CN105534392A - Walking-type glass-curtain-wall cleaning robot - Google Patents
Walking-type glass-curtain-wall cleaning robot Download PDFInfo
- Publication number
- CN105534392A CN105534392A CN201510941641.1A CN201510941641A CN105534392A CN 105534392 A CN105534392 A CN 105534392A CN 201510941641 A CN201510941641 A CN 201510941641A CN 105534392 A CN105534392 A CN 105534392A
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- Prior art keywords
- robot
- steering wheel
- direct current
- walking
- cylinder
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Classifications
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- 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
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
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- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
Abstract
The invention relates to a walking-type glass-curtain-wall cleaning robot. The walking-type glass-curtain-wall cleaning robot comprises four leg feet, four magnetic exchange valves, a power source, a direct current motor, a robot shell, a vacuum pump, dust removing cloth and a control system. The four leg feet are installed on the four corners of the robot shell; the four magnetic exchange valves are fixed to an assembling boss on the bottom face of the robot shell through screws and are next to the left wall and the right wall of the walls of the shell; the power source is installed in a power source clamping sleeve of the robot shell; the vacuum pump is fixed to the bottom face of the robot shell and next to the corresponding wall of the shell; the direct current motor is installed in a concave cylinder of the robot shell, and the dust removing cloth is installed at the bottom of the direct current motor. The walking-type glass-curtain-wall cleaning robot is large in flexibility and can surmount grooves and barriers, and particularly, the advantages are quite obvious when the cleaning robot is used for cleaning a push-pull-type window. When the robot performs cleaning, the direct current motor drives the dust removing cloth to rotate; as long as the robot walks through the positions needing to be cleaned, the dust removing cloth can achieve the effect that the positions needing to be cleaned are cleaned multiple times, and the efficiency is higher than that of manual cleaning performed with hands.
Description
Technical field
The present invention relates to robotics, be specifically related to a kind of walking glass curtain wall clean robot.
Background technology
In recent years, high buildings and large mansions get more and more, and the appearance of many high buildings is all decorated with glass curtain wall.Although attractive in appearance but the clean of glass curtain wall brings very burden.Existing most of cleaning is by manually completing, but work is both dangerous, and cost is high again.So the demand of skyscraper glass glass-cleaning robot is very urgent.
The work of glass curtain wall clean robot is the dust washed on glass, makes whole building brighter and attractive in appearance.The clean robot of glass curtain wall that had company to make now, such as Coase irrigates the product of Co., Ltd of robot---Chuan Bao robot.What it adopted is that inner chamber negative pressure attaches, and the structure of robot adopts skid track formula, and cleaning cloth is arranged on front and back end.But under this robot can only be used for very smooth curtain wall condition, have large projection or groove in the junction of some glass and glass, Chuan Bao robot cannot cross.Therefore this robot quite bothers when clean sliding window, need manually on every block glass place machine people clean, also very inconvenient high-altitude place machine people.
Summary of the invention
The present invention is directed to the shortcoming of existing glass curtain wall robot, propose a kind of walking glass curtain wall clean robot.For the machine construction of existing overall suction type, present invention employs the walking mechanism of sufficient formula, which enhances the flexibility of robot, make it have obstacle climbing ability.In order to have better cleaning function, adopt a direct current generator driven rotary dust removing cloth.Robot is adsorbed onto after on glass curtain wall, adopts 2.4G high frequency wireless technology to control robot on the ground.This invention instead of the high-altitude dangerous operation of high-altitude cleaning workman, and device flexibility is large, for the automation cleaning of curtain wall provides another kind of approach.
In order to achieve the above object, the present invention adopts following technical proposals:
A kind of walking glass curtain wall clean robot, comprises four leg foots, four solenoid directional control valves, power supply, direct current generator, robot shells, vavuum pump, dust removing cloth and control system; Described four legs foot is arranged on the corner of robot shells, and four solenoid directional control valves are fixed by screws on the mounting boss of robot shells bottom surface, and are close to the left and right wall of shell wall; Described power supply is arranged in the power supply cutting ferrule of robot shells, and vavuum pump is fixed on the bottom surface of robot shells and adjacent with shell wall, and described direct current generator is arranged in the recessed cylinder of robot shells, and dust removing cloth is installed in the bottom of direct current generator.
Described leg foot comprises steering wheel A, steering wheel B, cylinder, sucker, steering wheel frame B, steering wheel frame A; Described steering wheel A is arranged in robot shells, and is connected with steering wheel frame A, and described steering wheel frame A connects steering wheel B, and steering wheel B connects steering wheel frame B, and described cylinder is arranged on steering wheel frame B, and cylinder lower end is by cylinder rod and spring connecting sucker.
The head of described sucker and cylinder have pore, and these two pores are come round by wireway and solenoid directional control valve, connect vavuum pump by solenoid directional control valve.
Described control system comprises host computer, motion controller, wireless communication module, sensor, ground remote controller; Described host computer gives motion controller instruction by wireless communication module, and motion controller controls the rotation of steering wheel again, the port translation of solenoid directional control valve and the rotation of direct current generator.
Steering wheel turns an angle and drives the rotation of steering wheel frame, pneumatic means and solenoid directional control valve in conjunction with the air pressure change in control cylinder thus lifting and putting down of control leg foot, also control the air pressure of sucker simultaneously.During sucker work, inner air is transferred, and forms the space of a sealing between sucker and glass curtain wall, and the pressure that the pressure difference inside and outside sucker produces is as the absorption affinity of sucker, and absorption affinity is converted into the gravity that frictional force offsets machine again.When leg will lift enough, suction cup interior communicates with atmospheric pressure.Sucker is connected with piston rod by spherical pair, and such sucker can have certain inclination angle with leg foot at axis direction, and the occasion that robot is adapted to is more flexible.
Compared with prior art, beneficial effect of the present invention is as follows:
1) mode of robot adopts walking, and flexibility is large, can cross over groove and obstacle, and especially when cleaning push pull type window, advantage is clearly.
2) this robot drives dust removing cloth to rotate with direct current generator, and Zhi Xu robot passes by the position that will clean, and dust removing cloth just can play the effect of cleaning position being wiped to many times, clashes efficiency high than artificial hand.
3) have the program of having programmed in robot system, the speed of travel of robot in different programs, leg Zu Walk is apart from the rotating speed of direct current generator in size and cleaning device.Directly can call different programs for different workplaces and carry out automated cleaning, then manual operation leaping over obstacles can be called when running into obstacle.
4) adopt the wireless chip of nRF2401 in wireless telecommunications of the present invention, this device has 125 frequencies, can realize point-to-point, peer-to-multiple peer wireless communication, can adopt to change frequently and frequency hopping avoids interference simultaneously.Low in energy consumption, 100-200 rice can be reached in outdoor transmissions distance.
Accompanying drawing explanation
Fig. 1 is the structural representation of this clean robot.
Fig. 2 is robot top view.
Fig. 3 is robot leg foot structural blast figure.
Fig. 4 is pneumatic means schematic diagram.
Fig. 5 is that all parts of clean robot controls schematic diagram.
Control schematic diagram when Fig. 6 is robot ambulation.
Fig. 7 is the circuit diagram of a Single-chip Controlling steering wheel.
Fig. 8 is the circuit diagram of wireless module.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in more detail.
As depicted in figs. 1 and 2, a kind of walking glass curtain wall clean robot, comprises four leg foots, four solenoid directional control valves 7, power supply 8, direct current generator 9, robot shells 10, vavuum pump 11, dust removing cloth 12 and control system; Described four legs foot is arranged on the corner of robot shells 10, and four solenoid directional control valves 7 are fixed by screws on the mounting boss of robot shells 10 bottom surface, and are close to the left and right wall of shell wall; Described power supply 8 is arranged in the power supply cutting ferrule of robot shells 10, and vavuum pump 11 is fixed on the bottom surface of robot shells 10 and adjacent with shell wall, and described direct current generator 9 is arranged in the recessed cylinder of robot shells 10, and dust removing cloth 12 is installed in the bottom of direct current generator 9.
Described leg foot comprises steering wheel A1, steering wheel B2, cylinder 3, sucker 4, steering wheel frame B5, steering wheel frame A6; Described steering wheel A1 is arranged in robot shells 10, and is connected with steering wheel frame A6, and described steering wheel frame A6 connects steering wheel B2, and steering wheel B2 connects steering wheel frame B5, and described cylinder 3 is arranged on steering wheel frame B5, and cylinder 3 lower end is by cylinder rod 13 and spring 14 connecting sucker 4.
Described control system comprises host computer, motion controller, wireless communication module, sensor, ground remote controller; Described host computer gives motion controller instruction by wireless communication module, and motion controller controls the rotation of steering wheel again, the port translation of solenoid directional control valve 7 and the rotation of direct current generator 9.
As shown in Figure 3, the head of described sucker 4 and cylinder 3 have pore, these two pores are come round by wireway and solenoid directional control valve 7, connect vavuum pump 11 by solenoid directional control valve 7.
The specific operation process of the present embodiment is as follows:
As shown in Figure 5, first host computer sends instruction, robot is made to reach reset mode, by wireless module controlled motion controller, vavuum pump 11 is worked, four leg foots utilize sucker 4 to be adsorbed on glass curtain wall, and then motion controller sends instruction direct current generator 9 and rotates dust removing cloth 12, starts cleaning.When robot moves, the sucker 4 on three leg foots is first kept to fit with glass curtain wall, then control cylinder 3 air pressure that is inner and sucker 4 inside lifts a leg foot, control steering wheel afterwards and rotate the swing realizing leg foot, when leg foot swing to precalculated position after, direction is put down, with Time Controller close solenoid directional control valve 7 electricity condition, again change the air pressure of cylinder 3 and sucker 4 inside, leg foot is adsorbed on above curtain wall.Then other three legs foot is performed in the same way successively, after four leg foots all arrive assigned address, motion controller controls turning to of eight steering wheels, robot shells 10 is moved forward, while robot shells 10 moves forward, the dust removing cloth 12 driven by direct current generator 9 rotates while move forward, and completes cleaning.After these actions complete, the state of reset is got back to by robot, repeatedly performs above-mentioned action, completes the cleaning of robot.In order to alleviate robot weight in the present embodiment, that vavuum pump 11 adopts is minipump VCA5038, and voltage: 12VDC, vacuum (absolute pressure): 50KPa, effectively can realize vacuum environment.
In the present embodiment, the absorption affinity considering between sucker 4 and curtain wall is converted into frictional force and offsets robot gravity, the coefficient of friction of sucker wants large, therefore have employed nitrile rubber, the sucker used is that Shanghai is with product vacuum cup anti-slip type---the P120KNH of strange Co., Ltd, wherein 120 in model represents the diameter 120mm of sucker, and NH represents nitrile rubber.The anti-locking mechanism of unique shape energy of this type sucker is in reach or slide when turning to, and employs portable structure, when changing sucker does not need sucker to unload down from carrier machine.
As shown in Figure 4, the present embodiment uses the solenoid directional control valve 7 of two four-ways, when solenoid directional control valve 7 must not electricity time, its right position work, the cylinder 3 of leg communicates with atmospheric pressure, at this moment the spring 14 in cylinder 3 works and makes leg foot be in elongation state, and vavuum pump 11 acts on sucker 4, and sucker 4 is adsorbed on curtain wall because air pressure inside is less than atmospheric pressure.When solenoid directional control valve 7 obtains electric, its left position work, vavuum pump 11 acts on cylinder 3, cylinder 3 air pressure inside is less than atmospheric pressure, and spring 14 is in compressive state, and sucker 4 is inner identical with atmospheric pressure simultaneously, piston rod 13 shrinks along spring 14 and shrinks, sucker 4 is also with by piston rod 13, and sucker 4 is lifted, and such leg foot is in lifting status.
Be illustrated in figure 6 control principle drawing during robot ambulation.Control processor control solenoid directional control valve 7 electric with must not electricity the thus whether leg of control foot is adsorbed state, control processor can change the attitude of robot controlling steering wheel, the predetermined action that step pitch size and robot will complete, during the walking of robot, control processor needs to control vavuum pump 11 simultaneously, solenoid directional control valve 7 and steering wheel.
The control of steering wheel, by changing Duty ratio control, namely changes high level and the ratio in whole cycle.Be illustrated in figure 7 the circuit diagram that AT89C51 system controls a steering wheel.The present embodiment has selected PDI-HV5932MG model steering wheel.This steering wheel maximum pulse width is that 500-2500us(is applicable to singlechip control panel).Pin 17 is connected with the holding wire of steering wheel, changes dutycycle with AT89C51.Be illustrated in figure 8 the partial circuit figure of wireless module.In the present embodiment, adopt nRF2401 rf chip, it works in 2.4 ~ 2.5GHzISM frequency range.Work under ShockBurstTM transceiver mode in the present embodiment, nRF2401 can process prefix and CRC check code automatically.When receiving data, automatically prefix and CRC check code are removed.When sending data, automatically add prefix and CRC check code, after process of transmitting completes, DSR pin notice microprocessor data battery has fired.
ShockBurstTM launches flow process:
CE, CLK1, DATA is set to interface pin, when microcontroller has data to send, CE is set high, nRF2401 is worked, the address of then receiving machine and the data that will send send into nRF2401 chronologically, and microcontroller sets low CE afterwards, excites nRF2401 to carry out ShockBurstTM transmitting, data are through that packing carries out launching, and have launched rear nRF2401 and have entered idle condition.
ShockBurstTM receives flow process:
Interface pin is CE, DR1, CLK1 and DATA, the data package size first configuring the machine address and will receive, after entering emission state, CE is set high, after 200us, nRF2401 enters monitored state, wait for the arrival of packet, when receiving correct packet, nRF2401 goes prefix, address and CRC check displacement automatically.NRF2401 is by generally causing microcontroller interrupt this pin of DR1(afterwards) set high notice microcontroller, microcontroller just shifts out data from nRF2401; Available free pattern reduces power consumption, and send data packing, data have been moved rear nRF2401 and DR1 is set low, and now, if CE is high, then waits for next packet.Above-mentioned is exactly that wireless module is to the acceptance of data and transmitting.
Claims (4)
1. a walking glass curtain wall clean robot, is characterized in that, comprises four leg foots, four solenoid directional control valves (7), power supply (8), direct current generator (9), robot shells (10), vavuum pump (11), dust removing cloth (12) and control system; Described four legs foot is arranged on the corner of robot shells (10), and four solenoid directional control valves (7) are fixed by screws on the mounting boss of robot shells (10) bottom surface, and are close to the left and right wall of shell wall; Described power supply (8) is arranged in the power supply cutting ferrule of robot shells (10), vavuum pump (11) is fixed on the bottom surface of robot shells (10) and adjacent with shell wall, described direct current generator (9) is arranged in the recessed cylinder of robot shells (10), and dust removing cloth (12) is installed in the bottom of direct current generator (9).
2. walking glass curtain wall clean robot according to claim 1, is characterized in that, described leg foot comprises steering wheel A(1), steering wheel B(2), cylinder (3), sucker (4), steering wheel frame B(5) and, steering wheel frame A(6); Described steering wheel A(1) be arranged in robot shells (10), and with steering wheel frame A(6) be connected, described steering wheel frame A(6) connect steering wheel B(2), steering wheel B(2) connect steering wheel frame B(5), described cylinder (3) is arranged on steering wheel frame B(5) on, cylinder (3) lower end is by cylinder rod (13) and spring (14) connecting sucker (4).
3. walking glass curtain wall clean robot according to claim 2, it is characterized in that, the head of described sucker (4) and cylinder (3) have pore, and these two pores are come round by wireway and solenoid directional control valve (7), connect vavuum pump (11) by solenoid directional control valve (7).
4. walking glass curtain wall clean robot according to claim 1, it is characterized in that, described control system comprises host computer, motion controller, wireless communication module, sensor, ground remote controller; Described host computer gives motion controller instruction by wireless communication module, and motion controller controls the rotation of steering wheel again, the port translation of solenoid directional control valve (7) and the rotation of direct current generator (9).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510941641.1A CN105534392A (en) | 2015-12-16 | 2015-12-16 | Walking-type glass-curtain-wall cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510941641.1A CN105534392A (en) | 2015-12-16 | 2015-12-16 | Walking-type glass-curtain-wall cleaning robot |
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| CN105534392A true CN105534392A (en) | 2016-05-04 |
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| CN201510941641.1A Pending CN105534392A (en) | 2015-12-16 | 2015-12-16 | Walking-type glass-curtain-wall cleaning robot |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106108761A (en) * | 2016-06-24 | 2016-11-16 | 武汉理工大学 | A kind of high-altitude glass curtain wall cleaning machine device people |
| CN106137019A (en) * | 2016-06-28 | 2016-11-23 | 汪红 | A kind of can convenient dismounting intelligence wipe window all-in-one |
| CN106256449A (en) * | 2016-08-05 | 2016-12-28 | 安徽安特食品股份有限公司 | A kind of ethanol storage tank outer wall safeguards cleaning plant |
| CN106625719A (en) * | 2017-02-04 | 2017-05-10 | 舒丹丹 | Mopping robot for construction decorating |
| CN106725141A (en) * | 2017-01-23 | 2017-05-31 | 北京嘉寓门窗幕墙股份有限公司 | A kind of leaping over obstacles outside Wall Cleaning machine people and operating method |
| CN106963282A (en) * | 2017-05-19 | 2017-07-21 | 北京嘉寓门窗幕墙股份有限公司 | One kind flat more seam window wiping robot and operating method |
| CN107585274A (en) * | 2017-07-20 | 2018-01-16 | 哈尔滨工程大学 | High sea situation ship is sued and laboured robot |
| CN108378766A (en) * | 2018-03-13 | 2018-08-10 | 金凯 | A kind of glass-cleaning robot with air releasing device |
| WO2018220090A1 (en) | 2017-06-02 | 2018-12-06 | Veymont Technologie | Autonomous robot intended, in particular, for cleaning a glazed surface |
| CN109364646A (en) * | 2018-12-14 | 2019-02-22 | 福建福清万年青水泥有限公司 | A kind of movable type cleaner |
| CN109386975A (en) * | 2018-10-30 | 2019-02-26 | 内蒙古工业大学 | A kind of slot light collection mirror intelligence is without dust collect unit by water |
| CN109464060A (en) * | 2018-11-26 | 2019-03-15 | 西南民族大学 | A kind of novel high building glass window cleaning robot |
| CN109528068A (en) * | 2019-01-31 | 2019-03-29 | 成都工业学院 | A kind of cleaning glass machine people |
| CN109645906A (en) * | 2018-12-26 | 2019-04-19 | 深兰科技（上海）有限公司 | Clean robot |
| CN110496836A (en) * | 2019-09-29 | 2019-11-26 | 常州大学 | Imitative gecko ventilation pipeline sweeping |
| CN110997467A (en) * | 2017-06-02 | 2020-04-10 | 埃尔隆公司 | Robot apparatus |
| CN112617692A (en) * | 2020-12-15 | 2021-04-09 | 中建铁路投资建设集团有限公司 | Glass stands wall surface cleaning robot outward |
| CN112842128A (en) * | 2021-01-27 | 2021-05-28 | 宁波工程学院 | High-altitude glass curtain wall climbing cleaning robot |
| CN112842151A (en) * | 2021-02-25 | 2021-05-28 | 昆山升东物资有限公司 | Robot capable of walking on glass |
| CN114052552A (en) * | 2021-10-20 | 2022-02-18 | 广州鑫泓设备设计有限公司 | Automatic curtain wall detection and cleaning device |
| CN114376437A (en) * | 2022-02-24 | 2022-04-22 | 湖南科技大学 | Glass outer wall cleaning robot |
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| CN106108761A (en) * | 2016-06-24 | 2016-11-16 | 武汉理工大学 | A kind of high-altitude glass curtain wall cleaning machine device people |
| CN106108761B (en) * | 2016-06-24 | 2018-11-23 | 武汉理工大学 | A kind of high-altitude glass curtain wall cleaning machine device people |
| CN106137019B (en) * | 2016-06-28 | 2018-08-31 | 哈工大机器人集团（广州）知识产权投资控股有限公司哈尔滨分公司 | It is a kind of can convenient dismounting intelligence wipe window all-in-one machine |
| CN106137019A (en) * | 2016-06-28 | 2016-11-23 | 汪红 | A kind of can convenient dismounting intelligence wipe window all-in-one |
| CN106256449A (en) * | 2016-08-05 | 2016-12-28 | 安徽安特食品股份有限公司 | A kind of ethanol storage tank outer wall safeguards cleaning plant |
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| CN106725141A (en) * | 2017-01-23 | 2017-05-31 | 北京嘉寓门窗幕墙股份有限公司 | A kind of leaping over obstacles outside Wall Cleaning machine people and operating method |
| 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 |
| CN106625719A (en) * | 2017-02-04 | 2017-05-10 | 舒丹丹 | Mopping robot for construction decorating |
| CN106963282A (en) * | 2017-05-19 | 2017-07-21 | 北京嘉寓门窗幕墙股份有限公司 | One kind flat more seam window wiping robot and operating method |
| CN106963282B (en) * | 2017-05-19 | 2022-05-27 | 北京嘉寓门窗幕墙股份有限公司 | Horizontal crossing joint window wiping robot and operation method |
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| WO2018220090A1 (en) | 2017-06-02 | 2018-12-06 | Veymont Technologie | Autonomous robot intended, in particular, for cleaning a glazed surface |
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| CN108378766A (en) * | 2018-03-13 | 2018-08-10 | 金凯 | A kind of glass-cleaning robot with air releasing device |
| CN109386975A (en) * | 2018-10-30 | 2019-02-26 | 内蒙古工业大学 | A kind of slot light collection mirror intelligence is without dust collect unit by water |
| CN109386975B (en) * | 2018-10-30 | 2024-04-05 | 内蒙古工业大学 | Intelligent anhydrous dust collector of slot type condensing lens |
| CN109464060A (en) * | 2018-11-26 | 2019-03-15 | 西南民族大学 | A kind of novel high building glass window cleaning robot |
| CN109464060B (en) * | 2018-11-26 | 2024-02-02 | 西南民族大学 | Novel high-rise glass window cleaning robot |
| CN109364646A (en) * | 2018-12-14 | 2019-02-22 | 福建福清万年青水泥有限公司 | A kind of movable type cleaner |
| CN109364646B (en) * | 2018-12-14 | 2024-01-19 | 山东神工环保科技有限公司 | Portable dust collecting equipment |
| CN109645906A (en) * | 2018-12-26 | 2019-04-19 | 深兰科技（上海）有限公司 | Clean robot |
| CN109528068A (en) * | 2019-01-31 | 2019-03-29 | 成都工业学院 | A kind of cleaning glass machine people |
| CN109528068B (en) * | 2019-01-31 | 2023-10-20 | 成都工业学院 | Glass cleaning robot |
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| CN110496836A (en) * | 2019-09-29 | 2019-11-26 | 常州大学 | Imitative gecko ventilation pipeline sweeping |
| CN112617692A (en) * | 2020-12-15 | 2021-04-09 | 中建铁路投资建设集团有限公司 | Glass stands wall surface cleaning robot outward |
| CN112842128A (en) * | 2021-01-27 | 2021-05-28 | 宁波工程学院 | High-altitude glass curtain wall climbing cleaning robot |
| CN112842151A (en) * | 2021-02-25 | 2021-05-28 | 昆山升东物资有限公司 | Robot capable of walking on glass |
| CN114052552A (en) * | 2021-10-20 | 2022-02-18 | 广州鑫泓设备设计有限公司 | Automatic curtain wall detection and cleaning device |
| CN114653644A (en) * | 2022-01-26 | 2022-06-24 | 国网山东省电力公司青州市供电公司 | Photovoltaic board cleaning device |
| CN114653644B (en) * | 2022-01-26 | 2023-09-15 | 国网山东省电力公司青州市供电公司 | Photovoltaic panel cleaning equipment |
| CN114376437A (en) * | 2022-02-24 | 2022-04-22 | 湖南科技大学 | Glass outer wall cleaning robot |
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