CN105945965A - 一种用于建筑玻璃的智能擦窗机械臂 - Google Patents
一种用于建筑玻璃的智能擦窗机械臂 Download PDFInfo
- Publication number
- CN105945965A CN105945965A CN201610493748.9A CN201610493748A CN105945965A CN 105945965 A CN105945965 A CN 105945965A CN 201610493748 A CN201610493748 A CN 201610493748A CN 105945965 A CN105945965 A CN 105945965A
- Authority
- CN
- China
- Prior art keywords
- window
- wiping
- welded
- window cleaning
- wiping window
- 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
- 238000004140 cleaning Methods 0.000 title claims abstract description 42
- 239000011521 glass Substances 0.000 title claims abstract description 33
- 230000008878 coupling Effects 0.000 claims abstract description 6
- 238000010168 coupling process Methods 0.000 claims abstract description 6
- 238000005859 coupling reaction Methods 0.000 claims abstract description 6
- 238000006243 chemical reaction Methods 0.000 claims description 19
- 230000008859 change Effects 0.000 claims description 11
- 239000004677 Nylon Substances 0.000 claims description 10
- 229920001778 nylon Polymers 0.000 claims description 10
- 238000005096 rolling process Methods 0.000 claims description 5
- 238000003466 welding Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 6
- 230000033001 locomotion Effects 0.000 description 16
- 239000004744 fabric Substances 0.000 description 12
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
Abstract
Description
Claims (1)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610493748.9A CN105945965B (zh) | 2016-06-28 | 2016-06-28 | 一种用于建筑玻璃的智能擦窗机械臂 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610493748.9A CN105945965B (zh) | 2016-06-28 | 2016-06-28 | 一种用于建筑玻璃的智能擦窗机械臂 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105945965A true CN105945965A (zh) | 2016-09-21 |
CN105945965B CN105945965B (zh) | 2018-05-15 |
Family
ID=56902581
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610493748.9A Expired - Fee Related CN105945965B (zh) | 2016-06-28 | 2016-06-28 | 一种用于建筑玻璃的智能擦窗机械臂 |
Country Status (1)
Country | Link |
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CN (1) | CN105945965B (zh) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107736833A (zh) * | 2017-10-24 | 2018-02-27 | 曹小娟 | 一种用于高层建筑的窗户自动清洗装置 |
CN112847386A (zh) * | 2020-12-30 | 2021-05-28 | 美晟通科技(苏州)有限公司 | 一种玻璃幕墙清洗机器人的移动机构及其工作方法 |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN2037598U (zh) * | 1988-05-26 | 1989-05-17 | 王正伦 | 擦窗机 |
CN101703829A (zh) * | 2009-10-28 | 2010-05-12 | 东北大学 | 一种井下救援机器人 |
CN101727059A (zh) * | 2009-12-22 | 2010-06-09 | 暨南大学 | 基于表面等离子体共振的数字全息显微成像方法及显微镜 |
CN201727059U (zh) * | 2010-08-10 | 2011-02-02 | 余鹏 | 两面清洁刷 |
CN102008265A (zh) * | 2010-11-11 | 2011-04-13 | 刘运娇 | 擦窗机械手 |
KR20120104043A (ko) * | 2011-03-11 | 2012-09-20 | 전자부품연구원 | 역키네마틱스를 이용하여 위치를 제어하는 곤돌라 로봇 및 그의 위치 제어 방법 |
CN102894928A (zh) * | 2012-07-13 | 2013-01-30 | 太仓博天网络科技有限公司 | 一种自动清洗玻璃窗的机器人系统 |
CN103770110A (zh) * | 2013-12-20 | 2014-05-07 | 东莞市汉萨自动化设备科技有限公司 | 在制造设备上实现自动移动产品的方法及机械手装置 |
-
2016
- 2016-06-28 CN CN201610493748.9A patent/CN105945965B/zh not_active Expired - Fee Related
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN2037598U (zh) * | 1988-05-26 | 1989-05-17 | 王正伦 | 擦窗机 |
CN101703829A (zh) * | 2009-10-28 | 2010-05-12 | 东北大学 | 一种井下救援机器人 |
CN101727059A (zh) * | 2009-12-22 | 2010-06-09 | 暨南大学 | 基于表面等离子体共振的数字全息显微成像方法及显微镜 |
CN201727059U (zh) * | 2010-08-10 | 2011-02-02 | 余鹏 | 两面清洁刷 |
CN102008265A (zh) * | 2010-11-11 | 2011-04-13 | 刘运娇 | 擦窗机械手 |
KR20120104043A (ko) * | 2011-03-11 | 2012-09-20 | 전자부품연구원 | 역키네마틱스를 이용하여 위치를 제어하는 곤돌라 로봇 및 그의 위치 제어 방법 |
CN102894928A (zh) * | 2012-07-13 | 2013-01-30 | 太仓博天网络科技有限公司 | 一种自动清洗玻璃窗的机器人系统 |
CN103770110A (zh) * | 2013-12-20 | 2014-05-07 | 东莞市汉萨自动化设备科技有限公司 | 在制造设备上实现自动移动产品的方法及机械手装置 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107736833A (zh) * | 2017-10-24 | 2018-02-27 | 曹小娟 | 一种用于高层建筑的窗户自动清洗装置 |
CN107736833B (zh) * | 2017-10-24 | 2020-08-18 | 绍兴兴裕门窗有限公司 | 一种用于高层建筑的窗户自动清洗装置 |
CN112847386A (zh) * | 2020-12-30 | 2021-05-28 | 美晟通科技(苏州)有限公司 | 一种玻璃幕墙清洗机器人的移动机构及其工作方法 |
Also Published As
Publication number | Publication date |
---|---|
CN105945965B (zh) | 2018-05-15 |
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C06 | Publication | ||
PB01 | Publication | ||
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SE01 | Entry into force of request for substantive examination | ||
CB03 | Change of inventor or designer information | ||
CB03 | Change of inventor or designer information |
Inventor after: Cao Yu Inventor after: Wang Hongbo Inventor after: Liu Pingfan Inventor before: Wang Hong |
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TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20180416 Address after: Xi Shi Huan Road Guangzhou City, Guangdong province 510000 Huan Tianhe District No. 10 building 340 room C Applicant after: Harbin robotics group (Guangzhou) intellectual property Klc Holdings Ltd. Address before: Anhui city of Anqing province Xi'an village 246001 Yixiu District Yang Qiao Zhen Jin Chong Group No. 18 Applicant before: Wang Hong |
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GR01 | Patent grant | ||
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TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20180628 Address after: 150000 Dalian Road North and Xingkai Road, Harbin, Heilongjiang province. Patentee after: Hagongda robot group (Harbin) Asset Management Co.,Ltd. Address before: 510000 room 340, C 340, Shi Huan Road, Tianhe District, Guangzhou, Guangdong. Patentee before: Harbin robotics group (Guangzhou) intellectual property Klc Holdings Ltd. |
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TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20190705 Address after: Room 306, Building A, Building 3, Building 11, Courtyard 8, Liangshuihe Second Street, Beijing Economic and Technological Development Zone, 100176 Patentee after: BEIJING HIT ROBOT CO.,LTD. Address before: 150000 Dalian Road North and Xingkai Road, Harbin, Heilongjiang province. Patentee before: Hagongda robot group (Harbin) Asset Management Co.,Ltd. |
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TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20191016 Address after: Room 501, entrepreneurial service center, Chengdong Industrial Park, Shuangshan street, Zhangqiu District, Jinan City, Shandong Province Patentee after: Harbin University of technology robot group (Shandong) Co.,Ltd. Address before: Room 306, Building A, Building 3, Building 11, Courtyard 8, Liangshuihe Second Street, Beijing Economic and Technological Development Zone, 100176 Patentee before: BEIJING HIT ROBOT CO.,LTD. |
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CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180515 |