CN105167703B - Window wiping robot - Google Patents
Window wiping robot Download PDFInfo
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- CN105167703B CN105167703B CN201510613006.0A CN201510613006A CN105167703B CN 105167703 B CN105167703 B CN 105167703B CN 201510613006 A CN201510613006 A CN 201510613006A CN 105167703 B CN105167703 B CN 105167703B
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- servo
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- magnetic adsorption
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Abstract
The invention discloses a kind of window wiping robots, comprising: mover, including active body, the polishing piece on active body chassis are set to the intracorporal active magnetic adsorption device of mover and driving device, and driving device drives active body movement；Follower, including servo-actuated body, the polishing piece on servo-actuated body chassis, and it is set to the intracorporal servo-actuated magnetic adsorption device of follower, follower is mutually adsorbed with active magnetic adsorption device by servo-actuated magnetic adsorption device and is moved with mover.The present invention passes through setting rotating mechanism and straight walking mechanism, by rotating mechanism directly to without retracting, a distance is turned again to when driving machine can be made to move along a straight line, and move to window edge, corner parts can be enable sufficiently to be cleaned, there is good turn performance；Silencing apparatus is buffered by setting, when being placed on follower on glass, noise will not be generated, is also prevented because of damage caused by impacting glass.
Description
Technical field
The present invention relates to wipe window apparatus technical field more particularly to a kind of window wiping robot suitable for home window.
Background technique
With the development of China's urbanization, there are more and more high buildings in city, and the high-building glass towards household is clear
It is clean, a huge market will be become.Currently, have mature glass-cleaning robot in the market, but this robot cost compared with
High price is expensive, so that family's use cost increases, is not promoted on a large scale.
Traditional robot for cleaning wall surfaces, suction type are mostly vacuum suction or magnetic suck, in which: use vacuum suction
The wiping window robot of mode, mainly uses vacuum slip sucker that robot is made to be adsorbed on glass surface, using crawler type or
In-wheel driving robot motion.Vacuum chuck, which adsorbs size little Yi, realizes lightweight, but when wall surface is uneven has leakage.It is early
In 2006, Japanese Kagawa Univ. just designed the glass-cleaning robot of a vacuum suction, in-wheel driving, but can only realize list
Face is cleaned, and efficiency is lower；The patent No. 201220432818.7 discloses a kind of window wiping robot, is driven using vacuum suction, crawler belt
Flowing mode carries out single side scouring to window, using track drive the shortcomings that in order to overcome vacuum suction easily leak, although can mention
The load capacity of high robot but but also cornering difficulties, and use more complicated detecting and controlling system, price at high cost.
Using the window wiping robot of magnetic suck mode, mainly robot is inhaled respectively using a pair of opposite polarity magnet
Glass two sides are attached to, two sides scouring may be implemented.The patent No. 201120326187.6 discloses a kind of glass cleaning device, uses magnetic
Absorption, track drive mode, the adjustable section of magnetic force, but track drive turn performance is not fine, and due to magnetic force
Effect can generate noise and cause to damage to glass surface when being adsorbed on glass surface.
Summary of the invention
The purpose of the present invention is to provide a kind of window wiping robots, and turn performance is good, and can reduce noise, to glass table
Face does not damage.
To achieve this purpose, the present invention adopts the following technical scheme:
A kind of window wiping robot, comprising:
Mover, including active body, the polishing piece on active body chassis, are set to the intracorporal active of mover
Magnetic adsorption device and driving device, the driving device drive active body movement；
Follower, including servo-actuated body, the polishing piece on servo-actuated body chassis, and to be set to follower intracorporal
Servo-actuated magnetic adsorption device, the follower is mutually adsorbed by servo-actuated magnetic adsorption device with active magnetic adsorption device to be transported with mover
It is dynamic.
Preferably, the driving device includes rotating mechanism and the straight line vehicle with walking machine being fixedly arranged below rotating mechanism
Structure, the rotating mechanism are used for the steering of straight walking mechanism.
Preferably, the rotating mechanism includes the steering guide rail on active body chassis, it is located at and turns in guide rail
At least two turn to idler wheels, the vehicle frame for turning to idler wheel, and the rotation group of driving vehicle frame rotation are connected with by pin
Part, the straight walking mechanism are fixedly arranged on the lower section of vehicle frame.
Preferably, the rotary components include the driving motor being set on active body, the driving motor passes through
Worm gear mechanism driving has synchronous belt, and the synchronous belt both ends are connected to driving motor and straight line by synchronous pulley
Walking mechanism, and straight walking mechanism and vehicle frame is driven to rotate.
Preferably, the straight walking mechanism includes the vehicle bridge being installed in below vehicle frame, the synchronous pulley is fixedly arranged on
The lower section of vehicle bridge, the vehicle bridge both ends are equipped with decelerating motor, and the decelerating motor output end is connected with wheel portion described in wheel
Divide the arc groove on active body chassis, is rotated in the arc groove.
Preferably, the active magnetic adsorption device includes elevating mechanism and active magnet, the elevating mechanism includes
Threaded rod and button that is affixed with threaded rod and being located at active engine body exterior；The threaded rod sequentially passes through synchronous pulley, vehicle
Bridge, vehicle frame and active body screw top connect, and the active magnet is fixed in threaded rod lower end.
Preferably, the servo-actuated magnetic adsorption device include be fixedly arranged on servo-actuated body with moving magnet and idler wheel, institute
It states and is adsorbed mutually with moving magnet and active magnet, be attached to follower and mover on glass, the follower passes through idler wheel
It walks with the walking of mover.
Preferably, further including being located at the intracorporal buffering silencing apparatus of follower, the buffering silencing apparatus includes in circle
The uniformly distributed buffer spring of at least one in shape track, one end are located at buffer spring end and pass through the buffering on servo-actuated body chassis
Plate, the other end of buffer board are located at the top with moving magnet.
Preferably, described with being additionally provided with central spring, the stiffness system of the central spring between moving magnet and buffer board
Number is N times of the buffer spring, and the N is the number of buffer spring；
Buffering elastic is compressed in the supporting plate being installed with above buffer board at the top of the servo-actuated body, described buffer board one end
When spring, buffer board compresses its other end by central spring by fulcrum of supporting plate.
Preferably, being equipped with buffer unit on the mover and follower, the buffer unit includes open circles
Cylinder and the spring in hollow cylinder body, the hollow cylinder and spring are set in active body and follower
On the guide post of body quadrangle.
Beneficial effects of the present invention: by setting rotating mechanism and straight walking mechanism, driving machine can be made to carry out straight line
Movement, and when moving to window edge by rotating mechanism directly to carrying out the scouring in other directions, do not have to retract one section
Distance turns again to, and corner parts can be enable sufficiently to be cleaned, and has good turn performance；Dress of eliminating the noise is buffered by setting
It sets, when being placed on follower on glass, noise will not be generated, also prevent because of damage caused by impacting glass.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of mover of the present invention；
Fig. 2-3 is the positional structure schematic diagram of mover rotating mechanism and straight walking mechanism of the present invention；
Fig. 4 is the structural schematic diagram of follower of the present invention；
Fig. 5 is the structural schematic diagram of present invention buffering silencing apparatus；
In figure:
1, mover；2, follower；3, buffer unit；11, active body；12, active magnetic adsorption device；13, whirler
Structure；14, straight walking mechanism；21, it is servo-actuated body；22, it is servo-actuated magnetic adsorption device；23, silencing apparatus is buffered；31, hollow cylinder
Body；32, spring；111, arc groove；121, elevating mechanism；122, active magnet；131, guide rail is turned to；132, idler wheel is turned to；
133, pin；134, vehicle frame；135, rotary components；141, vehicle bridge；142, decelerating motor；143, wheel；211, supporting plate；212, it leads
Column；221, with moving magnet；222, idler wheel；223, central guide post；231, buffer spring；232, buffer board；233, central spring；
1211, threaded rod；1351, driving motor；1352, synchronous belt；1353, synchronous pulley；1354, worm gear mechanism；2321, water
Plate；2322, vertical plate；2323, hang plate；2324, connecting plate.
Specific embodiment
To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.
In order to preferably realize the wiping to glass, the present embodiment provides a kind of window wiping robots, specifically include:
Mover 1, as shown in Figure 1, the top knot of mover 1 is not shown in Fig. 1 for the ease of the elaboration to structure
Structure, the present embodiment mover 1 include active body 11, and 11 chassis of active body is equipped with the polishing piece for wiping window, specifically may be used
Card slot is set on the chassis of active body 11, for placing polishing piece, in the present embodiment polishing piece can for base fabric, sponge or
Person's rubber scraping article；Active magnetic adsorption device 12 and driving device are equipped in active body 11, wherein active magnetic adsorption device
12 are arranged in the intermediate position of active body 11, and driving device is then used to that active body 11 to be driven to move；
Specifically, driving device includes rotating mechanism 13 and the straight walking mechanism for being fixedly arranged on 13 lower section of rotating mechanism
14, wherein straight walking mechanism 14 is used for the straight line walking movement of mover 1, and rotating mechanism 13 is used for 1 wiping process of mover
The steering of middle straight walking mechanism 14, and then realize the transformation in wiping direction.
Referring to Fig.1-3, rotating mechanism 13 includes the steering guide rail 131 on 11 chassis of active body, the steering guide rail
131 be ring structure, is equipped with circular orbit below, and at least two are equipped in the circular orbit for turning to guide rail 131 and turns to rolling
132 are taken turns, is installed with pin 133 above the steering idler wheel 132, vehicle frame 134 is connected with by pin 133, vehicle frame 134 passes through straight
Line walking mechanism 14 is connected with rotary components 135, and the rotary components 135 are for driving straight walking mechanism 14 to rotate and with motor-car
Frame 134 rotates.
As shown in figure 3, rotary components 135 include the driving motor 1351 being set on active body 11, it is specifically located at
On the chassis of active body 11, which has synchronous belt 1352 by the driving of worm gear mechanism 1354, specifically,
It is synchronous pulley 1353 to be installed on the worm gear of worm gear mechanism 1354, while being equipped with separately in 14 lower end of straight walking mechanism
One synchronous pulley 1353, synchronous belt 1352 are set on two synchronous pulleys 1353, and under the driving of driving motor 1351
It drives straight walking mechanism 14 to rotate, and then drives and rotated with the fixed vehicle frame 134 of straight walking mechanism 14.The present embodiment, which is worked as, to be needed
When moving along a straight line, is rotated using the self-locking chassis for preventing active body 11 of worm gear mechanism 1354, guarantee motion profile
Accuracy.
In the present embodiment, as shown in Figures 2 and 3, straight walking mechanism 14 includes the vehicle bridge for being installed in 134 lower section of vehicle frame
141, specific vehicle bridge 141 is fixed by bolts in the lower section of vehicle frame 134, and one of synchronous pulley 1353 is fixedly connected on vehicle
The lower section of bridge 141 drives vehicle bridge 141 and vehicle frame 134 to rotate.It is respectively arranged with decelerating motor 142 at 141 both ends of vehicle bridge, slow down electricity
142 output end of machine is connected with wheel 143, and wheel 143 partially passes through 11 chassis of active body, to drive entire mover 1 in glass
Glass surface carries out straight line walking.In the present embodiment, in order to realize the steering of mover 1, opened up on the chassis of active body 11
There is arc groove 111, the radian of the arc groove 111 is about 90 °, and wheel 143 rotates in arc groove 111, and then as master
Motivation 1 can be rapidly converting to carry out next scouring path by rotating mechanism 13 when moving to window edge, not have to rollback one
Section distance turns again to, and corner parts can be cleaned sufficiently.
Referring to Fig. 2, the active magnetic adsorption device 12 of the present embodiment includes elevating mechanism 121 and active magnet 122, specifically
The lower end of elevating mechanism 121 be fixed on active magnet 122；Elevating mechanism 121 includes threaded rod 1211 and and screw thread
Bar 1211 it is affixed and be located at active body 11 outside button；Columned link block (figure is equipped at the top of active body 11
In be not shown), threaded hole is offered on link block, threaded rod 1211 sequentially passes through synchronous pulley 1353, vehicle bridge 141, vehicle frame
134 are threadedly coupled with the link block at the top of active body 11, so when need to adjust active magnet 122 apart from when, by pressing
Button rotating threaded rod 1211, since threaded rod 1211 is threadedly coupled with link block, threaded rod 1211 can be driven on active magnet 122
The adjusting of 122 distance of active magnet is realized in lower movement, and then the absorption of mover 1 and follower 2 is adjusted according to thickness of glass
Power.
Referring to Fig. 4, the window wiping robot of the present embodiment further includes follower 2, specifically, follower 2 includes servo-actuated body
21, it is located at servo-actuated 21 chassis of body and is equipped with polishing piece, the polishing piece is consistent with the polishing piece in mover 1, herein no longer
It repeats.It is equipped with servo-actuated magnetic adsorption device 22 in servo-actuated body 21, is servo-actuated magnetic adsorption device 22 and corresponds to active magnetic adsorption device
The setting of 12 positions, that is, be arranged in the intermediate position of follower 2；Follower 2 passes through servo-actuated magnetic adsorption device 22 and active magnetic suck
Device 12 mutually adsorbs, and can move with mover 1, and then completes the wiping on glass two sides.
Servo-actuated magnetic adsorption device 22 include be fixedly arranged on servo-actuated body 21 with moving magnet 221 and idler wheel 222, wherein with
Moving magnet 221 is fixedly arranged on the intermediate position of servo-actuated body 21, and is fixed position by fixing seat, and the present embodiment is by being servo-actuated magnetic
Body 221 and active magnet 122 adsorb mutually, are attached to follower 2 and mover 1 on glass, and follower 2 passes through idler wheel 222
It walks with the walking of mover 1.
Noise and glass surface is rushed caused by generating impact force because of magnetic-adsorption when placing follower 2 in order to prevent
Damage is hit, the present embodiment is preferably provided with buffering silencing apparatus 23, as shown in figure 5, its inside for being located at servo-actuated body 21.It should
Buffering silencing apparatus 23 includes the uniformly distributed buffer spring 231 of at least one in rounded track, 231 one end of buffer spring installation
On the guide post 212 that window wiping robot is servo-actuated 21 roof of body, the other end passes through the chassis of servo-actuated body 21 and end is equipped with and delays
Punching 232 is particularly provided with identical square hole, buffer board with 231 numbers of buffer spring on the chassis of servo-actuated body 21
232 can slide along the square hole vertical direction, and be positioned by the square hole；When follower 2 is placed on the moment on glass,
Buffer board 232 and glass contact, and pass through above-mentioned square hole under the reaction force of glass and slided into servo-actuated body 21, buffer board
232 compress buffer spring 231, and then will balance out because placing follower impact force caused by glass.Buffer board 232 it is another
One end is located at the top with moving magnet 221.More specifically, central guide post 223, buffer board are being equipped with the upper of moving magnet 221
The top of 232 centrally located guide posts 223.
In the present embodiment, buffer board 232 includes the level board 2321 positioned at 231 one end of buffer spring, the level board 2321
It is corresponded with buffer spring 231, i.e., one end of each buffer spring 231 is equipped with level board 2321, which hangs down
Direct-connected to be connected to vertical plate 2322, which is arranged close to buffer spring 231, and one end of vertical plate 2322 is connected with inclination
Plate 2323, which is obliquely installed and one end extends to the middle position of servo-actuated body 21, and multiple hang plates
Connecting plate 2324 is mutually collected and be connected in 2323 one end, and connecting plate 2324 is located at the top of above-mentioned central guide post 223.
As a preferred technical solution, with central spring 233 is additionally provided between moving magnet 221 and buffer board 232, specifically
Central spring 233 be set on central guide post 223, and central guide post 223 is shorter in length than central spring 233.
The supporting plate 211 being installed on the top of servo-actuated body 21 above hang plate 2323,232 1 side pressure of buffer board
When contracting buffer spring 231, the hang plate 2323 of buffer board 232 is that fulcrum makes its other end i.e. connecting plate 2324 will with supporting plate 211
Central spring 233 compresses.So that the stress at 2324 both ends of connecting plate reaches balanced, active magnet 122 is not influenced and with moving magnet
Adsorption capacity between 221.
In the present embodiment, the stiffness factor of central spring 233 is N times of buffer spring 231, and wherein N is buffer spring 231
Number, concrete principle are as follows: when buffer spring 231 compresses, central spring 233 is similarly compressed, and decrement and each
Buffer spring 231 it is equal, at this time due to the stiffness factor of buffer spring 231 is central spring 233 four points of stiffness factor
One of, according to F=kx (wherein F is elastic force, and k is the stiffness factor of spring, and x is deformation quantity), total elastic force of buffer spring 231 etc.
In the elastic force of central spring 233, so that buffer spring 231 is opposite with 233 compression direction of central spring after terminating placement movement
And elastic force is identical, can eliminate the influence to magnetic adsorbability, and also prevents the damage of buffer board 232.
In the present embodiment, as shown in Fig. 1 and Fig. 4, it is equipped with buffer unit 3 on mover 1 and follower 2, this is slow
Flushing device 3 includes hollow cylinder 31 and the spring 32 in hollow cylinder 31, and hollow cylinder 31 and spring 32 are equal
It is set on active body 11 and 21 4 jiaos of servo-actuated body of guide post.And then when mover 1 and follower 2 move to window
Frame at when, impact can be absorbed, prevent mover 1 and follower 2 from damaging because of shock.
Obviously, the above embodiment of the present invention is just for the sake of clearly illustrating examples made by the present invention, and being not is pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
Made any modifications, equivalent replacements, and improvements etc., should be included in the claims in the present invention within the spirit and principle of invention
Protection scope within.
Claims (5)
1. a kind of window wiping robot characterized by comprising
Mover (1), including active body (11), the polishing piece being located on active body (11) chassis, are set to active body
(11) active magnetic adsorption device (12) and driving device in, driving device driving active body (11) movement；
Follower (2), including servo-actuated body (21), the polishing piece being located on servo-actuated body (21) chassis, and be set to servo-actuated
Servo-actuated magnetic adsorption device (22) in body (21), the follower (2) pass through servo-actuated magnetic adsorption device (22) and active magnetic
Adsorption device (12) mutually absorption is moved with mover (1)；
The driving device includes rotating mechanism (13) and the straight walking mechanism (14) being fixedly arranged below rotating mechanism (13),
The rotating mechanism (13) is used for the steering of straight walking mechanism (14)；
The rotating mechanism (13) includes the steering guide rail (131) on active body (11) chassis, is located at and turns to guide rail
(131) at least two in turn to idler wheel (132), and the vehicle frame (134) for turning to idler wheel (132) is connected with by pin (133), with
And the rotary components (135) of driving vehicle frame (134) rotation, the straight walking mechanism (14) are fixedly arranged on vehicle frame (134)
Lower section；
The rotary components (135) include the driving motor (1351) being set on active body (11), the driving motor
(1351) have synchronous belt (1352) by worm gear mechanism (1354) driving, synchronous belt (1352) both ends pass through synchronous belt
Wheel (1353) be connected to driving motor (1351) and straight walking mechanism (14), and drive straight walking mechanism (14) with
And vehicle frame (134) rotation；
The straight walking mechanism (14) includes the vehicle bridge (141) being installed in below vehicle frame (134), the synchronous pulley (1353)
It is fixedly arranged on the lower section of vehicle bridge (141), vehicle bridge (141) both ends are equipped with decelerating motor (142), the decelerating motor (142)
Output end is connected with wheel (143), and the wheel (143) partially passes through the arc groove (111) on active body (11) chassis,
The rotation in the arc groove (111)；
The active magnetic adsorption device (12) includes elevating mechanism (121) and active magnet (122), the elevating mechanism
It (121) include threaded rod (1211) and button that is affixed with threaded rod (1211) and being located at active body (11) outside；It is described
Threaded rod (1211) sequentially passes through synchronous pulley (1353), vehicle bridge (141), vehicle frame (134) and active body (11) screw top
Connection, the active magnet (122) are fixed in threaded rod (1211) lower end.
2. window wiping robot according to claim 1, which is characterized in that the servo-actuated magnetic adsorption device (22) includes fixed
In on servo-actuated body (21) with moving magnet (221) and idler wheel (222), it is described with moving magnet (221) and active magnet (122)
Absorption mutually is attached to follower (2) and mover (1) on glass, and the follower (2) is by idler wheel (222) with actively
The walking of machine (1) and walk.
3. window wiping robot according to claim 2, which is characterized in that further include the buffering in servo-actuated body (21)
Silencing apparatus (23), buffering silencing apparatus (23) include the buffer spring (231) of at least one uniformly distributed of rounded track,
One end is located at buffer spring (231) end and passes through the buffer board (232) on servo-actuated body (21) chassis, buffer board (232) it is another
One end is located at the top with moving magnet (221).
4. window wiping robot according to claim 3, which is characterized in that described with moving magnet (221) and buffer board (232)
Between be additionally provided with central spring (233), the stiffness factor of the central spring (233) is N times of the buffer spring (231),
The N is the number of buffer spring (231)；
The supporting plate (211) being installed on servo-actuated body (21) top above buffer board (232), the buffer board
(232) when one end compression buffer spring (231), buffer board (232) is that fulcrum makes its other end by central spring with supporting plate (211)
(233) it compresses.
5. window wiping robot according to claim 1 to 4, which is characterized in that the mover (1) and follower
(2) be equipped on buffer unit (3), the buffer unit (3) include hollow cylinder (31) and be located at hollow cylinder
(31) spring (32) in, the hollow cylinder (31) and spring (32) are set in active body (11) and servo-actuated body
(21) on the guide post of quadrangle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510613006.0A CN105167703B (en) | 2015-09-22 | 2015-09-22 | Window wiping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510613006.0A CN105167703B (en) | 2015-09-22 | 2015-09-22 | Window wiping robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105167703A CN105167703A (en) | 2015-12-23 |
| CN105167703B true CN105167703B (en) | 2019-04-19 |
Family
ID=54890515
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510613006.0A Expired - Fee Related CN105167703B (en) | 2015-09-22 | 2015-09-22 | Window wiping robot |
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| Country | Link |
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| CN (1) | CN105167703B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105919503B (en) * | 2016-06-22 | 2018-07-03 | 洛阳圣瑞智能机器人有限公司 | A kind of intelligence glass-cleaning robot wheel suspension assembly and method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203802383U (en) * | 2014-03-17 | 2014-09-03 | 科沃斯机器人科技(苏州)有限公司 | Window-wiping robot with closed scraping strip |
| CN204049506U (en) * | 2014-08-28 | 2014-12-31 | 吕祎伟 | Adjustable magnet window is scraped |
| CN104302217A (en) * | 2012-02-23 | 2015-01-21 | 英迪股份有限公司 | Window cleaning device and control method therefor |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2757722Y (en) * | 2004-12-24 | 2006-02-15 | 蒲成 | Glass wiper |
| CN102578975B (en) * | 2011-01-05 | 2014-12-17 | 科沃斯机器人有限公司 | Traveling device and glass wiping robot with same |
| WO2012148022A1 (en) * | 2011-04-29 | 2012-11-01 | 주식회사 일심글로발 | Device for cleaning glass windows, and method for controlling the movement thereof |
| CN205018962U (en) * | 2015-09-22 | 2016-02-10 | 河北工业大学 | Window cleaning robot |
-
2015
- 2015-09-22 CN CN201510613006.0A patent/CN105167703B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104302217A (en) * | 2012-02-23 | 2015-01-21 | 英迪股份有限公司 | Window cleaning device and control method therefor |
| CN203802383U (en) * | 2014-03-17 | 2014-09-03 | 科沃斯机器人科技(苏州)有限公司 | Window-wiping robot with closed scraping strip |
| CN204049506U (en) * | 2014-08-28 | 2014-12-31 | 吕祎伟 | Adjustable magnet window is scraped |
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| CN105167703A (en) | 2015-12-23 |
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