B (en) * | 2019-07-31 | 2023-12-15 | Lg电子株式会社 | Mobile robot |
| CN112438646A (en) * | 2019-08-31 | 2021-03-05 | 郭嘉辉 | Window cleaning robot with window cleaning frame function |
| CN112438646B (en) * | 2019-08-31 | 2022-01-25 | 重庆智能机器人研究院 | Window cleaning robot with window cleaning frame function |
| CN111671355A (en) * | 2020-06-09 | 2020-09-18 | 广州晒帝智能科技有限公司 | Window cleaning robot |
| CN114176452A (en) * | 2021-09-23 | 2022-03-15 | 上海工程技术大学 | High-rise curtain wall cleaning robot |
| CN114176452B (en) * | 2021-09-23 | 2022-11-29 | 上海工程技术大学 | High-rise curtain wall cleaning robot |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2014183632A1 (en) | 2014-11-20 |
| CN104146649B (en) | 2017-05-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104146649A (en) | Self-moving adsorption robot | |
| CN203290843U (en) | Self-moving adsorption robot | |
| CN104688132B (en) | From mobile absorption robot and its traveling method | |
| KR102059680B1 (en) | Suction apparatus, glass-wiping device and run control method thereof | |
| CN105962858A (en) | Obstacle-crossing type robot for cleaning building external wall | |
| CN105962855A (en) | Glass curtain wall cleaning robot capable of crossing obstacles | |
| CN104799756A (en) | Exterior wall cleaning and maintaining robot | |
| CN109357105B (en) | Wheel-track combined type pipeline robot | |
| CN102908109A (en) | Adsorption tracked glass cleaning robot | |
| CN103987619A (en) | Chassis for robot | |
| CN102167102A (en) | Suction cup type pneumatic wall-climbing robot | |
| CN110876578A (en) | Automatic-turning and obstacle-crossing glass cleaning robot and working method thereof | |
| CN102233346A (en) | Dry ice cleaning machine for pipelines | |
| CN111345726B (en) | Glass curtain wall cleaning robot capable of automatically crossing obstacles and use method thereof | |
| CN103523105A (en) | Caterpillar band and sucker combined type traveling device for wall-climbing robot | |
| CN107051940A (en) | A kind of disk cleaning device | |
| CN107997702A (en) | High-altitude cleaning robot with class manual work pattern | |
| CN205444273U (en) | Portable submarine soil pick -up car | |
| CN101927251A (en) | Multifunctional sucking disc type remote control cleaner | |
| CN108860355B (en) | Y-shaped robot control method | |
| CN108078482A (en) | Exterior wall glass cleaning device | |
| CN105361788A (en) | Glass cleaning device | |
| CN108143344B (en) | Dust collection type cleaning trolley with large adsorption force | |
| CN105212843B (en) | A kind of curtain cleaning device | |
| CN113693480A (en) | Self-propelled household dust collector |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant before: ECOVACS ROBOTICS Co.,Ltd. Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant before: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. |
|
| COR | Change of bibliographic data | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |