CN107007193A - Slippery walls automatic scrubbing robot - Google Patents
Slippery walls automatic scrubbing robot Download PDFInfo
- Publication number
- CN107007193A CN107007193A CN201710343647.8A CN201710343647A CN107007193A CN 107007193 A CN107007193 A CN 107007193A CN 201710343647 A CN201710343647 A CN 201710343647A CN 107007193 A CN107007193 A CN 107007193A
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- CN
- China
- Prior art keywords
- motor
- drive
- swab
- substrate
- fixed
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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
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- 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
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Landscapes
- Toys (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a kind of slippery walls automatic scrubbing robot, including substrate, the bottom level of the substrate is rotatably connected to swab, the bottom of the substrate, which is located at around swab, is provided with multiple running gears, the swab is connected by transmission mechanism and motor A, the running gear is driven by motor B, the motor A and motor B are electrically connected with the control system with battery, the transmission mechanism, motor A and control system with battery are located at the top of substrate, and motor A is fixed with the control system with battery with substrate.Understand from the above, the slippery walls automatic scrubbing robot of the present invention, robot is realized on the premise of it need not be equipped with negative pressure generating device, remain to clean glass in slippery walls by negative-pressure adsorption, and the sucker that script can also be adsorbed into slippery walls automatically is easily disengaged with slippery walls, reduces the bulking value and manufacturing cost of robot.
Description
Technical field
The present invention relates to the technical field of shiny surface scrubbing machine people, and in particular to a kind of slippery walls automatic scrubbing machine
People.
Background technology
Window wiping robot, also known as automatic window-cleaning machine, glass-cleaning robot, intelligent window cleaner, intelligent window cleaner etc., be
One kind of controlling intelligent household appliances.It can rely on the vavuum pump or blower fan apparatus of themselves bottom, firmly adsorb on glass, so
Afterwards by certain artificial intelligence, window path is wiped in the corner distance of automatic detection window, planning.Window wiping robot can typically be utilized
Itself dynamics of the absorption on glass is dirty on glass to drive the rag of fuselage bottom to wipe.The appearance of window wiping robot,
Primarily to helping the problem of people solve high-rise wiping window, outdoor wiping window is difficult.Window wiping robot can be applied equally to smooth
The metope on surface or other facades.
Window wiping robot maximum technical barrier to be solved seeks to adsorb with window surface.Absorption on the market at present
Mode has two kinds.
The first kind, vacuum cup absorption:Double-layer vacuum sucker, bottom air is taken out by internal vavuum pump, forms one
Fixed vacuum environment, so that window wiping robot can be adsorbed on glass.Requirement of such a absorption principle to medium is higher,
Need glass surface it is smooth, without obvious raised barrier, and be only limited to use in glass surface.
Equations of The Second Kind, blower fan absorption:The window wiping robot of blower fan absorption forms inside and outside draught head by internal blower fan,
So as to adsorb on glass.Requirement of such a absorption principle to medium is somewhat wide, just can be with as long as dielectric surface is smooth(Remove
Glass surface, image-tape has glass, ground glass, the metope of marble medium, ceramic tile of paster etc. can to adsorb).
Above two mode is required for extra formation negative pressure device to form negative pressure, so as to realize robot and window table
The absorption in face.But such as robot of above two classification is used for the device for producing negative pressure, generally is vavuum pump or negative pressure
Blower fan, not only volume, weight are larger, and energy consumption is higher, and noise is also than larger when work.Cause the cost of product and make
It is all relatively large with cost.
In addition, the swab of current window wiping robot is typically all dismantled and assembled, Reusability washing rag, due to one
As window areas than larger, and extraneous air quality is generally poor, so rag needs frequent clean, otherwise can lead to not
Window is scrubbed.And continually cleaning rag can then cause to clean less efficient.
The content of the invention
It is an object of the invention to:The deficiencies in the prior art are overcome there is provided a kind of slippery walls automatic scrubbing robot, it is real
Xian Liao robots remain to carry out glass in slippery walls by negative-pressure adsorption on the premise of it need not be equipped with negative pressure generating device
Clean, and the sucker that script can also be adsorbed into slippery walls automatically is easily disengaged with slippery walls, reduces robot
Bulking value and manufacturing cost;Pass through the effect of the collar, so as to the situation according to slippery walls, selection swab
Rotating manner;By the effect of leading screw and pair of nut, it can make swab that there is the two kinds of functions of scrubbing and dry, and phase
It can automatically switch between mutually;By the lotion pipeline and clear water pipe of setting, while being scrubbed to slippery walls, it is also pair
The cleaning of bristle, so being cleaned during glass is cleaned without the swab to robot;What bristle was surrounded
The ring that the side of ring is surrounded by lotion pipeline, the ring that opposite side is surrounded by clear water pipe, so that either in jet cleaning liquid
Under state or under injection clear water state, bristle is not in dry brush state, while improving washing effect, also protects brush
Hair, extends the service life of bristle;Lotion pipeline, clear water pipe and bristle are distributed in a ring, and the distance of adjacent ring is equal,
So that distribution is more uniform, it is ensured that the washing effect of swab;By the effect of leading screw and pair of nut, in spongy layer
When being dried, moreover it is possible to carry out water squeezing to spongy layer;Pass through the effect of wheel hub motor so that each wheel body can freely turn
It is dynamic, so that according to different rotating speeds and steering, it is possible to achieve the walking of any direction and the steering in original place, so as to be conducive to machine
People cleans to slippery walls position;By being staggered for two neighboring sucker, so that wheeling thereof is extremely appointed
What angle, has sucker and slippery walls adhesive, so as to ensure that the adhesive intensity of robot and glass, it is ensured that robot is not
Can effectively it be adsorbed by how wheel body rotates, it is ensured that swab can be cleaned normally;Pass through tube chamber, stomata A, stomata B
And the enlarged footing and the structure of conical head of nose bar, the automatic pick slippery walls of dishwashing can be realized and automatic, easily
Separated with slippery walls;The bottom of the bristle is less than the bottom of running gear, so as to ensure that bristle can be effectively smooth
Metope is scrubbed;The mouth of pipe at the clear water ttom of pipe end is provided with atomising device, improves the water spray effect of clear water so that smooth wall
The cleaning fluid in face and dirty can effectively it clean.
The technical solution used in the present invention is:
Slippery walls automatic scrubbing robot, including substrate, the bottom level of the substrate are rotatably connected to swab, described
The bottom of substrate, which is located at around swab, is provided with multiple running gears, and the swab passes through transmission mechanism and driving electricity
Machine A is connected, and the running gear drives by motor B, the motor A and motor B with battery
Control system electrical connection, the transmission mechanism, motor A and control system with battery be located at the top of substrate,
And motor A is fixed with the control system with battery with substrate.
Further improvement project of the invention is that the swab is provided with multiple, and the top of swab passes through shaft joint
It is fixedly connected with the lower end for exporting vertical shaft, the upper end of the output vertical shaft is coaxially fixed with drive D, and the drive D is biography
Driving wheel C planetary gear, the drive C and drive D engaged transmissions, the top of the drive C is coaxially fixed with drive
B, the drive B and drive A engaged transmissions, the drive A and motor A output shaft A are fixed.
Further improvement project of the invention is that the drive D is distributed in around drive C, described drive A
At position between two neighboring drive D.
Further improvement project of the invention is that the liquid reserve tank of washing lotion and clear water, institute are fixed with the top of the drive D
State liquid reserve tank drain pipe be located at liquid reserve tank bottom, and be passed down through output vertical shaft after connected with swab.
Further improvement project of the invention is that the drive D, drive C, drive B and drive A are respectively positioned on water
In flat turn groove, the horizontal turn trough is located at the upper surface of substrate and horizontal turn trough and the concentric settings of drive C, described defeated
Go out vertical shaft separately down through the through hole A set by the bottom land and substrate of horizontal turn trough, the slewing area position of the output vertical shaft
In the range of through hole A.
Further improvement project of the invention is, the top surface of the substrate is that have annular protrusion, the horizontal turn trough
The internal diameter of external diameter and annular protrusion matches.
Further improvement project of the invention is that the top surface of the substrate is fixed with case A, and the horizontal turn trough is located at cover
In shell A, the motor A and the control system with battery are individually fixed on case A, the output of the motor A
Axle A is passed down through case A and drive A and coaxially fixed.
Further improvement project of the invention is that case B, the control system with battery are fixed with the case A
System is respectively positioned in case B with motor A.
Further improvement project of the invention is that the lateral wall of the horizontal turn trough is equipped with the collar, the horizontal turn trough
Lateral wall bottom the slide bar A of a plurality of vertical direction is distributed with, the inner wall lower of the collar is provided with the chute matched with slide bar A
Be distributed with multiple projections on A, the lateral wall of the collar, the outboard end of the projection through the through hole B set by the wall of case A sides,
Stretch out case A.
Further improvement project of the invention is, the lateral wall of the horizontal turn trough, positioned at slide bar A top provided with least
The two horizontal bulge loops of circle, the inwall of the collar, the horizontal annular groove for being correspondingly provided with above chute A identical quantity.
Further improvement project of the invention is, when the horizontal annular groove and the level of horizontal turn trough bottom of collar bottom
When bulge loop matching contact, slide bar A is contacted with chute A;When top contact in top and the case A of the collar, set
Horizontal annular groove of the ring positioned at horizontal turn trough region is matched with horizontal bulge loop to be contacted, and slide bar A is separated with chute A;Or work as
When the horizontal annular groove of collar bottom is contacted with the horizontal bulge loop matching of horizontal turn trough the top, slide bar A divides with chute A
From.
Further improvement project of the invention is that vertical rod, the vertical rod are fixed with the bottom surface axle center of the horizontal turn trough
Lower rotation be connected with axle sleeve A, the axle sleeve is fixed with being placed on the sleeve pipe on swab surface, the swab with turn
It is dynamic to be connected in sleeve pipe.
Further improvement project of the invention is that the axle sleeve is fixed by connecting rod A with sleeve pipe respectively.
Further improvement project of the invention is that the swab includes cleaning in case, the scouring case provided with activity
Plate, the side wall that the sidewalls vertical of the portable plate is provided with slide bar B, the scouring case corresponds to slide bar B provided with chute B, described
Portable plate is cleaning up and down connection in case by slide bar B along chute B.
Further improvement project of the invention, which is that the bottom of the portable plate is respectively perpendicular, is fixed with lotion pipeline, clear water pipe
And bristle, the bottom of the scouring case is fixed with spongy layer, and the bottom of the lotion pipeline, clear water pipe and bristle is passed down through scouring
The set pore A of bottom plate correspondence and bristle hole A and stretch into spongy layer it is corresponding set by pore B and bristle hole B, the activity
It is rotatably connected on leading screw, the leading screw and is rotatably connected at the axle center that the top of plate is coaxially fixed with standpipe, the standpipe
Pair of nut, the side wall of the pair of nut is fixed with connecting rod B, connecting rod B outer end through the vertical bar shaped set by standpipe
Through hole is fixed with cleaning the inwall of case, and the top of the leading screw is fixed with motor C output shaft B, and the motor C consolidates
Due on level board set in standpipe, the top of the standpipe stretches out scouring case and is fixed with shaft coupling.
Further improvement project of the invention is that lotion pipeline and the clear water pipe is connected with respective liquid reserve tank respectively.
Further improvement project of the invention is that the lotion pipeline, clear water pipe and bristle are distributed in portable plate in a ring
Bottom.
Further improvement project of the invention is, the ring that the side of the ring that the bristle is surrounded is surrounded by lotion pipeline,
The ring that opposite side is surrounded by clear water pipe.
Further improvement project of the invention is, the ring that the ring that the bristle is surrounded is surrounded with adjacent lotion pipeline with
And the spacing between the ring that is surrounded of clear water pipe is equal.
Further improvement project of the invention is that the bottom of the lotion pipeline is flushed with the bottom of clear water pipe, and bristle
Bottom of the bottom less than lotion pipeline and clear water pipe.
Further improvement project of the invention is that the bottom of the bristle is less than the bottom of running gear.
Further improvement project of the invention is that the mouth of pipe at the clear water ttom of pipe end is provided with atomising device.
Further improvement project of the invention is that the motor C is electrically connected with the control system with battery.
Further improvement project of the invention is, when pair of nut is located at highest stroke, lotion pipeline, clear water pipe and
The bottom of bristle extends downwardly from spongy layer;When pair of nut is located at minimum stroke when, lotion pipeline, clear water pipe and bristle
Bottom is above the bottom of spongy layer.
Further improvement project of the invention is that the support that the running gear includes being fixedly connected with base plate bottom is stood
Bar, the bottom of the supported rod erecting, which is horizontally rotated with trunnion axis by horizontally rotating device, to be connected, and on the horizontal rotating shaft, is located at
The both sides of supported rod erecting are respectively symmetrically provided with motor B, and the motor B is wheel hub motor, and the wheel hub motor passes through
Connecting rod C and the concentric fixation of wheel body, the circumferential surface of the wheel body are evenly distributed with multiple suckers, and the sucker is towards wheel body
The middle part of one side end face is provided with sebific duct, and the wheel body is connected by sebific duct with sucker.
Further improvement project of the invention is that the end of the horizontal rotating shaft is connected with wheeling thereof.
Further improvement project of the invention is that the wheel hub motor is rotated with horizontal rotating shaft and is connected.
Further improvement project of the invention is that periphery of the sucker along wheel body is distributed in a ring, and wheel body
Periphery on be sequentially provided with multiple suckers being distributed in a ring along width.
Further improvement project of the invention is that any one sucker in the sucker of any one annular spread is respectively positioned on
Between two adjacent suckers in the sucker of its adjacent side annular spread.
Further improvement project of the invention is that the center of sucker, and the middle part of sucker are passed through in the axle center of the sebific duct
Provided with stomata A, the stomata A connects the tube chamber in sucker with sebific duct, and the one end of the sebific duct away from sucker is provided inwardly with turning over
Side, the edge of the flange surrounds stomata B, and the surface of the wheel body is radially secure multiple nose bars, the external diameter of the nose bar
Coordinate with stomata B internal diameter for gap, the one end of the nose bar away from wheel body is provided with enlarged footing, the external diameter and pipe of the enlarged footing
The internal diameter of chamber is that gap coordinates, and one end of the enlarged footing dorsad nose bar is provided with vertebra forming head, and the maximum gauge of the conical head is big
In the internal diameter equal to stomata A and less than or equal to the diameter of enlarged footing.
Further improvement project of the invention is, the enlarged footing is towards one end of nose bar and taper rostral wall diameter and gas
Distance at the A diameter location of equal of hole is less than the length of tube chamber.
Further improvement project of the invention is, with wheel at the taper rostral wall diameter and stomata A diameter location of equal
The minimum range that the distance between body is more than or equal between sucker and wheel body.
Further improvement project of the invention is, with cone at the taper rostral wall diameter and stomata A diameter location of equal
The distance between forming head tip is less than or equal to stomata A length.
Further improvement project of the invention is that the running gear is uniformly distributed in the bottom sides edge of substrate.
The beneficial effects of the present invention are:
Firstth, slippery walls automatic scrubbing robot of the invention, negative pressure generating device need not be equipped with by realizing robot
Under the premise of, remain to clean glass in slippery walls by negative-pressure adsorption, and script can also be adsorbed into smooth automatically
The sucker of metope is easily disengaged with slippery walls, reduces the bulking value and manufacturing cost of robot.
Secondth, slippery walls automatic scrubbing robot of the invention, by the effect of the collar, so as to according to smooth wall
The situation in face, selects the rotating manner of swab.
3rd, slippery walls automatic scrubbing robot of the invention, by the effect of leading screw and pair of nut, can make scouring
Device has the two kinds of functions of scrubbing and dry, and can automatically switch each other.
4th, slippery walls automatic scrubbing robot of the invention, by the lotion pipeline and clear water pipe of setting, to smooth
It is also the cleaning to bristle while metope is scrubbed, so without the scouring to robot during glass is cleaned
Device is cleaned.
5th, slippery walls automatic scrubbing robot of the invention, the side for the ring that bristle is surrounded is enclosed by lotion pipeline
Into ring, the ring that opposite side is surrounded by clear water pipe, thus either under jet cleaning liquid status or injection clear water state
Under, bristle is not in dry brush state, while improving washing effect, also protects bristle, extends the use longevity of bristle
Life.
6th, slippery walls automatic scrubbing robot of the invention, lotion pipeline, clear water pipe and bristle are distributed in a ring,
And the distance of adjacent ring is equal, so that distribution is more uniform, it is ensured that the washing effect of swab.
7th, slippery walls automatic scrubbing robot of the invention, by the effect of leading screw and pair of nut, enters in spongy layer
When row is dried, moreover it is possible to carry out water squeezing to spongy layer.
8th, slippery walls automatic scrubbing robot of the invention, passes through the effect of wheel hub motor so that each wheel body
Can freely it rotate, so that according to different rotating speeds and steering, it is possible to achieve the walking of any direction and the steering in original place, so as to have
Slippery walls position is cleaned beneficial to robot.
9th, slippery walls automatic scrubbing robot of the invention, by being staggered for two neighboring sucker, so that
Wheeling thereof is obtained to any angle, there is sucker and slippery walls adhesive, so that the adhesive intensity of robot and glass is ensure that,
No matter ensure that how robot wheel body rotates can effectively be adsorbed, it is ensured that swab can be cleaned normally.
Tenth, slippery walls automatic scrubbing robot of the invention, passes through the expansion of tube chamber, stomata A, stomata B and nose bar
The structure of major part and conical head, can realize dishwashing automatic pick slippery walls and it is automatic, easily with slippery walls point
From.
11st, slippery walls automatic scrubbing robot of the invention, the bottom of the bristle is less than the bottom of running gear
Portion, so as to ensure that bristle can be scrubbed effectively in slippery walls.
12nd, slippery walls automatic scrubbing robot of the invention, the mouth of pipe at the clear water ttom of pipe end is filled provided with atomization
Put, improve the water spray effect of clear water so that the cleaning fluid of slippery walls and dirty can effectively clean.
Brief description of the drawings:
Fig. 1 is the main view schematic cross-sectional view of structure of the present invention.
Fig. 2 shows that amplification is intended to for the main view section view of swab.
Fig. 3 looks up enlarged diagram for swab.
Fig. 4 is the main view section view enlarged diagram of running gear.
Fig. 5 is the main view section view enlarged diagram of sucker structure.
Embodiment:
Understood with reference to Fig. 1 ~ Fig. 5, the present invention includes substrate 1, the bottom level of the substrate 1 is rotatably connected to swab 2, institute
State substrate 1 bottom be located at swab 2 around be provided with multiple running gears 3, the swab 2 by transmission mechanism with
Motor A4 is connected, and the running gear 3 drives by motor B, the motor A4 and motor B with
Control system 10 with battery is electrically connected, and the transmission mechanism, motor A4 and the control system 10 with battery are all provided with
In the top of substrate 1, and motor A4 is fixed with the control system 10 with battery with substrate 1.
The swab 2 is provided with multiple, and the top of swab 2 is consolidated by the lower end of shaft joint 30 and output vertical shaft 16
Fixed connection, the upper end of the output vertical shaft 16 is coaxially fixed with drive D15, and the drive D15 is drive C14 planet
Wheel, the drive C14 and drive D15 engaged transmissions, the top of the drive C14 is coaxially fixed with drive B13, institute
Drive B13 and drive A12 engaged transmissions are stated, the drive A12 and motor A4 output shaft A is fixed.
The drive D15 is distributed in around drive C14, and the drive A12 is located at two neighboring drive D15
Between position at.
The liquid reserve tank 20 of washing lotion and clear water is fixed with the top of the drive D15, the drain pipe of the liquid reserve tank 20 is set
In the bottom of liquid reserve tank 20, and be passed down through output vertical shaft 16 after connected with swab 2.
The drive D15, drive C14, drive B13 and drive A12 are respectively positioned in horizontal turn trough 5, the water
Flat turn groove 5 is located at the upper surface of substrate 1 and the concentric settings of horizontal turn trough 5 and drive C14,16 points of the vertical shaft of output
The through hole A21 set by the bottom land and substrate 1 of horizontal turn trough 5 is not passed down through, and the slewing area of the output vertical shaft 16 is located at
In the range of through hole A21.
The top surface of the substrate 1 is that have annular protrusion 22, the external diameter of the horizontal turn trough 5 and the internal diameter of annular protrusion 22
Match.
The top surface of the substrate 1 is fixed with case A11, and the horizontal turn trough 5 is located in case A11, the motor
A4 and control system 10 with battery are individually fixed on case A11, and the output shaft A of the motor A4 is passed down through cover
Shell A11 is coaxially fixed with drive A12.
Case B6 is fixed with the case A11, the control system 10 with battery is respectively positioned on motor A4
In case B6.
The lateral wall of the horizontal turn trough 5 is equipped with the collar 23, and the lateral wall bottom of the horizontal turn trough 5 is distributed with a plurality of
The slide bar A25 of vertical direction, the inner wall lower of the collar 23 is provided with the chute A24 matched with slide bar A25, the collar 23
Be distributed with multiple projections 29 on lateral wall, the outboard end of the projection 29 through the through hole B28 set by the wall of case A11 sides, stretch out
Case A11.
The lateral wall of the horizontal turn trough 5, positioned at slide bar A25 top provided with least two horizontal bulge loops 27 of circle, the set
The inwall of ring 23, the horizontal annular groove 26 for being correspondingly provided with above chute A24 identical quantity.
When the bottom of the collar 23 horizontal annular groove 26 and the horizontal bottom of turn trough 5 horizontal bulge loop 27 match contact when
Wait, slide bar A25 is contacted with chute A24;When top contact in top and the case A11 of the collar 23, the collar 23 is located at
The horizontal annular groove 26 in the horizontal region of turn trough 5 is matched with horizontal bulge loop 27 to be contacted, and slide bar A25 is separated with chute A24;Or
When the horizontal annular groove 26 of the bottom of the collar 23 is contacted with the matching of horizontal bulge loop 27 of the horizontal the top of turn trough 5, slide bar A25
Separated with chute A24.
Vertical rod 8 is fixed with the bottom surface axle center of the horizontal turn trough 5, the lower rotation of the vertical rod 8 is connected with axle sleeve A7,
The axle sleeve 7 is fixed with being placed on the sleeve pipe 9 on the surface of swab 2, and the swab 2 is with being rotationally connected with sleeve pipe 9.
The axle sleeve 7 is fixed by connecting rod A17 with sleeve pipe 9 respectively.
The swab 2, which includes cleaning in case 36, the scouring case 36, is provided with portable plate 33, the side of the portable plate 33
The side wall that wall is provided with slide bar B42, the scouring case 36 vertically corresponds to slide bar B42 and is provided with chute B43, and the portable plate 33 leads to
Cross slide bar B42 and clean up and down connection in case 36 along chute B43.
The bottom of the portable plate 33, which is respectively perpendicular, is fixed with lotion pipeline 47, clear water pipe 48 and bristle 49, the scouring case
36 bottom is fixed with spongy layer 44, and the bottom of the lotion pipeline 47, clear water pipe 48 and bristle 49 is passed down through scouring case 36 bottom
Plate correspondence set pore A45 and bristle hole A46 simultaneously stretches into the correspondence of spongy layer 44 set pore B45 ' and bristle hole B46 ',
Leading screw 39 is rotatably connected at the axle center that the top of the portable plate 33 is coaxially fixed with standpipe 34, the standpipe 34, it is described
Pair of nut 40 is rotatably connected on leading screw 39, the side wall of the pair of nut 40 is fixed with connecting rod B41, the connecting rod B41's
Outer end is fixed through the vertical strip through-hole set by standpipe 34 with cleaning the inwall of case 36, top and the driving electricity of the leading screw 39
Machine C37 output shaft B38 is fixed, and the motor C37 is fixed on level board 35 set in standpipe 34, the standpipe 34
Top stretch out and clean case 36 and be fixed with shaft coupling 30.
The lotion pipeline 47 and clear water pipe 48 are connected with respective liquid reserve tank 20 respectively.
The lotion pipeline 47, clear water pipe 48 and bristle 49 are distributed in the bottom of portable plate 33 in a ring.
The ring that the side for the ring that the bristle 49 is surrounded is surrounded by lotion pipeline 47, opposite side is surrounded by clear water pipe 48
Ring.
The ring that the ring and clear water pipe 48 that the ring that the bristle 49 is surrounded is surrounded with adjacent lotion pipeline 47 are surrounded
Between spacing it is equal.
The bottom of the lotion pipeline 47 is flushed with the bottom of clear water pipe 48, and the bottom of bristle 49 is less than the He of lotion pipeline 47
The bottom of clear water pipe 48.
The bottom of the bristle 49 is less than the bottom of running gear 3.
The mouth of pipe of the bottom of clear water pipe 48 is provided with atomising device.
The motor C37 is electrically connected with the control system 10 with battery.
When pair of nut 40 is located at highest stroke, the bottom of lotion pipeline 47, clear water pipe 48 and bristle 49 is downward
Stretch out spongy layer 44;When pair of nut 40 is located at minimum stroke, the bottom of lotion pipeline 47, clear water pipe 48 and bristle 49 is equal
Higher than the bottom of spongy layer 44.
The running gear 3 includes the supported rod erecting 18 being fixedly connected with the bottom of substrate 1, the bottom of the supported rod erecting 18
Horizontally rotated with trunnion axis 50 by horizontally rotating device 19 and be connected, on the horizontal rotating shaft 50, positioned at the two of supported rod erecting 18
Side is respectively symmetrically provided with motor B, and the motor B is wheel hub motor 52, and the wheel hub motor 52 passes through connecting rod C53
With the concentric fixation of wheel body 51, the circumferential surface of the wheel body 51 is evenly distributed with multiple suckers 54, and the sucker 54 is towards wheel
The middle part of the side end face of body 51 1 is provided with sebific duct 55, and the wheel body 51 is connected by sebific duct 55 with sucker 54.
The end of the horizontal rotating shaft 50 rotates with wheel body 1 and is connected.
The wheel hub motor 52 is rotated with horizontal rotating shaft 50 and is connected.
Periphery of the sucker 54 along wheel body 51 is distributed in a ring, and along width side on the periphery of wheel body 51
To being sequentially provided with multiple suckers 54 being distributed in a ring.
Any one sucker 54 in the sucker 54 of any one annular spread, is respectively positioned on the suction of its adjacent side annular spread
Between two adjacent suckers 54 in disk 54.
The center of sucker 54 is passed through in the axle center of the sebific duct 55, and the middle part of sucker 54 is provided with stomata A58, the stomata
A58 will be connected in sucker 54 with the tube chamber 56 of sebific duct 55, and the described one end of sebific duct 55 away from sucker 54 is provided inwardly with flange, described
The edge of flange surrounds stomata B57, and the surface of the wheel body 51 is radially secure multiple nose bars 59, the external diameter of the nose bar 59
Coordinate with stomata B57 internal diameter for gap, the described one end of nose bar 59 away from wheel body 51 is provided with enlarged footing 60, the enlarged footing 60
The internal diameter of external diameter and tube chamber 56 coordinate for gap, one end of the enlarged footing 60 dorsad nose bar 59 is described provided with vertebra forming head 61
The maximum gauge of conical head 61 is more than or equal to stomata A58 internal diameter and less than or equal to the diameter of enlarged footing 60.
The enlarged footing 60 towards one end of nose bar 59 and the side wall diameter of conical head 61 with stomata A58 diameter location of equal
Distance be less than tube chamber 56 length.
The side wall diameter of conical head 61 at stomata A58 diameter location of equal with the distance between wheel body 51 with being more than or equal to
Minimum range between sucker 54 and wheel body 51.
The side wall diameter of conical head 61 with it is small with the distance between the tip of conical head 61 at stomata A58 diameter location of equal
In the length equal to stomata A58.
The running gear 3 is uniformly distributed in the bottom sides edge of substrate 1.
The example for wipe window below with the present invention is illustrated:
When the present invention is used, the wheel body 51 of robot is first pressed against glass surface, when pressing, connect with glass surface
Tactile sucker 54 is extruded to the side of wheel body 51, so that sucker 54 is contacted with enlarged footing 60, and conical head 61 stretches into stomata A58
Interior, so that stomata A58 be blocked, under the active force of pressing, sucker 54 is gradually pressed towards in glass surface, and sucker 54
Air can only be discharged by the edge of sucker 54, so that forming vacuum in sucker 54, make sucker by the active force of atmospheric pressure
54 fix with glass surface, and then robot is fixed with glass surface;Then by system control, the control wheel of wheel hub motor 52
Body 51 is rotated, identical when pressing to the process of sucker 54 of glass surface under wheel body 51 drives with above-mentioned pressing, and in wheel body
51 drive under leave glass surface the process of sucker 54 be:Nose bar 59 is under the drive of wheel body 51 to the sidesway away from glass
It is dynamic, so that enlarged footing 60 leaves sucker 54, conical head 61 and separated with stomata A58, so that outside air can be passed sequentially through
With being connected in sucker 54 after stomata B57, tube chamber 56 and stomata A58, so that being pulled on originally in the sucker 54 of glass surface
Air pressure it is equal with external atmosphere pressure so that sucker 54 is automatically separated with glass surface;Due in same level rotating shaft 50
Two wheel bodys 51 are independently to drive rotation by single wheel hub motor 52, so as to the demand according to cleaning glass,
Running gear 3 is set to realize the walking and rotation of all angles.
When robot carries out wiping window, it can be required according to the difference of cleaned window, select scouring mode;Pass through projection
29 are depressed into downwards the horizontal annular groove 26 of the bottom of the collar 23 contacts with the matching of horizontal bulge loop 27 of the horizontal bottom of turn trough 5, now
Slide bar A25 is contacted with chute A24, now fixed between horizontal turn trough 5 and substrate 1;Now swab 2 is only capable of real by rotation
Now clean, and can not be revolved round the sun around the axle center of vertical vertical rod 8;Lifted upwards to the horizontal loops of the bottom of the collar 23 by projection 29
Groove 26 is contacted with the matching of horizontal bulge loop 27 of the horizontal bottom of turn trough 5, and now slide bar A25 is separated with chute A24, horizontal turn trough 5
It can drive while output 16 autobiography of vertical shaft and be revolved round the sun around the axle center of vertical vertical rod 8 in drive D15, and export the band of vertical shaft 16
Move axis rotation of the horizontal turn trough 5 around vertical vertical rod 8, i.e. swab 2 now can also pass through revolution simultaneously by rotation
To realize scouring.
When swab 2 is cleaned, the control system 10 with power supply controls motor C37 to rotate first, drives
Leading screw 39 is rotated, and pair of nut 40 is risen to upwards at highest line journey, so that lotion pipeline 47, clear water pipe 48 and bristle 49 are stretched downwards
Go out spongy layer 44;Then the control system 10 with power supply controls lotion pipeline 47 to glass surface jet cleaning liquid, and controls
Motor A4 driving swabs 2 are rotated, and bristle 49 is effectively scrubbed glass surface;Simultaneous with the control of power supply
The control driving wheel body 51 of wheel hub motor 52 of system 10 is rotated, and is that running gear 3 is walked with mobile robot, is made swab 2
Remaining place of glass surface can also be scrubbed;After glass surface is scrubbed, the control system 10 with power supply is controlled
Lotion pipeline 47 processed stops to glass surface jet cleaning liquid, while controlling clear water pipe 48 to spray clear water to glass surface, continues logical
Bristle 49 is crossed to scrub glass surface, in the presence of running gear 3, allow swab 2 to glass surface its
Leeway side is scrubbed;After the dirty and cleaning fluid of glass surface is completely flushed out, the control system with power supply
10 control clear water pipes 48 stop spraying clear water to glass surface, and control motor C37 to rotate, and drive leading screw 39 to rotate,
Make pair of nut 40 to decline, so that spongy layer 44 wraps lotion pipeline 47, clear water pipe 48 and bristle 49;Now in walking dress
Put in the presence of 3 and swab 2 rotation, glass surface is dried;When the water in spongy layer 44 is more,
The control motor of control system 10 C37 with power supply is rotated, and is driven leading screw 39 to rotate, pair of nut 40 is minimized downwards
At stroke, so as to extrude spongy layer 44, the water in spongy layer 44 is extruded;After the water in spongy layer 44 is extruded, carry
The control of the control system 10 motor C37 of power supply is rotated, and drives leading screw 39 to rotate, make pair of nut 40 rise to upwards before sponge
Layer 44 cleans the position of glass surface, and continuation is dried to glass surface.
The present invention is apply equally as well to slippery walls, or the smooth facade in other surfaces.
Claims (10)
1. slippery walls automatic scrubbing robot, it is characterised in that:Including substrate(1), the substrate(1)Bottom level rotate
It is connected with swab(2), the substrate(1)Bottom be located at swab(2)Around be provided with multiple running gears(3),
The swab(2)Pass through transmission mechanism and motor A(4)Drive connection, the running gear(3)By motor B
Driving, the motor A(4)With motor B with the control system with battery(10)Electrical connection, the driver
Structure, motor A(4)With the control system with battery(10)It is located at substrate(1)Top, and motor A(4)With
Control system with battery(10)With substrate(1)It is fixed.
2. slippery walls automatic scrubbing robot as claimed in claim 1, it is characterised in that:The swab(2)It is provided with
It is multiple, swab(2)Top pass through shaft joint(30)With output vertical shaft(16)Lower end be fixedly connected, the output vertical shaft
(16)Upper end and drive D(15)It is coaxial fixed, the drive D(15)For drive C(14)Planetary gear, the transmission
Take turns C(14)With drive D(15)Engaged transmission, the drive C(14)Top be coaxially fixed with drive B(13), it is described
Drive B(13)With drive A(12)Engaged transmission, the drive A(12)With motor A(4)Output shaft A fix.
3. slippery walls automatic scrubbing robot as claimed in claim 2, it is characterised in that:The drive D(15), transmission
Take turns C(14), drive B(13)With drive A(12)It is respectively positioned on horizontal turn trough(5)It is interior, the horizontal turn trough(5)Positioned at substrate
(1)Upper surface and horizontal turn trough(5)With drive C(14)It is concentric to set, the output vertical shaft(16)Wear separately down
Cross horizontal turn trough(5)Bottom land and substrate(1)Set through hole A(21), the output vertical shaft(16)Slewing area be located at
Through hole A(21)In the range of.
4. slippery walls automatic scrubbing robot as claimed in claim 3, it is characterised in that:The substrate(1)Top surface consolidate
Surely there is case A(11), the horizontal turn trough(5)Positioned at case A(11)It is interior, the motor A(4)With the control with battery
System(10)It is individually fixed in case A(11)On, the motor A(4)Output shaft A be passed down through case A(11)With biography
Driving wheel A(12)It is coaxial fixed.
5. slippery walls automatic scrubbing robot as claimed in claim 4, it is characterised in that:The horizontal turn trough(5)It is outer
Sidewall sheath is equipped with the collar(23), the horizontal turn trough(5)Lateral wall bottom the slide bar A of a plurality of vertical direction is distributed with(25),
The collar(23)Inner wall lower be provided with and slide bar A(25)The chute A of matching(24), the collar(23)Lateral wall on point
It is furnished with multiple projections(29), the projection(29)Outboard end pass through case A(11)Through hole B set by the wall of side(28), stretch out cover
Shell A(11).
6. slippery walls automatic scrubbing robot as claimed in claim 3, it is characterised in that:The horizontal turn trough(5)Bottom
Face is fixed with vertical rod at axle center(8), the vertical rod(8)Lower rotation be connected with axle sleeve A(7), the axle sleeve(7)With being placed on
Swab(2)The sleeve pipe on surface(9)It is fixed, the swab(2)With being rotationally connected with sleeve pipe(9)It is interior.
7. slippery walls automatic scrubbing robot as claimed in claim 2, it is characterised in that:The swab(2)Including
Clean case(36), the scouring case(36)It is interior to be provided with portable plate(33), the portable plate(33)Sidewalls vertical be provided with slide bar B
(42), the scouring case(36)Interior side wall corresponds to slide bar B(42)Provided with chute B(43), the portable plate(33)Pass through cunning
Bar B(42)Along chute B(43)Cleaning case(36)Interior up and down connection;The portable plate(33)Bottom be respectively perpendicular it is solid
Surely there is lotion pipeline(47), clear water pipe(48)And bristle(49), the scouring case(36)Bottom be fixed with spongy layer(44), it is described
Lotion pipeline(47), clear water pipe(48)And bristle(49)Bottom be passed down through scouring case(36)The set pore A of bottom plate correspondence
(45)With bristle hole A(46)And stretch into spongy layer(44)The set pore B of correspondence(45’)With bristle hole B(46’), the activity
Plate(33)Top be coaxially fixed with standpipe(34), the standpipe(34)Leading screw is rotatably connected at interior axle center(39), it is described
Leading screw(39)On be rotatably connected to pair of nut(40), the pair of nut(40)Side wall be fixed with connecting rod B(41), the connection
Bar B(41)Outer end pass through standpipe(34)Set vertical strip through-hole is with cleaning case(36)Inwall fix, the leading screw
(39)Top and motor C(37)Output shaft B(38)It is fixed, the motor C(37)It is fixed on standpipe(34)It is interior
Set level board(35)On, the standpipe(34)Top stretch out clean case(36)And it is fixed with shaft coupling(30).
8. slippery walls automatic scrubbing robot as claimed in claim 7, it is characterised in that:Work as pair of nut(40)Positioned at highest
When at stroke, lotion pipeline(47), clear water pipe(48)And bristle(49)Bottom extend downwardly from spongy layer(44);Work as nut
It is secondary(40)When at minimum stroke, lotion pipeline(47), clear water pipe(48)And bristle(49)Bottom be above spongy layer
(44)Bottom.
9. slippery walls automatic scrubbing robot as claimed in claim 1, it is characterised in that:The running gear(3)Including
With substrate(1)The supported rod erecting that bottom is fixedly connected(18), the supported rod erecting(18)Bottom by horizontally rotating device
(19)With trunnion axis(50)Horizontally rotate connection, the horizontal rotating shaft(50)Above, positioned at supported rod erecting(18)Both sides it is right respectively
Claim provided with motor B, the motor B is wheel hub motor(52), the wheel hub motor(52)Pass through connecting rod C(53)With
Wheel body(51)Concentric fixation, the wheel body(51)Circumferential surface be evenly distributed with multiple suckers(54), the sucker(54)
Towards wheel body(51)The middle part of one side end face is provided with sebific duct(55), the wheel body(51)Pass through sebific duct(55)With sucker(54)Even
Connect.
10. slippery walls automatic scrubbing robot as claimed in claim 9, it is characterised in that:The sebific duct(55)Axle center
By sucker(54)Center, and sucker(54)Middle part be provided with stomata A(58), the stomata A(58)By sucker(54)It is interior
With sebific duct(55)Tube chamber(56)Connection, the sebific duct(55)Away from sucker(54)One end be provided inwardly with flange, the flange
Edge surround stomata B(57), the wheel body(51)Surface radially secure have multiple nose bars(59), the nose bar(59)'s
External diameter and stomata B(57)Internal diameter be gap coordinate, the nose bar(59)Away from wheel body(51)One end be provided with enlarged footing(60),
The enlarged footing(60)External diameter and tube chamber(56)Internal diameter be gap coordinate, the enlarged footing(60)Dorsad nose bar(59)One
End is provided with vertebra forming head(61), the conical head(61)Maximum gauge be more than or equal to stomata A(58)Internal diameter and be less than or equal to
Enlarged footing(60)Diameter;And the enlarged footing(60)Towards nose bar(59)One end and conical head(61)Side wall diameter and gas
Hole A(58)Distance at diameter location of equal is less than tube chamber(56)Length;The conical head(61)Side wall diameter and stomata A
(58)At diameter location of equal and wheel body(51)The distance between be more than or equal to sucker(54)With wheel body(51)Between most narrow spacing
From.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710343647.8A CN107007193B (en) | 2017-05-16 | 2017-05-16 | Slippery walls automatic scrubbing robot |
PCT/CN2018/074529 WO2018210003A1 (en) | 2017-05-16 | 2018-01-30 | Automatic window cleaning robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710343647.8A CN107007193B (en) | 2017-05-16 | 2017-05-16 | Slippery walls automatic scrubbing robot |
Publications (2)
Publication Number | Publication Date |
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CN107007193A true CN107007193A (en) | 2017-08-04 |
CN107007193B CN107007193B (en) | 2019-05-24 |
Family
ID=59449921
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Application Number | Title | Priority Date | Filing Date |
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CN201710343647.8A Expired - Fee Related CN107007193B (en) | 2017-05-16 | 2017-05-16 | Slippery walls automatic scrubbing robot |
Country Status (2)
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CN (1) | CN107007193B (en) |
WO (1) | WO2018210003A1 (en) |
Cited By (3)
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WO2018210003A1 (en) * | 2017-05-16 | 2018-11-22 | 淮阴工学院 | Automatic window cleaning robot |
CN110448237A (en) * | 2019-07-26 | 2019-11-15 | 深圳中物智建科技有限公司 | A kind of external wall clean robot |
CN112120615A (en) * | 2020-08-11 | 2020-12-25 | 杭州龙皓工程咨询有限公司 | Glass curtain wall cleaning equipment |
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Also Published As
Publication number | Publication date |
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CN107007193B (en) | 2019-05-24 |
WO2018210003A1 (en) | 2018-11-22 |
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Effective date of registration: 20201123 Address after: Sun Lao Jia Zhen Gao Yuan Zhuang Cun, Cao County, Heze City, Shandong Province Patentee after: Caoxian Honghui Shoes Co., Ltd Address before: 223005 Jiangsu city of Huaian Province Higher Education Park while the road No. 1 Patentee before: HUAIYIN INSTITUTE OF TECHNOLOGY |
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