CN106798528A - Domestic stair all-around mobile clean robot - Google Patents

Domestic stair all-around mobile clean robot Download PDF

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Publication number
CN106798528A
CN106798528A CN201710077291.8A CN201710077291A CN106798528A CN 106798528 A CN106798528 A CN 106798528A CN 201710077291 A CN201710077291 A CN 201710077291A CN 106798528 A CN106798528 A CN 106798528A
Authority
CN
China
Prior art keywords
lifting
screw mandrel
slide block
guide rail
hitch
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
Application number
CN201710077291.8A
Other languages
Chinese (zh)
Other versions
CN106798528B (en
Inventor
刘振鹏
王冬梅
戴仁俊
赵文哲
陈林
赵俊奇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Dianji University
Original Assignee
Shanghai Dianji University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shanghai Dianji University filed Critical Shanghai Dianji University
Priority to CN201710077291.8A priority Critical patent/CN106798528B/en
Publication of CN106798528A publication Critical patent/CN106798528A/en
Application granted granted Critical
Publication of CN106798528B publication Critical patent/CN106798528B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • 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
    • A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
    • A47L11/4058—Movement of the tools or the like perpendicular to the cleaning surface for adjusting the height of the tool
    • 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
    • A47L11/4066—Propulsion of the whole machine
    • 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
    • A47L11/4072—Arrangement of castors or wheels
    • 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
    • A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
    • B66F3/08—Devices, e.g. jacks, adapted for uninterrupted lifting of loads screw operated
    • 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
    • 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)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to domestic stair all-around mobile clean robot, including hitch, it is arranged at the lifting mechanism of the hitch lower end, it is arranged at the slide block mechanism of the hitch lower end, it is arranged at the cleaning dolly of the slide block mechanism lower end, the lifting mechanism includes pedestal, it is arranged at the pedestal upper end and the lifting frame being bolted with pedestal, it is respectively arranged at the gear engagement mechanism inside the lifting frame top and bottom, it is arranged in the first screw mandrel inside the lifting frame, it is arranged at the screw mandrel side and the lifting motor being connected with the first screw mandrel；The slide block mechanism include guide rail, be arranged in the guide rail interior the second screw mandrel, be arranged at the guide rail lower end and be connected with guide rail sliding block, be arranged at the second screw mandrel side and the stepper motor being connected with the second screw mandrel.

Description

Domestic stair all-around mobile clean robot
Technical field
The present invention relates to cleaning machine field, more particularly to a kind of domestic stair all-around mobile clean robot.
Background technology
Robot technology has been goed deep into our production and living with household cleaning machine people's technology, has been developed that climb now The robot of stair climbing, technology is ripe, and the stair clean robot developed can smoothly complete the cleaning to stair, family expenses Clean robot comes into the life of people, but the compound stair clean robot of family is little at present, but existing cleaning Robot has following defect：(1) the stair machine human body product developed now is excessive, is not suitable for family expenses；(2) existing robot Stair turning can be caused damage during upstairs；(3) existing robot can not complete the cleaning to the compound stair of family, Especially rotary compound stair；(4) not specifically designed for the stair clean robot of home interior；
Therefore, in order to solve disadvantages described above, it is necessary to a kind of domestic stair all-around mobile clean robot solves these Problem.
The content of the invention
It is multiple for automated cleaning family it is an object of the invention to provide a kind of domestic stair all-around mobile clean robot Formula stair, the amount of lightening one's labor improves life convenience.
The present invention is for the solution technical scheme that is used of its technical problem,
Domestic stair all-around mobile clean robot, including hitch, it is arranged at the act of the hitch lower end Mechanism is risen, the slide block mechanism of the hitch lower end is arranged at, is arranged at the cleaning dolly of the slide block mechanism lower end：
The lifting mechanism include pedestal, be arranged at the pedestal upper end and be bolted with pedestal lifting frame, It is respectively arranged at the gear engagement mechanism inside the lifting frame top and bottom, first be arranged in inside the lifting frame Bar, it is arranged at the screw mandrel side and the lifting motor being connected with the first screw mandrel；Lifting motor is by driving the first screw mandrel Operate to adjust the height of lifting frame, so as to realize the height regulation of whole lifting mechanism；
The slide block mechanism includes guide rail, is arranged in the second screw mandrel of the guide rail interior, is arranged at the guide rail lower end And be connected with guide rail sliding block, be arranged at the second screw mandrel side and the stepper motor being connected with the second screw mandrel；Second Screw mandrel is arranged in guide rail interior, and second screw mandrel one end is connected with sliding block, by the operating of the screw mandrel of driving stepper motor second, So as to realize motion of the sliding block on guide rail；
The cleaning dolly includes car body, is arranged at the Mecanum wheel of the vehicle body side, is arranged at the car body side The identifying device sensor in face, the brush for being arranged at the vehicle bottom, the suction port for being arranged at the vehicle bottom；Cleaning is small Car is internally provided with the control system for overall control, and cleaning dolly is arranged at slide block mechanism lower end, and cleaning dolly upper end It is bolted to connection with the sliding block lower end inside slide block mechanism, due to the operating of slide block mechanism, so as to drive cleaning dolly Position translation, cleaning dolly realizes cleaning any direction of the dolly on stair face by the Mecanum wheel of vehicle body side Plane motion, Mecanum wheel completes to drive by the interior four coding motors for setting, and identifying device sensor is arranged at clearly The four direction all around of clean dolly, it is ensured that car safety works and do not fall or do not collide with；
Further, the hitch is connected with lifting mechanism and slide block mechanism respectively, the lifting mechanism quantity It is two, the side position of slide block mechanism two, and two lifting mechanism keeping parallelisms is not arranged at, the lifting frame of the lifting mechanism Upper surface is connected by bolt with hitch, and the guide rail of the slide block mechanism is connected by bolt with hitch；
Further, the lifting frame is furcated mechanism；
Further, the brush quantity is four, is respectively arranged at vehicle bottom marginal position, and the suction port is " ten " font so that the rubbish swept into by brush can easily be inhaled into suction port, and pick-up performance is more preferable；
It is an advantage of the current invention that
Domestic stair all-around mobile clean robot is used for the cleaning of stair in people's life, is conducive to being saved for people Substantial amounts of time and energy, have filled up the deficiency and defect of existing clean robot, with very strong novelty and economic valency Value.
Brief description of the drawings
Fig. 1 is the structural representation of domestic stair all-around mobile clean robot proposed by the present invention；
Fig. 2 is the structural representation of the lifting mechanism of domestic stair all-around mobile clean robot proposed by the present invention；
Fig. 3 is the structural representation that domestic stair all-around mobile clean robot proposed by the present invention cleans dolly；
Fig. 4 is that domestic stair all-around mobile clean robot proposed by the present invention climbs building schematic diagram；
Fig. 5 is that domestic stair all-around mobile clean robot proposed by the present invention climbs building schematic diagram；
Fig. 6 is that domestic stair all-around mobile clean robot proposed by the present invention climbs building schematic diagram；
Wherein：1- hitches；2- lifting mechanisms；21- pedestals；22- lifting frames；23- gear engagement mechanisms；24- first Screw mandrel；25- lifting motors；3- slide block mechanisms；31- guide rails；The screw mandrels of 32- second；33- sliding blocks；34- stepper motors；4- cleanings are small Car；41- car bodies；42- Mecanum wheels；43- identifying device sensors；44- brushes；45- suction ports.
Specific embodiment
In order that technological means, creation characteristic, reached purpose and effect that the present invention is realized are easy to understand, tie below Diagram and specific embodiment are closed, the present invention is expanded on further.
As shown in Figures 1 to 6, domestic stair all-around mobile clean robot proposed by the present invention, including hitch 1st, the lifting mechanism 2 of the hitch lower end is arranged at, the slide block mechanism 3 of the hitch lower end is arranged at, is arranged at The cleaning dolly 4 of the slide block mechanism lower end：
The lifting mechanism includes pedestal 21, is arranged at the pedestal upper end and the lifting frame being bolted with pedestal 22nd, it is respectively arranged at the gear engagement mechanism 23 inside the lifting frame top and bottom, is arranged in inside the lifting frame First screw mandrel 24, it is arranged at the screw mandrel side and the lifting motor 25 being connected with the first screw mandrel；Lifting motor is by driving The operating of the first screw mandrel adjusts the height of lifting frame, so as to realize the height regulation of whole lifting mechanism；
The slide block mechanism includes guide rail 31, is arranged in the second screw mandrel 32 of the guide rail interior, is arranged at the guide rail Lower end and be connected with guide rail sliding block 33, be arranged at the second screw mandrel side and the stepper motor being connected with the second screw mandrel 34；Second screw mandrel is arranged in guide rail interior, and second screw mandrel one end is connected with sliding block, by the screw mandrel of driving stepper motor second Operating, so as to realize motion of the sliding block on guide rail；
The cleaning dolly includes car body 41, is arranged at the Mecanum wheel 42 of the vehicle body side, is arranged at the car The identifying device sensor 43 of body side surface, the brush 44 for being arranged at the vehicle bottom, the dust suction for being arranged at the vehicle bottom Mouth 45；Cleaning car interior is provided with the control system for overall control, and cleaning dolly is arranged at slide block mechanism lower end, and clearly Clean dolly upper end is bolted to connection with the sliding block lower end inside slide block mechanism, due to the operating of slide block mechanism, so that band The position translation of dynamic cleaning dolly, cleaning dolly realizes cleaning dolly on stair face by the Mecanum wheel of vehicle body side Any direction plane motion, Mecanum wheel completed by the interior four coding motors for setting drive, identifying device sensing Device is arranged at the four direction all around of cleaning dolly, it is ensured that car safety works and do not fall or do not collide with；
Further, the hitch is connected with lifting mechanism and slide block mechanism respectively, the lifting mechanism quantity It is two, the side position of slide block mechanism two, and two lifting mechanism keeping parallelisms is not arranged at, the lifting frame of the lifting mechanism Upper surface is connected by bolt with hitch, and the guide rail of the slide block mechanism is connected by bolt with hitch；
Further, the lifting frame is furcated mechanism；
Further, the brush quantity is four, is respectively arranged at vehicle bottom marginal position, and the suction port is " ten " font so that the rubbish swept into by brush can easily be inhaled into suction port, and pick-up performance is more preferable；
General principle of the invention, principal character and advantages of the present invention has been shown and described above.The technology of the industry Personnel it should be appreciated that the present invention is not limited to the above embodiments, simply explanation described in above-described embodiment and specification this The principle of invention, various changes and modifications of the present invention are possible without departing from the spirit and scope of the present invention, these changes Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appending claims and its Equivalent is defined.

Claims (4)

1. domestic stair all-around mobile clean robot, including hitch, the lifting for being arranged at the hitch lower end Mechanism, the slide block mechanism for being arranged at the hitch lower end, the cleaning dolly for being arranged at the slide block mechanism lower end, its feature It is：
The hitch is connected with lifting mechanism and slide block mechanism respectively；
Lifting frame, difference that the lifting mechanism includes pedestal, is arranged at the pedestal upper end and is bolted with pedestal Be arranged at the gear engagement mechanism inside the lifting frame top and bottom, the first screw mandrel being arranged in inside the lifting frame, It is arranged at the screw mandrel side and the lifting motor being connected with the first screw mandrel；
The slide block mechanism include guide rail, be arranged in the guide rail interior the second screw mandrel, be arranged at the guide rail lower end and with Sliding block that guide rail is connected, it is arranged at the second screw mandrel side and the stepper motor being connected with the second screw mandrel；
The cleaning dolly includes car body, is arranged at the Mecanum wheel of the vehicle body side, is arranged at the vehicle body side Identifying device sensor, the brush for being arranged at the vehicle bottom, the suction port for being arranged at the vehicle bottom.
2. domestic stair all-around mobile clean robot according to claim 1, it is characterised in that：The lifting mechanism Quantity is two, and the side position of slide block mechanism two, and two lifting mechanism keeping parallelisms, the lifting of the lifting mechanism are not arranged at The upper surface of frame is connected by bolt with hitch, and the guide rail of the slide block mechanism is connected by bolt with hitch Connect.
3. domestic stair all-around mobile clean robot according to claim 1, it is characterised in that：The lifting frame is Furcated mechanism.
4. domestic stair all-around mobile clean robot according to claim 1, it is characterised in that：The suction port is " ten " font.
CN201710077291.8A 2017-02-14 2017-02-14 Domestic stair all-around mobile clean robot Expired - Fee Related CN106798528B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710077291.8A CN106798528B (en) 2017-02-14 2017-02-14 Domestic stair all-around mobile clean robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710077291.8A CN106798528B (en) 2017-02-14 2017-02-14 Domestic stair all-around mobile clean robot

Publications (2)

Publication Number Publication Date
CN106798528A true CN106798528A (en) 2017-06-06
CN106798528B CN106798528B (en) 2019-02-15

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Family Applications (1)

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CN201710077291.8A Expired - Fee Related CN106798528B (en) 2017-02-14 2017-02-14 Domestic stair all-around mobile clean robot

Country Status (1)

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CN (1) CN106798528B (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107440596A (en) * 2017-08-23 2017-12-08 上海交通大学 A kind of mobile family expenses window wiping robot based on comprehensive Mecanum wheel
CN107874709A (en) * 2017-10-18 2018-04-06 衢州学院 A kind of cylindrical balustrade cleaner
CN108113581A (en) * 2017-12-25 2018-06-05 苏州塔比诺机电有限公司 A kind of sweeping robot
CN114767006A (en) * 2022-04-06 2022-07-22 同济大学 Be applied to stair climbing mechanism of robot of sweeping floor
CN114920161A (en) * 2022-04-27 2022-08-19 一汽奔腾轿车有限公司 Driving device of electric lifting device

Citations (10)

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Publication number Priority date Publication date Assignee Title
CN201683852U (en) * 2010-06-08 2010-12-29 德州学院 Corridor cleaning robot
CN102631172A (en) * 2012-04-20 2012-08-15 南通大学 Lifting telescopic corridor cleaning robot
CN103072885A (en) * 2013-01-24 2013-05-01 苏州科莱尼机电科技有限公司 Cleaning device for stairs of escalator with convenience in operation and safety performance
CN204071957U (en) * 2014-08-01 2015-01-07 西南科技大学 A kind of Intelligent sweeping machine device people
CN104627899A (en) * 2015-02-04 2015-05-20 黄骅 Shear type lifting platform
CN105151151A (en) * 2014-05-08 2015-12-16 南通大学 Method for conveniently and effectively judging whether telescopic lifting corridor cleaning robot is ready to walk up stairs or down stairs
DE102014011235A1 (en) * 2014-08-05 2016-02-25 Gerald Amler Device and method for overcoming stairs and similar obstacles for household robots such as vacuum cleaners or other autonomous devices
CN105996910A (en) * 2016-05-19 2016-10-12 上海电机学院 Domestic stair automatic cleaning robot
DE102016111826A1 (en) * 2015-07-21 2017-01-26 Miele & Cie. Kg Self-propelled staircase floor cleaning device and method for overcoming a step by a self-propelled floor cleaning device
CN106379834A (en) * 2016-11-24 2017-02-08 华南理工大学 Liftable moving robot

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201683852U (en) * 2010-06-08 2010-12-29 德州学院 Corridor cleaning robot
CN102631172A (en) * 2012-04-20 2012-08-15 南通大学 Lifting telescopic corridor cleaning robot
CN103072885A (en) * 2013-01-24 2013-05-01 苏州科莱尼机电科技有限公司 Cleaning device for stairs of escalator with convenience in operation and safety performance
CN105151151A (en) * 2014-05-08 2015-12-16 南通大学 Method for conveniently and effectively judging whether telescopic lifting corridor cleaning robot is ready to walk up stairs or down stairs
CN204071957U (en) * 2014-08-01 2015-01-07 西南科技大学 A kind of Intelligent sweeping machine device people
DE102014011235A1 (en) * 2014-08-05 2016-02-25 Gerald Amler Device and method for overcoming stairs and similar obstacles for household robots such as vacuum cleaners or other autonomous devices
CN104627899A (en) * 2015-02-04 2015-05-20 黄骅 Shear type lifting platform
DE102016111826A1 (en) * 2015-07-21 2017-01-26 Miele & Cie. Kg Self-propelled staircase floor cleaning device and method for overcoming a step by a self-propelled floor cleaning device
CN105996910A (en) * 2016-05-19 2016-10-12 上海电机学院 Domestic stair automatic cleaning robot
CN106379834A (en) * 2016-11-24 2017-02-08 华南理工大学 Liftable moving robot

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107440596A (en) * 2017-08-23 2017-12-08 上海交通大学 A kind of mobile family expenses window wiping robot based on comprehensive Mecanum wheel
CN107440596B (en) * 2017-08-23 2020-12-22 上海交通大学 Remove domestic window robot of wiping based on all-round mecanum wheel
CN107874709A (en) * 2017-10-18 2018-04-06 衢州学院 A kind of cylindrical balustrade cleaner
CN107874709B (en) * 2017-10-18 2019-11-01 衢州学院 A kind of cylinder balustrade cleaner
CN108113581A (en) * 2017-12-25 2018-06-05 苏州塔比诺机电有限公司 A kind of sweeping robot
CN114767006A (en) * 2022-04-06 2022-07-22 同济大学 Be applied to stair climbing mechanism of robot of sweeping floor
CN114767006B (en) * 2022-04-06 2024-06-04 同济大学 Stair climbing mechanism applied to sweeping robot
CN114920161A (en) * 2022-04-27 2022-08-19 一汽奔腾轿车有限公司 Driving device of electric lifting device

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