CN106725071A - A kind of window wiping robot for civic building - Google Patents
A kind of window wiping robot for civic building Download PDFInfo
- Publication number
- CN106725071A CN106725071A CN201610962146.3A CN201610962146A CN106725071A CN 106725071 A CN106725071 A CN 106725071A CN 201610962146 A CN201610962146 A CN 201610962146A CN 106725071 A CN106725071 A CN 106725071A
- Authority
- CN
- China
- Prior art keywords
- guide rod
- pin bushing
- guide
- rotating shaft
- guide pin
- 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.)
- Pending
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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
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a kind of window wiping robot for civic building, including frame, the frame is square, the frame includes four columns being located on square four angles and the first guide rod being connected between adjacent upright posts, second guide rod, 3rd guide rod, 4th guide rod, first guide rod and the 3rd guide rod be arranged in parallel, second guide rod and the 4th guide rod be arranged in parallel, slided on first guide rod and be arranged with the first guide pin bushing, the bottom face of first guide pin bushing is provided with wiper and the first vacuum cup, the side of first guide pin bushing is provided with the first slide bar, first slide bar is set and perpendicular to the first guide rod towards the 3rd guide rod, the frame positioned at the first guide rod top at be provided with the crossbeam parallel with the first guide rod, the crossbeam middle part is provided with vertical beam towards frame central direction, the vertical beam is provided with first rotating shaft.The present invention drives gantry motion, so that it may realize motion of the robot in frame by vacuum cup alternating sorbent by runner, simple efficient, good stability.
Description
Technical field
The present invention relates to robotics, a kind of window wiping robot for civic building is particularly related to.
Background technology
Architectural windowpane has inside and outside two faces, and windowpane outwardly is not easy to scrub very much, and exists
The risk of work high above the ground, is badly in need of a kind of robot of research and development and replaces manual work.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of window wiping robot for civic building, existing to solve
The big technical problem of clean glass window difficulty in technology.
In order to solve the above technical problems, embodiments of the invention provide a kind of window wiping robot for civic building, bag
Including rack, the frame is square, and the frame includes four columns being located on square four angles and is connected to phase
The first guide rod, the second guide rod between adjacent column, the 3rd guide rod, the 4th guide rod, first guide rod and the 3rd guide rod is parallel sets
Put, second guide rod and the 4th guide rod be arranged in parallel, slided on first guide rod and be arranged with the first guide pin bushing, described first leads
The bottom face of set is provided with wiper and the first vacuum cup, and the side of first guide pin bushing is provided with the first slide bar, first slide bar
Set towards the 3rd guide rod and perpendicular to the first guide rod, the frame is provided with and the first guide rod phase at the first guide rod top
Parallel crossbeam, the crossbeam middle part is provided with vertical beam towards frame central direction, and the vertical beam is provided with first rotating shaft, described first
Rotating shaft is overlapped with frame central, and the first follower lever and the second follower lever are sequentially provided with the first rotating shaft, and described first is driven
The angle of bar and the second follower lever is 90 °, and first slide bar is provided with the first sliding sleeve, and is provided with the top of first sliding sleeve
Two rotating shafts, one end of first follower lever is provided with first set hole, and the first set hole is connected in the second rotating shaft, described perpendicular
Runner is additionally provided with beam, the runner is driven by motor, and the runner is provided with the 3rd rotating shaft near edge, the crossbeam
Middle part is provided with driving lever, and the first bar-shaped trough is provided with the middle part of the driving lever, and the 3rd rotating shaft is installed in the first bar-shaped trough,
First follower lever is provided with the second bar-shaped trough, and second bar-shaped trough is located at the medium position and first set of the first follower lever
Between hole, the outer end of the driving lever is provided with the 4th rotating shaft, and the 4th rotating shaft is installed in the second bar-shaped trough, and described first
The other end of follower lever is provided with the 3rd set of hole, is slided on the 3rd guide rod and is arranged with the 3rd guide pin bushing, the bottom of the 3rd guide pin bushing
End face is provided with wiper and the second vacuum cup, and the side of the 3rd guide pin bushing is provided with the 3rd slide bar, and the 3rd slide bar is towards the
One guide rod is set and perpendicular to the 3rd guide rod, and the 3rd slide bar is provided with the 3rd sliding sleeve, and the 3rd sliding sleeve is provided with the 5th
Rotating shaft, the 3rd set of hole is installed in the 5th rotating shaft；Slided on second guide rod and be arranged with the second guide pin bushing, described second leads
The bottom face of set is provided with wiper, and the side of second guide pin bushing is provided with the second slide bar, and second slide bar sets towards the 4th guide rod
Put and perpendicular to the second guide rod, second slide bar is provided with the second sliding sleeve, and second sliding sleeve is provided with the 6th rotating shaft, described
Second follower lever is respectively arranged at two ends with second set of hole and the 4th set of hole, and second set of hole be installed in the 6th rotating shaft；It is described
Slided on 4th guide rod and be arranged with the 4th guide pin bushing, the bottom face of the 4th guide pin bushing is provided with wiper, the side of the 4th guide pin bushing
The 4th slide bar is provided with, the 4th slide bar is set and perpendicular to the 4th guide rod towards the second guide rod, and the 4th slide bar is provided with
4th sliding sleeve, the 4th sliding sleeve is provided with the 7th rotating shaft, and the 4th set of hole is installed in the 7th rotating shaft；Described first leads
Set, the second guide pin bushing, the 3rd guide pin bushing, it is provided with slide guide wheel at the outer end of the 4th guide pin bushing, is provided with groove above each described guide pin bushing, institute
State and be provided with groove slide guide bar, slided on the slide guide bar and be arranged with eighth-turn axle, be rotatably connected in the rotary shaft described
Slide guide wheel, is arranged with spring on the slide guide bar, the spring one end is resisted against on eighth-turn axle, and the other end is resisted against groove
On madial wall, the outer rim of the slide guide wheel exceeds the outer side surface of each guide pin bushing so that the outer rim and glass frame of slide guide wheel
It is in contact.
Wherein, first vacuum cup and the second vacuum cup alternate run are driving frame to be moved on windowpane.
Wherein, the driving lever is made up of stainless steel material.
Above-mentioned technical proposal of the invention has the beneficial effect that：
In such scheme, the present invention is connected and in 90 ° of designs due to the first follower lever and the second follower lever, therefore when first
When follower lever drives the first guide pin bushing and the 3rd guide pin bushing to be moved back and forth on the first guide rod and the 3rd guide rod respectively, the second follower lever
The second guide pin bushing and the 4th guide pin bushing can be driven to be moved back and forth on the second guide rod and the 4th guide rod respectively；Therefore four wipers are only by one
Individual runner drives, and can carry out cleaning, efficiency high to glass surface simultaneously；By vacuum cup alternating sorbent, driven by runner
Gantry motion, so that it may realize motion of the robot in frame, simple efficient, good stability.
Brief description of the drawings
Fig. 1 is top view of the invention.
Fig. 2 is stereogram of the invention.
Fig. 3 is stereogram of the invention two.
Fig. 4 is the structure chart of guide pin bushing of the invention.
Specific embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
As shown in Figures 1 to 4, the embodiment of the present invention provides a kind of window wiping robot for civic building, including frame,
The frame is square, and the frame includes four columns 1 being located on square four angles and is connected to adjacent upright posts 1
Between the first guide rod 2, the second guide rod 3, the 3rd guide rod 4, the 4th guide rod 5, four guide rods are isometric, are respectively foursquare one side,
The guide rod 4 of first guide rod 2 and the 3rd be arranged in parallel, and the guide rod 5 of second guide rod 3 and the 4th be arranged in parallel, and the first guide rod 2 hangs down
Directly in the second guide rod 3.Slided on first guide rod 2 and be arranged with the first guide pin bushing 21, the bottom face of first guide pin bushing 21 is provided with
The vacuum cup 61 of wiper 7 and first, the side of first guide pin bushing 21 is provided with the first slide bar 22, and first slide bar 22 is towards
Three guide rods 4 are set and perpendicular to the first guide rod 2, and being provided with the top of the first guide rod 2 for the frame is equal with the first guide rod 2
Capable crossbeam 8, crossbeam 8 is built on stilts to be set, therefore will not be interferenceed with the motion of the first guide pin bushing 21, towards frame in the middle part of the crossbeam 8
Center position is provided with vertical beam 9, and the vertical beam 9 is provided with first rotating shaft 10, first rotating shaft 10 and the perpendicular setting of vertical beam 9, first
Rotating shaft 10 can be rotated on vertical beam 9, can be connected using bearing, and the first rotating shaft 10 overlaps with frame central point；Described first
The first follower lever 11 and the second follower lever 12 are sequentially provided with rotating shaft 10, the first follower lever 11 and the second follower lever 12 are isometric, and
The axis of first follower lever 11 and the respective axis of the second follower lever 12 with first rotating shaft 10 coincides, the first follower lever 11
It is spaced apart with the second follower lever 12 to be fixed in first rotating shaft 10, the follower lever 12 of first follower lever 11 and second
Angle is 90 °.
First slide bar 22 is provided with the first sliding sleeve 23, and the first sliding sleeve 23 can be on the first slide bar 22 after being driven by external force
Slide, the top of first sliding sleeve 23 is provided with the second rotating shaft 24, and the second rotating shaft 24 can be in the rotary-top of the first sliding sleeve 23, example
Such as use bearing connected mode；One end of first follower lever 11 is provided with first set hole 111, and the first set hole 111 connects
It is connected in the second rotating shaft 24, first set hole 111 can mutually be fixedly connected with the second rotating shaft 24 in the present embodiment；On the vertical beam 9 also
Runner 13 is provided with, the runner 13 drives by the way that motor is (not shown), and the runner 13 is provided with the 3rd rotating shaft 14 near edge,
3rd rotating shaft 14 is located on the eccentric position of runner 13, and the 3rd rotating shaft 14 can be rotated on runner 13, for example with bearing connection
Mode；The middle part of the crossbeam 8 is provided with driving lever 15, and one end of driving lever 15 is articulated with the medium position of crossbeam 8；The master
The middle part of lever 15 is provided with the first bar-shaped trough 151, and the 3rd rotating shaft 14 is installed in the first bar-shaped trough 151, the 3rd rotating shaft 14
The way of contact with the first bar-shaped trough 151 is rolling friction.
First follower lever 11 is provided with the second bar-shaped trough 113, and second bar-shaped trough 113 is located at the first follower lever 11
Medium position and first set hole 111 between, the outer end of the driving lever 15 is provided with the 4th rotating shaft 152, and the 4th rotating shaft 152 can
Rotated on the outer end of driving lever 15, for example with bearing connected mode；4th rotating shaft 152 is installed on the second bar-shaped trough
In 113, the 4th rotating shaft 152 and the way of contact of the second bar-shaped trough 113 are rolling friction, the other end of first follower lever 11
The 3rd set of hole 112 is provided with, is slided on the 3rd guide rod 4 and is arranged with the 3rd guide pin bushing 41, the bottom face of the 3rd guide pin bushing 41 sets
The side for having the vacuum cup 62 of wiper 7 and second, the 3rd guide pin bushing 41 is provided with the 3rd slide bar 42, the direction of the 3rd slide bar 42
First guide rod 2 is set and perpendicular to the 3rd guide rod 4, and the 3rd slide bar 42 is provided with the 3rd sliding sleeve 43, the 3rd sliding sleeve 43
The 5th rotating shaft 44 is provided with, the 5th rotating shaft 44 can be in the rotary-top of the 3rd sliding sleeve 43, for example with bearing connected mode；It is described
3rd set of hole 112 is installed in the 5th rotating shaft 44, and the 3rd set of hole 112 can mutually be fixedly connected with the 5th rotating shaft 44 in the present embodiment.
Symmetrical centered on first guide pin bushing 21, the first slide bar 22 and the 3rd guide pin bushing 41, the 3rd slide bar 42, symmetrical centre point is located at first rotating shaft
On 10 place axis.
Slided on second guide rod 3 and be arranged with the second guide pin bushing 31, the bottom face of second guide pin bushing 31 is provided with wiper 7,
The side of second guide pin bushing 31 is provided with the second slide bar 32, and second slide bar 32 is set and perpendicular to towards the 4th guide rod 5
Two guide rods 3, second slide bar 32 is provided with the second sliding sleeve 33, and second sliding sleeve 33 is provided with the 6th rotating shaft 34, the 6th turn
Axle 34 can be in the rotary-top of the second sliding sleeve 33, for example with bearing connected mode；The two ends difference of second follower lever 12
Second set of hole 121 and the 4th set of hole 122 are provided with, second set of hole 121 is installed in the 6th rotating shaft 34, second in the present embodiment
Set hole 121 can mutually be fixedly connected with the 6th rotating shaft 34；Slided on 4th guide rod 5 and be arranged with the 4th guide pin bushing 51, the described 4th
The bottom face of guide pin bushing 51 is provided with wiper 7, and the side of the 4th guide pin bushing 51 is provided with the 4th slide bar 52, the direction of the 4th slide bar 52
Second guide rod 3 is set and perpendicular to the 4th guide rod 5, and the 4th slide bar 52 is provided with the 4th sliding sleeve 53, the 4th sliding sleeve 53
The 7th rotating shaft 54 is provided with, the 7th rotating shaft 54 can be in the rotary-top of the 4th sliding sleeve 53, for example with bearing connected mode；It is described
4th set of hole 122 is installed in the 7th rotating shaft 54, and the 4th set of hole 122 can mutually be fixedly connected with the 7th rotating shaft 54 in the present embodiment.
Symmetrical centered on second guide pin bushing 31, the second slide bar 32 and the 4th guide pin bushing 51, the 4th slide bar 52, symmetrical centre point is located at first rotating shaft
On 10 place axis.
First guide pin bushing 21, the second guide pin bushing 31, the 3rd guide pin bushing 41, it is provided with slide guide wheel 16 at the outer end of the 4th guide pin bushing 51,
It is provided with above each described guide pin bushing in groove 17, the groove 17 and is provided with slide guide bar 18, is slided on the slide guide bar 18 and be arranged
There is eighth-turn axle 19, the slide guide wheel 16 be rotatably connected in the rotary shaft 19, spring 20 is arranged with the slide guide bar 18,
The one end of the spring 20 is resisted against on eighth-turn axle 19, and the other end is resisted against on the madial wall of groove 17, the slide guide wheel 16
Outer rim exceeds the outer side surface of each guide pin bushing so that the outer rim of slide guide wheel 16 is in contact with glass frame.Fig. 4 is only schematically illustrated
The structure of the first guide pin bushing 21, the structure of other each guide pin bushings is also in this way, repeat no more.
Operation principle of the invention and process are as follows：During original state, frame is placed in parallel with glass planar, with wiping
, facing to glass, by the first vacuum cup and the absorption of the second vacuum cup on glass, after start-up operation, first is true for the one of cloth
Suction disk is not adsorbed, and the second vacuum cup continues to adsorb, and runner is rotated, and drives the 3rd rotating shaft on runner to move in a circle, the
Three rotating shafts drive driving lever swing back and forth, driving lever with crossbeam center as swing pivot, the 4th rotating shaft on driving lever movable end
Drive the first follower lever to move, the first follower lever is swung back and forth by swing pivot of frame central, the first follower lever is by setting
The second rotating shaft in end drives the first guide pin bushing that linear reciprocating motion is done on the first guide rod, and the wiper on the first guide pin bushing can be used to
Clean glass window, when the first guide pin bushing moves to the other end from the first guide rod, the absorption of the first vacuum cup, the second vacuum cup
Do not adsorb, the first vacuum cup and the second vacuum cup alternating sorbent can be such that frame moves on the glass surface；Due to first from
Lever is connected and in 90 ° of designs with the second follower lever, therefore when the first follower lever drives the first guide pin bushing and the 3rd guide pin bushing to exist respectively
When being moved back and forth on the first guide rod and the 3rd guide rod, the second follower lever can also drive the second guide pin bushing and the 4th guide pin bushing respectively second
Moved back and forth on guide rod and the 4th guide rod.Therefore four wipers are only driven by a runner, and glass surface can be carried out clearly simultaneously
Clean work, efficiency high；By vacuum cup alternating sorbent, gantry motion is driven by runner, so that it may realize robot on windowpane
Motion, it is simple efficiently, good stability.
Slide guide wheel can touch glass frame in use, if subjected to resistance, slide guide wheel can led by eighth-turn axle
Slip on slide bar, so that compression spring, plays a part of damping, and cause guide pin bushing in the motion at glass frame more
It is smooth.
Wherein, the driving lever 15 is made up of stainless steel material, and it is difficult to get rusty, long service life.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications
Should be regarded as protection scope of the present invention.
Claims (3)
1. a kind of window wiping robot for civic building, it is characterised in that including frame, the frame is square, described
Frame include four columns being located on square four angles and be connected between adjacent upright posts the first guide rod, second lead
Bar, the 3rd guide rod, the 4th guide rod, first guide rod and the 3rd guide rod be arranged in parallel, and second guide rod and the 4th guide rod are flat
Row is set, and is slided on first guide rod and is arranged with the first guide pin bushing, and the bottom face of first guide pin bushing is provided with wiper and first true
Suction disk, the side of first guide pin bushing is provided with the first slide bar, and first slide bar is set and perpendicular to the towards the 3rd guide rod
One guide rod, the frame is provided with the crossbeam parallel with the first guide rod at the first guide rod top, the crossbeam middle part court
Frame central direction is provided with vertical beam, and the vertical beam is provided with first rotating shaft, and the first rotating shaft overlaps with frame central, and described
It is sequentially provided with the first follower lever and the second follower lever in one rotating shaft, the angle of first follower lever and the second follower lever is 90 °,
First slide bar is provided with the first sliding sleeve, and the second rotating shaft, the one of first follower lever are provided with the top of first sliding sleeve
End is provided with first set hole, and the first set hole is connected in the second rotating shaft, and runner is additionally provided with the vertical beam, and the runner leads to
Motor driving is crossed, the runner is provided with the 3rd rotating shaft, driving lever, the driving lever are provided with the middle part of the crossbeam near edge
Middle part be provided with the first bar-shaped trough, the 3rd rotating shaft is installed in the first bar-shaped trough, and first follower lever is provided with second
Bar-shaped trough, second bar-shaped trough is located between the medium position of the first follower lever and first set hole, the outer end of the driving lever
Portion is provided with the 4th rotating shaft, and the 4th rotating shaft is installed in the second bar-shaped trough, and the other end of first follower lever is provided with the 3rd
Set hole, slides on the 3rd guide rod and is arranged with the 3rd guide pin bushing, and the bottom face of the 3rd guide pin bushing is provided with wiper and the second vacuum
Sucker, the side of the 3rd guide pin bushing is provided with the 3rd slide bar, and the 3rd slide bar is set and perpendicular to the 3rd towards the first guide rod
Guide rod, the 3rd slide bar is provided with the 3rd sliding sleeve, and the 3rd sliding sleeve is provided with the 5th rotating shaft, and the 3rd set of hole is installed on
In 5th rotating shaft；Slided on second guide rod and be arranged with the second guide pin bushing, the bottom face of second guide pin bushing is provided with wiper, described
The side of the second guide pin bushing is provided with the second slide bar, and second slide bar is set and perpendicular to the second guide rod towards the 4th guide rod, described
Second slide bar is provided with the second sliding sleeve, and second sliding sleeve is provided with the 6th rotating shaft, and the two ends of second follower lever set respectively
There are second set of hole and the 4th set of hole, second set of hole is installed in the 6th rotating shaft；Slided on 4th guide rod and be arranged with the
Four guide pin bushings, the bottom face of the 4th guide pin bushing is provided with wiper, and the side of the 4th guide pin bushing is provided with the 4th slide bar, and the described 4th slides
Bar is set and perpendicular to the 4th guide rod towards the second guide rod, and the 4th slide bar is provided with the 4th sliding sleeve, on the 4th sliding sleeve
The 7th rotating shaft is provided with, the 4th set of hole is installed in the 7th rotating shaft；First guide pin bushing, the second guide pin bushing, the 3rd guide pin bushing, the 4th
Slide guide wheel is provided with the outer end of guide pin bushing, groove is provided with above each described guide pin bushing, slide guide bar is provided with the groove, it is described to lead
Slided on slide bar and be arranged with eighth-turn axle, the slide guide wheel is rotatably connected in the rotary shaft, be arranged with the slide guide bar
Spring, the spring one end is resisted against on eighth-turn axle, and the other end is resisted against on the madial wall of groove, the outer rim of the slide guide wheel
Outer side surface beyond guide pin bushing each described is so that the outer rim of slide guide wheel is in contact with glass frame.
2. the window wiping robot for civic building according to claim 1, it is characterised in that first vacuum cup
With the second vacuum cup alternate run driving frame to be moved on windowpane.
3. driving lever according to claim 2, it is characterised in that the driving lever is made up of stainless steel material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610962146.3A CN106725071A (en) | 2016-11-04 | 2016-11-04 | A kind of window wiping robot for civic building |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610962146.3A CN106725071A (en) | 2016-11-04 | 2016-11-04 | A kind of window wiping robot for civic building |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106725071A true CN106725071A (en) | 2017-05-31 |
Family
ID=58972447
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610962146.3A Pending CN106725071A (en) | 2016-11-04 | 2016-11-04 | A kind of window wiping robot for civic building |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106725071A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109662641A (en) * | 2018-12-27 | 2019-04-23 | 邯郸市肥乡春厂电子科技有限公司 | It is a kind of for cleaning the device of glass curtain wall |
| CN113665699A (en) * | 2021-10-10 | 2021-11-19 | 靳文坤 | Chassis motion control method of wall-climbing robot |
| CN113665700A (en) * | 2021-10-10 | 2021-11-19 | 靳文坤 | Chassis of wall-climbing robot |
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| KR20110125919A (en) * | 2010-05-14 | 2011-11-22 | 고려대학교 산학협력단 | Outer wall climbing robot for maintenance of building outer wall |
| CN102987981A (en) * | 2012-10-31 | 2013-03-27 | 博宇(无锡)科技有限公司 | Hydraulic lifting platform for window cleaning machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1997033509A1 (en) * | 1996-03-13 | 1997-09-18 | Fidor Vermögensverwaltung Gmbh & Co. Prototypenentwicklungs Kg | Automatic cleaning device with moveable support legs |
| CN101194811A (en) * | 2006-12-06 | 2008-06-11 | 张亮 | Device for cleaning upper air outdoor glass |
| CN201182571Y (en) * | 2007-08-31 | 2009-01-21 | 聂刚 | Exterior wall cleaning equipment of highrise building |
| KR20110125919A (en) * | 2010-05-14 | 2011-11-22 | 고려대학교 산학협력단 | Outer wall climbing robot for maintenance of building outer wall |
| CN201814216U (en) * | 2010-10-14 | 2011-05-04 | 李永福 | Underpan of baby electric cradle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109662641A (en) * | 2018-12-27 | 2019-04-23 | 邯郸市肥乡春厂电子科技有限公司 | It is a kind of for cleaning the device of glass curtain wall |
| CN113665699A (en) * | 2021-10-10 | 2021-11-19 | 靳文坤 | Chassis motion control method of wall-climbing robot |
| CN113665700A (en) * | 2021-10-10 | 2021-11-19 | 靳文坤 | Chassis of wall-climbing robot |
| CN113665699B (en) * | 2021-10-10 | 2022-12-13 | 广西九翊云动智能科技有限公司 | Chassis motion control method of wall-climbing robot |
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Application publication date: 20170531 |