CN105965482A - 一种基于并联机构的三自由度智能擦窗机械手 - Google Patents
一种基于并联机构的三自由度智能擦窗机械手 Download PDFInfo
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- CN105965482A CN105965482A CN201610493783.0A CN201610493783A CN105965482A CN 105965482 A CN105965482 A CN 105965482A CN 201610493783 A CN201610493783 A CN 201610493783A CN 105965482 A CN105965482 A CN 105965482A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 17
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- 210000005069 ears Anatomy 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 5
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- 208000031481 Pathologic Constriction Diseases 0.000 claims 1
- 210000001215 vagina Anatomy 0.000 claims 1
- 239000011521 glass Substances 0.000 abstract description 33
- 238000004140 cleaning Methods 0.000 description 29
- 230000033001 locomotion Effects 0.000 description 15
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
Abstract
Description
Claims (2)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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CN201610493783.0A CN105965482B (zh) | 2016-06-28 | 2016-06-28 | 一种基于并联机构的三自由度智能擦窗机械手 |
CN201711250758.0A CN107960943B (zh) | 2016-06-28 | 2016-06-28 | 一种全自动城市建筑外墙高空玻璃擦窗机械手 |
Applications Claiming Priority (1)
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CN201610493783.0A CN105965482B (zh) | 2016-06-28 | 2016-06-28 | 一种基于并联机构的三自由度智能擦窗机械手 |
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CN201711250758.0A Division CN107960943B (zh) | 2016-06-28 | 2016-06-28 | 一种全自动城市建筑外墙高空玻璃擦窗机械手 |
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CN105965482A true CN105965482A (zh) | 2016-09-28 |
CN105965482B CN105965482B (zh) | 2018-05-15 |
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CN201711250758.0A Active CN107960943B (zh) | 2016-06-28 | 2016-06-28 | 一种全自动城市建筑外墙高空玻璃擦窗机械手 |
CN201610493783.0A Active CN105965482B (zh) | 2016-06-28 | 2016-06-28 | 一种基于并联机构的三自由度智能擦窗机械手 |
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CN201711250758.0A Active CN107960943B (zh) | 2016-06-28 | 2016-06-28 | 一种全自动城市建筑外墙高空玻璃擦窗机械手 |
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Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106346461A (zh) * | 2016-11-16 | 2017-01-25 | 西安科技大学 | 一种伺服控制3d绘图机器人 |
CN106737606A (zh) * | 2017-02-14 | 2017-05-31 | 华南理工大学 | 一种可旋转的并联式运动机构 |
CN108032282A (zh) * | 2017-08-30 | 2018-05-15 | 安徽工程大学 | 一种混联式移动机械手 |
CN109938652A (zh) * | 2019-03-15 | 2019-06-28 | 合肥托卡拉图科技有限公司 | 一种自适应调节的清扫机器人 |
CN110014417A (zh) * | 2019-04-15 | 2019-07-16 | 华北理工大学 | 基于3自由度并联工业机械手的机械搬运装置 |
CN111110101A (zh) * | 2020-03-02 | 2020-05-08 | 福州市仓山区伟超日用品有限公司 | 一种平面门窗清洗设备 |
CN113729560A (zh) * | 2021-09-16 | 2021-12-03 | 上海景吾智能科技有限公司 | 一种酒店清洁机器人 |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108423436A (zh) * | 2018-05-11 | 2018-08-21 | 信义汽车玻璃(深圳)有限公司 | 高压釜台车旋转装置 |
CN109466652B (zh) * | 2018-10-26 | 2021-02-09 | 华中科技大学 | 一种适用于双足机器人的多自由度躯干机构 |
Citations (7)
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 |
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 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN2681866Y (zh) * | 2003-12-30 | 2005-03-02 | 曹天真 | 擦玻璃机械手 |
CN2936105Y (zh) * | 2006-08-03 | 2007-08-22 | 上海普英特高层设备有限公司 | 擦窗机用多用途臂头装置 |
CN201157323Y (zh) * | 2008-03-07 | 2008-12-03 | 王福家 | 仿人手臂式智能擦窗机 |
CN201271202Y (zh) * | 2008-09-11 | 2009-07-15 | 北京凯博擦窗机械技术公司 | 擦窗机电动斜爬轨器 |
CN101703382B (zh) * | 2009-09-30 | 2011-11-02 | 博宇(无锡)科技有限公司 | 擦窗机的液压式举升机构 |
-
2016
- 2016-06-28 CN CN201711250758.0A patent/CN107960943B/zh active Active
- 2016-06-28 CN CN201610493783.0A patent/CN105965482B/zh active Active
Patent Citations (7)
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 |
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 (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106346461A (zh) * | 2016-11-16 | 2017-01-25 | 西安科技大学 | 一种伺服控制3d绘图机器人 |
CN106346461B (zh) * | 2016-11-16 | 2018-07-24 | 西安科技大学 | 一种伺服控制3d绘图机器人 |
CN106737606A (zh) * | 2017-02-14 | 2017-05-31 | 华南理工大学 | 一种可旋转的并联式运动机构 |
CN108032282A (zh) * | 2017-08-30 | 2018-05-15 | 安徽工程大学 | 一种混联式移动机械手 |
CN109938652A (zh) * | 2019-03-15 | 2019-06-28 | 合肥托卡拉图科技有限公司 | 一种自适应调节的清扫机器人 |
CN110014417A (zh) * | 2019-04-15 | 2019-07-16 | 华北理工大学 | 基于3自由度并联工业机械手的机械搬运装置 |
CN110014417B (zh) * | 2019-04-15 | 2023-10-03 | 华北理工大学 | 基于3自由度并联工业机械手的机械搬运装置 |
CN111110101A (zh) * | 2020-03-02 | 2020-05-08 | 福州市仓山区伟超日用品有限公司 | 一种平面门窗清洗设备 |
CN113729560A (zh) * | 2021-09-16 | 2021-12-03 | 上海景吾智能科技有限公司 | 一种酒店清洁机器人 |
Also Published As
Publication number | Publication date |
---|---|
CN107960943A (zh) | 2018-04-27 |
CN105965482B (zh) | 2018-05-15 |
CN107960943B (zh) | 2019-06-14 |
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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 |
Effective date of registration: 20180417 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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TR01 | Transfer of patent right |
Effective date of registration: 20180621 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: 20190711 Address after: Room 306, Building A, Building 3, Building 11, Courtyard 8, Liangshuihe Second Street, Daxing District, Beijing Patentee after: Beijing hi tech 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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Effective date of registration: 20191028 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, Daxing District, Beijing Patentee before: Beijing hi tech robot Co., Ltd. |