CN106725140A - High-altitude outside Wall Cleaning machine people - Google Patents
High-altitude outside Wall Cleaning machine people Download PDFInfo
- Publication number
- CN106725140A CN106725140A CN201611194695.7A CN201611194695A CN106725140A CN 106725140 A CN106725140 A CN 106725140A CN 201611194695 A CN201611194695 A CN 201611194695A CN 106725140 A CN106725140 A CN 106725140A
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- Prior art keywords
- cleaning
- outside wall
- robot
- arm
- machine people
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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
- 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
-
- 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
-
- 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
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4041—Roll shaped surface treating tools
-
- 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
-
- 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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
-
- 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
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
-
- 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
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of robot, and in particular to high-altitude outside Wall Cleaning machine people；The technical problem of solution is：There is provided a kind of on the exterior wall of high-altitude can carry out cleaning and may span across the robot of barrier；The technical scheme for using for：High-altitude outside Wall Cleaning machine people, including crawling device and cleaning device, the cleaning device is located at the side of crawling device, the crawling device includes robot fuselage, the robot fuselage is provided with four hip joints, each described hip joint is connected with pedipulator, and each described pedipulator bottom is connected with the vacuum cup for adsorbing glass；The cleaning device includes cleaning arm, cleaning pedestal, the first rotating seat and the second rotating seat, one end of the cleaning arm is connected by the first rotating seat with cleaning base runner, and the other end of the cleaning arm is movably arranged on robot fuselage by the second rotating seat；The present invention is applied to robot field.
Description
Technical field
The invention belongs to the technical field of robot, and in particular to high-altitude outside Wall Cleaning machine people.
Background technology
At present, high building stands in great numbers in city, and the scouring of high-altitude glass turns into a great problem, the cleaning way for primarily now using
It is the cleaning of artificial hanging basket or lifting platform cleaning, both modes labour is big, and danger coefficient is high.
Patent No.：201410013150.6 patent of invention discloses that a kind of " a kind of Pneumatic high-altitude cleans the windows machine
People ", the robot is using four bar structures as ground-engaging element, using compressed air as drive energy, using PLC or singlechip technology
It is controlled, realizes being climbed in the glass outer wall of vacant building high, while carrying out scrub-up to wall.But, the machine
Device people is not across barrier（Such as cross over wall）, the cleaning of glass under clear environment can only be realized；Using traditional
Four bar structures, move dumb；Cleaning module is simple, it is impossible to realize 360 degrees omnidirection cleaning function, and cleaning performance is not
It is good.
The content of the invention
The present invention overcomes the shortcomings of that prior art is present, and technical problem to be solved is：There is provided one kind can be in high-altitude
Cleaning is carried out on exterior wall and may span across the robot of barrier.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：High-altitude outside Wall Cleaning machine people, including climb
Luggage is put and cleaning device, and the cleaning device is located at the side of crawling device；
The crawling device includes robot fuselage, and the robot fuselage is provided with four hip joints, each described hip joint
Pedipulator is connected with, each described pedipulator bottom is connected with the vacuum cup for adsorbing exterior wall；The cleaning device includes
Cleaning arm, cleaning pedestal, the first rotating seat and the second rotating seat, one end of the cleaning arm is by the first rotating seat and cleaning base
Seat is flexibly connected, and the other end of the cleaning arm is movably arranged on robot fuselage by the second rotating seat.
Also include control device, the control device is arranged in robot fuselage, the control device using single-chip microcomputer,
FPGA or dsp chip are controlled to robot.
Also include device for visual identification, the device for visual identification is arranged on robot fuselage, the visual identity dress
The output end put is connected with the input of control device；The device for visual identification includes image capture module and image procossing mould
Block, described image acquisition module is electrically connected with image processing module.
Also include Pneumatic vacuum module, the Pneumatic vacuum module includes air compressor and vacuum generator, the sky
Air compressor is placed on ground, and the vacuum generator is arranged in robot fuselage, the output end of the air compressor with
The input of vacuum generator is connected, and the output end of the vacuum generator is connected with vacuum cup.
Each described pedipulator is including the thigh drive device for driving thigh motion in pedipulator, for driving machinery
The shank drive device and the distance control device for controlling the man-machine body of machine and glass surface distance of shank motion, described in leg
Thigh is connected by the first rotary shaft with the shank.
During the cleaning arm is included for driving the large arm drive device of large arm motion in cleaning arm, for driving cleaning arm
The forearm drive device of arm movements and the balance control device for controlling cleaning pedestal and glass surface holding level are described big
Arm is connected by the second rotary shaft with the forearm.
The thigh drive device, shank drive device, distance control device, large arm drive device, forearm drive device
Include electric cylinders with balance control device.
The vacuum cup is adsorbable in glass, or is adsorbed in the high-altitude such as ceramic tile, stone material exterior wall.
The cleaning pedestal includes atomizer, a free wool brush roll and two cleaning cotton brush rolls.
The reptile fashion of the robot is creeped or Dynamic gait is creeped for the quiet gait of four-footed.
The present invention has the advantages that compared with prior art：
1st, outside Wall Cleaning machine people in high-altitude of the present invention, including crawling device and cleaning device, the cleaning device are located at dress of creeping
The side put, the pedipulator in the present invention includes thigh drive device, shank drive device and distance control device, with tradition four
Bar structure is compared, and motion is flexible, may span across barrier, can effectively improve the cleaning efficiency of robot.
2nd, cleaning arm includes large arm drive device, forearm drive device and balance control device in the present invention, common to realize
The control in robot cleaner arm direction, cleaning pedestal includes atomizer, a free wool brush roll and two cleaning cotton brush rolls, machine
When device people walks, wiped by the relative movement cleaned between pedestal and glass, made action and cleaning integration, it is convenient fast
It is prompt.
Brief description of the drawings
The present invention will be further described in detail below in conjunction with the accompanying drawings；
Fig. 1 is structural representation of the invention；
Fig. 2 is the structural representation of cleaning arm of the present invention；
Fig. 3 is the structural representation of pedipulator of the present invention；
Fig. 4 is electrical block diagram of the invention；
In figure：1 is crawling device, and 11 is robot fuselage, and 111 is control device, and 112 is device for visual identification, and 1121 is figure
As acquisition module, 1122 is image processing module, and 113 is Pneumatic vacuum module, and 1131 is air compressor, and 1132 send out for vacuum
Raw device, 12 is hip joint, and 13 is pedipulator, and 131 is thigh drive device, and 132 is shank drive device, and 133 is distance controlling
Device, 134 is the first rotary shaft, and 14 is vacuum cup, and 2 is cleaning device, and 21 is cleaning arm, and 211 is large arm drive device,
212 is forearm drive device, and 213 is balance control device, and 214 is the second rotary shaft, and 22 is cleaning pedestal, and 23 is the first rotation
Seat, 24 is the second rotating seat.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below will be in the embodiment of the present invention
Technical scheme be clearly and completely described, it is clear that described embodiment is a part of embodiment of the invention, without
It is whole embodiments；Based on the embodiment in the present invention, those of ordinary skill in the art are not before creative work is made
The every other embodiment for being obtained is put, the scope of protection of the invention is belonged to.
The structural representation of the embodiment one that Fig. 1 to Fig. 3 is provided for outside Wall Cleaning machine people in high-altitude of the present invention, such as Fig. 1 is extremely
Shown in Fig. 3, high-altitude outside Wall Cleaning machine people, including crawling device 1 and cleaning device 2, the cleaning device 2 is positioned at crawling device
1 side；
The crawling device 1 includes robot fuselage 11, and the robot fuselage 11 is provided with four hip joints 12, described in each
Hip joint 12 is connected with pedipulator 13, and the pedipulator 13 can be rotated around hip joint 12, realize the upper and lower of robot
Walking；Each bottom of the pedipulator 13 is connected with the vacuum cup 14 for adsorbing the objects such as glass, ceramic tile；The sanitizer cartridge
Putting 2 includes cleaning arm 21, cleaning pedestal 22, the first rotating seat 23 and the second rotating seat 24, and one end of the cleaning arm 21 passes through
First rotating seat 23 is flexibly connected with cleaning pedestal 22, and adjustable speed motor is provided with first rotating seat 23, can be driven clear
Clean pedestal 22 carries out 360 degree of rotations around the first rotating seat 23, and the other end of the cleaning arm 21 is by the activity of the second rotating seat 24
It is arranged on robot fuselage 11, adjustable speed motor is provided with second rotating seat 24, cleanable arm 21 is around the second rotation
Seat 24 carries out flexible rotating, realizes the comprehensive cleaning of glass, and the cleaning pedestal 22 includes atomizer, a Clean Brush for cleaning
Roller and two cleaning cotton brush rolls.
Each described pedipulator 13 is included for driving the thigh drive device 131 of thigh motion in pedipulator 13, being used for
Drive shank motion in pedipulator 13 shank drive device 132 and for control the man-machine body 11 of machine and glass surface distance away from
From control device 133, the distance between the man-machine body of machine and glass surface can flexibly be controlled by distance control device 133, had
Function is crossed over beneficial to the barrier for realizing robot, the thigh is connected by the first rotary shaft 134 with the shank.
The cleaning arm 21 is including the large arm drive device 211 for driving large arm motion in cleaning arm 21, for driving
The forearm drive device 212 of arm movements and the balance for controlling cleaning pedestal 22 and glass surface holding level in cleaning arm 21
Control device 213, by balance control device 213 can make cleaning pedestal 22 all the time with glass keeping parallelism, to keep optimal
Cleaning state；The large arm is connected by the second rotary shaft 214 with the forearm.
The thigh drive device 131, shank drive device 132, distance control device 133, large arm drive device 211,
Forearm drive device 212 and balance control device 213 include electric cylinders.
The vacuum cup 14 can be not only adsorbed on glass, can also be adsorbed in ceramic tile, stone material etc. shaggy
On the exterior wall of high-altitude, robot across obstacle is contributed to realize the continuous wash of the high-altitude such as high-altitude glass, ceramic tile exterior wall.
The reptile fashion of the high-altitude glass-cleaning robot is creeped or Dynamic gait is creeped for the quiet gait of four-footed, specifically, quiet
In gait crawling process, there are three pedipulators 13 to be in holding state (if absorption is in glass in four pedipulators 13 of robot all the time
On glass), only one leg is in " lift-falling " state, it is assumed that robot RAT, right rear leg, left back leg, left front leg are pressed
It is 1,2,3,4 according to clockwise direction number consecutively, robot carries out quiet gait and creeps according to the mode of 1-3-2-4：Left front leg 1 is first
Lift, the support of other legs 2,3,4, after and then left front leg 1 falls, right rear leg 3 is lifted, the support of other legs 1,2,4, successively class
Push away, realize the walking of robot and cross over function.In Dynamic gait crawling process, there are two all the time in four pedipulators 13 of robot
Pedipulator 13 is in holding state（It is adsorbed on glass）, two other pedipulator 13 be in " lift-falling " state, equally
Assuming that robot RAT, right rear leg, left back leg, left front leg are 1,2,3,4 according to clockwise direction number consecutively, wherein 1,3
It is respectively a pair of legs with 2,4, robot creeps according to trot gait, when 1,3 legs are lifted, 2,4 legs are supported, and then 1,3 leg
Fall as supporting leg, 2,4 legs are lifted, the like, realize the walking of robot and cross over function.
The electrical block diagram of the embodiment two that Fig. 4 is provided for outside Wall Cleaning machine people in high-altitude of the present invention, such as Fig. 4 institutes
Show, on the basis of embodiment one, high-altitude glass-cleaning robot also includes control device 111, and the control device 111 is arranged on
In robot fuselage 11, the control device 111 carries out program composition by chips such as single-chip microcomputer, FPGA or DSP, and it is right to realize
The control of robot crawling device and cleaning device.
Also include device for visual identification 112, the device for visual identification 112 is arranged on robot fuselage 11, described to regard
Feel that the output end of identifying device 112 is connected with the input of control device 111；The device for visual identification 112 is adopted including image
Collection module 1121 and image processing module 1122, described image acquisition module 1121 are electrically connected with image processing module 1122, institute
State the IMAQ that image capture module 1121 realizes surface to be cleaned and surrounding environment using high-definition camera；At described image
Reason 1122 pairs of images for collecting of module are analyzed treatment, realize high-altitude exterior wall surface foul recognize, obstacle recognition and road
The visual identity functions such as footpath identification.
Also include Pneumatic vacuum module 113, the Pneumatic vacuum module 113 includes that air compressor 1131 and vacuum occur
Device 1132, the air compressor 1131 is placed on ground, and the vacuum generator 1132 is arranged in robot fuselage, described
The output end of air compressor 1131 is connected with the input of vacuum generator 1132, the output end of the vacuum generator 1132
It is connected with vacuum cup 14.
Specifically, image is carried out to glass surface and surrounding environment by the high-definition camera in image capture module 1121
Information gathering, and the image information that will be collected is sent to image processing module 1122；Then, image processing module 1122 pairs is adopted
The image information for collecting is analyzed treatment, obtains glass surface cleannes information, obstacle information and routing information, and will be upper
The information of stating is sent to control device 111, and control device 111 carries out path planning according to the information that device for visual identification 112 is provided,
The working method of control crawling device 1 and cleaning device 2, so as to realize the high-altitude outside Wall Cleaning function of robot.
Outside Wall Cleaning machine people in high-altitude of the present invention, the extremity body structures for imitating animal are designed, with traditional four bars structure phase
Than motion is flexible, may span across barrier；Cleaning arm can carry out flexible rotating around robot fuselage, realize the comprehensive of glass
Cleaning, it is practical；Vacuum cup can not only be adsorbed in glass, can also be adsorbed in the shaggy high-altitude exterior wall such as ceramic tile
On, contribute to robot across obstacle to realize the continuous wash of the high-altitude such as high-altitude glass, ceramic tile exterior wall；Device for visual identification can
To realize the visual identity function such as high-altitude glass and the identification of exterior wall surface foul, obstacle recognition and Path Recognition.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
Pipe has been described in detail with reference to foregoing embodiments to the present invention, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
1. high-altitude outside Wall Cleaning machine people, it is characterised in that：Including crawling device（1）And cleaning device（2）, the cleaning device
（2）Positioned at crawling device（1）Side；
The crawling device（1）Including robot fuselage（11）, the robot fuselage（11）It is provided with four hip joints（12）,
Each described hip joint（12）It is connected with pedipulator（13）, each described pedipulator（13）Bottom is connected with for adsorbing exterior wall
Vacuum cup（14）；The cleaning device（2）Including cleaning arm（21）, cleaning pedestal（22）, the first rotating seat（23）With second
Rotating seat（24）, the cleaning arm（21）One end pass through the first rotating seat（23）With cleaning pedestal（22）It is flexibly connected, it is described
Cleaning arm（21）The other end pass through the second rotating seat（24）It is movably arranged on robot fuselage（11）On.
2. outside Wall Cleaning machine people in high-altitude according to claim 1, it is characterised in that：Also include control device（111）, institute
State control device（111）It is arranged on robot fuselage（11）It is interior, the control device（111）Using single-chip microcomputer, FPGA or DSP cores
Piece is controlled to robot.
3. outside Wall Cleaning machine people in high-altitude according to claim 1, it is characterised in that：Also include device for visual identification
（112）, the device for visual identification（112）It is arranged on robot fuselage（11）On, the device for visual identification（112）Output
End and control device（111）Input be connected；The device for visual identification（112）Including image capture module（1121）And figure
As processing module（1122）, described image acquisition module（1121）With image processing module（1122）Electrical connection.
4. outside Wall Cleaning machine people in high-altitude according to claim 1, it is characterised in that：Also include Pneumatic vacuum module
（113）, the Pneumatic vacuum module（113）Including air compressor（1131）And vacuum generator（1132）, the air pressure
Contracting machine（1131）It is placed on ground, the vacuum generator（1132）It is arranged in robot fuselage, the air compressor
（1131）Output end and vacuum generator（1132）Input be connected, the vacuum generator（1132）Output end with it is true
Suction disk（14）It is connected.
5. outside Wall Cleaning machine people in high-altitude according to claim 1, it is characterised in that：Each described pedipulator（13）Including
For driving pedipulator（13）The thigh drive device of middle thigh motion（131）, for driving pedipulator（13）Middle shank motion
Shank drive device（132）With for controlling the man-machine body of machine（11）With the distance control device of glass surface distance（133）, institute
Thigh is stated by the first rotary shaft（134）It is connected with the shank.
6. outside Wall Cleaning machine people in high-altitude according to claim 1, it is characterised in that：The cleaning arm（21）Including being used for
Drive cleaning arm（21）The large arm drive device of middle large arm motion（211）, for driving cleaning arm（21）Middle arm movements it is small
Arm drive device（212）Pedestal is cleaned with for control（22）With the balance control device that glass surface keeps level（213）, it is described
Large arm passes through the second rotary shaft（214）It is connected with the forearm.
7. the high-altitude outside Wall Cleaning machine people according to claim 5 or 6, it is characterised in that：The thigh drive device
（131）, shank drive device（132）, distance control device（133）, large arm drive device（211）, forearm drive device（212）
And balance control device（213）Include electric cylinders.
8. outside Wall Cleaning machine people in high-altitude according to claim 1, it is characterised in that：The vacuum cup（14）It is adsorbable
In glass, or it is adsorbed in the high-altitude such as ceramic tile, stone material exterior wall.
9. outside Wall Cleaning machine people in high-altitude according to claim 1, it is characterised in that：The cleaning pedestal（22）Including mist
Change nozzle, a free wool brush roll and two cleaning cotton brush rolls.
10. outside Wall Cleaning machine people in high-altitude according to claim 1, it is characterised in that：The reptile fashion of the robot
For the quiet gait of four-footed is creeped or Dynamic gait is creeped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611194695.7A CN106725140A (en) | 2016-12-22 | 2016-12-22 | High-altitude outside Wall Cleaning machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611194695.7A CN106725140A (en) | 2016-12-22 | 2016-12-22 | High-altitude outside Wall Cleaning machine people |
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| CN106725140A true CN106725140A (en) | 2017-05-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611194695.7A Pending CN106725140A (en) | 2016-12-22 | 2016-12-22 | High-altitude outside Wall Cleaning machine people |
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| CN107157411A (en) * | 2017-07-12 | 2017-09-15 | 烟台海特林自动化科技有限公司 | Adsorb the cleaning robot of climbing mechanism and absorption glass curtain wall |
| CN107791250A (en) * | 2017-10-17 | 2018-03-13 | 上海霄卓机器人有限公司 | Work high above the ground robot system and its control method |
| CN107969981A (en) * | 2018-01-16 | 2018-05-01 | 苏州瀚昆机器人科技有限公司 | A kind of two-legged type climbing robot |
| CN108118908A (en) * | 2018-02-26 | 2018-06-05 | 攀枝花博特建材有限公司 | Glass outer wall automatic cleaning vehicle |
| CN108116523A (en) * | 2017-12-22 | 2018-06-05 | 华南理工大学广州学院 | Clean climbing robot |
| CN108143363A (en) * | 2018-01-05 | 2018-06-12 | 山东交通学院 | The clean method of high-altitude cleaning robot with class manual work pattern |
| CN108294703A (en) * | 2018-02-26 | 2018-07-20 | 张伟 | Outer wall cleaning robots people and its control method and device |
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| CN110397563A (en) * | 2019-08-01 | 2019-11-01 | 上海电气风电集团有限公司 | A kind of climbing robot for wind electricity blade operation |
| CN112718764A (en) * | 2020-12-25 | 2021-04-30 | 深圳市亿联智能有限公司 | Glass cleaning machine with video acquisition function |
| CN112790688A (en) * | 2021-02-06 | 2021-05-14 | 河海大学 | High-altitude glass cleaning six-foot wall-climbing robot |
| CN112842128A (en) * | 2021-01-27 | 2021-05-28 | 宁波工程学院 | High-altitude glass curtain wall climbing cleaning robot |
| CN114158991A (en) * | 2021-12-17 | 2022-03-11 | 杭州电子科技大学 | Wall surface cleaning robot and method for cleaning and moving wall surface by using same |
| CN114376437A (en) * | 2022-02-24 | 2022-04-22 | 湖南科技大学 | Glass outer wall cleaning robot |
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