CN107336250A - Domestic multipurpose robot - Google Patents
Domestic multipurpose robot Download PDFInfo
- Publication number
- CN107336250A CN107336250A CN201710800976.0A CN201710800976A CN107336250A CN 107336250 A CN107336250 A CN 107336250A CN 201710800976 A CN201710800976 A CN 201710800976A CN 107336250 A CN107336250 A CN 107336250A
- Authority
- CN
- China
- Prior art keywords
- automotive frame
- gear
- shaft
- dust
- robot according
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000000428 dust Substances 0.000 claims abstract description 47
- 230000005540 biological transmission Effects 0.000 claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 238000009434 installation Methods 0.000 claims abstract description 11
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 10
- 239000004744 fabric Substances 0.000 claims 3
- 230000001360 synchronised effect Effects 0.000 description 8
- 238000004140 cleaning Methods 0.000 description 4
- 238000010408 sweeping Methods 0.000 description 4
- 238000013480 data collection Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to intelligent robot technology field, and in particular to a kind of multi-purpose robot applied to family；Concrete technical scheme is：Domestic multipurpose robot, including automotive frame, first power transmission shaft and second driving shaft, motor is connected with by bolt in automotive frame, power is conveyed to driving wheel by the output shaft of motor by gear drive, the side of automotive frame is equipped with driven pulley, the bottom of automotive frame is equipped with two auxiliary wheels, driving wheel, driven pulley drives automotive frame to move jointly with two auxiliary wheels, the bottom of automotive frame is equipped with dust collecting installation, dust collecting installation is used to clean ground, camera is installed at the top of automotive frame, manipulator, nozzle of fire extinguisher and pouring mechanism, camera can complete image capture function, and pouring mechanism is opened according to the image absorbed, nozzle of fire extinguisher or manipulator, it is vdiverse in function, it disclosure satisfy that the demand of Modern Smart Home.
Description
Technical field
The invention belongs to intelligent robot technology field, and in particular to a kind of multi-purpose robot applied to family.
Background technology
At present, with the continuous development of scientific technology, the species of robot becomes more diverse, and has machine in all trades and professions
The application of people, as the smart homes such as the development of social scientific and technological level, sweeping robot have gradually come into everybody life.As
The small assistant of household of new generation, sweeping robot can greatly mitigate family clean burden, but now domestic sweeping robot
Soon, to hundreds of pieces, up to seven or eight thousand under the product of in the market, quality is very different, and cost performance is too low, and this is unfavorable for intelligence for starting
The popularization of energy household.In addition, current sweeping robot function is more single, one family generally requires multiple robots to take
Business, comprehensive functional are poor.
The content of the invention
To solve technical problem existing for prior art, the invention provides a kind of multifunctional household robot, collection is swept
Ground, pouring, fire extinguishing, monitoring are, multiple functional, disclosure satisfy that the demand of Modern Smart Home.
To achieve the above object, the technical solution adopted in the present invention is：Domestic multipurpose robot, including motor vehicle
Frame, the first power transmission shaft and second driving shaft, motor is connected with by bolt in automotive frame, on the output shaft of motor
There is little gear by key connection, the first power transmission shaft is placed in the lower section of little gear, and the first power transmission shaft is transversely mounted on machine by bearing
In motor-car frame, there are first gear and second gear by key connection on the first power transmission shaft, little gear engages with second gear, and second
Power transmission shaft is placed in the lower section of the first power transmission shaft, and second driving shaft is transversely mounted in automotive frame by bearing, second driving shaft
Upper to have the 3rd gear by key connection, the 3rd gear engages with first gear, and the side of second driving shaft is through after automotive frame
Extend to the outside of automotive frame, the epitaxial end of second driving shaft has driving wheel by key connection, be also equipped with automotive frame from
Driving wheel, driven pulley are arranged on automotive frame by driven shaft.
After motor start-up, the output shaft of motor drives pinion rotation, and little gear drives second gear to rotate, due to
First gear, second gear follow second gear synchronous axial system by key and the first transmission axis connection, the first power transmission shaft, and then
First gear follows the first power transmission shaft synchronous axial system, and first gear drives the 3rd pinion rotation engaged, second driving shaft
Follow the 3rd gear synchronous to rotate, rotation is followed with the drive shaft of second driving shaft key connection, in order to keep the fortune of whole mechanism
Row stability, the side relative with driving wheel arrangement driven pulley, driving wheel and driven pulley synchronous axial system, are realized on automotive frame
The walking of whole device.
The bottom of automotive frame is equipped with two auxiliary wheels, and two auxiliary wheels are used for the walking for aiding in whole device, ensure fortune
Capable stability.
The bottom of automotive frame is also equipped with dust collecting installation, during robot ambulation, dust collecting installation work
Make, complete floor cleaning work.
Camera and manipulator are installed, camera is used for Data Collection, gathered according to camera at the top of automotive frame
Image, after handling the view data of collection, manipulator can work.
Dust collecting installation includes dust accommodating case, dust disposable box and the collecting drum in dust disposable box, ash
The bottom of dirt disposable box is communicated with dust collecting pipe, the bottom opening of dust collecting pipe, and dust disposable box passes through pipeline and dust
Accommodating case connects, and during robot is run, dust accommodating case forms negative pressure, and robot leads to when ground is passed through
The opening for crossing dust collection bottom of the tube sucks the dust on ground, and the collecting drum in dust disposable box rotates, and further improves
Cleaning efficiency.
Auxiliary wheel is arranged in chassis by bearing, is fixed with the top of chassis by key and horizontal axis connection, lateral shaft
Vertical axis, vertical axis are arranged in automotive frame by bearing.Auxiliary wheel both can lateral rotation, again can vertical rotating, realize ten thousand
To rotation, robot is facilitated to be changed direction during traveling.
Wherein, as preferable, camera is arranged on automotive frame by camera stand.
Wherein, manipulator includes pedestal, and jacking leading screw is housed on pedestal, and the top for jacking leading screw is connected with movable block, even
Connect block to connect with machinery folder, jack the up and down motion of the flexible drive contiguous block of leading screw, contiguous block moves upwards, machinery folder folder
Tightly, contiguous block moves downward, and machinery folder unclamps.
Machinery folder includes the clamping plate being arranged symmetrically, and the middle part indent of clamping plate is simultaneously hinged on pedestal, and the top of clamping plate is equipped with
Arc chuck, the bottom of clamping plate and one end of connecting rod are hinged, and the other end and the movable block of connecting rod are hinged, and two clamping plates form scissors
Shape structure, two arc chucks in scissor structure form bare terminal end.
The top layout of automotive frame has nozzle of fire extinguisher, and nozzle of fire extinguisher is put out a fire for family expenses small range.
The top layout of automotive frame has pouring mechanism, and pouring mechanism can intelligently pour.
Sleeve is also equipped between 3rd gear and automotive frame, operationally, the stable of the 3rd gear can be ensured
Property.
In order to extend the service life of vertical axis, vertical axis is arranged in automotive frame by deep groove ball bearing.
The present invention compared with prior art, specifically has the beneficial effect that：The present invention carries camera, can complete image
Capture functions, and dust collecting installation, pouring mechanism, nozzle of fire extinguisher or manipulator, work(are opened according to the image absorbed
Can be various, it disclosure satisfy that the demand of Modern Smart Home.
Brief description of the drawings
Fig. 1 is the positive structure schematic of the present invention.
Fig. 2 is the positive structure schematic of automotive frame in Fig. 1.
Fig. 3 is the side structure schematic diagram of automotive frame in Fig. 1.
Fig. 4 is the overlooking the structure diagram of automotive frame in Fig. 1.
Fig. 5 is the structural representation that Fig. 2 is middle dust disposable box.
Fig. 6 is the partial enlarged drawing at A in Fig. 1.
In figure, 1 is automotive frame, and 2 be the first power transmission shaft, and 3 be second driving shaft, and 4 be motor, and 5 be little gear, and 6 are
First gear, 7 be second gear, and 8 be the 3rd gear, and 9 be driving wheel, and 10 be driven pulley, and 11 be driven shaft, and 12 be auxiliary wheel,
13 be camera, and 14 be manipulator, and 15 be dust accommodating case, and 16 be collecting drum, and 17 be dust collecting pipe, and 18 be pipeline, and 19 are
Lateral shaft, 20 be vertical axis, and 21 be camera stand, and 22 be pedestal, and 23 be jacking leading screw, and 24 be movable block, and 25 be machinery folder, and 26 are
Clamping plate, 27 be arc chuck, and 28 be connecting rod, and 29 be nozzle of fire extinguisher, and 30 be pouring mechanism, and 31 be sleeve, and 32 be that dust is collected
Device, 33 be dust disposable box.
Embodiment
In order that technical problems, technical solutions and advantages to be solved are more clearly understood, tie below
Drawings and Examples are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
As Figure 1-4, domestic multipurpose robot, including automotive frame 1, the first power transmission shaft 2 and second driving shaft 3,
Motor 4 is connected with by bolt in automotive frame 1, has little gear 5 by key connection on the output shaft of motor 4, the
One power transmission shaft 2 is placed in the lower section of little gear 5, and the first power transmission shaft 2 is transversely mounted in automotive frame 1 by bearing, the first transmission
There are first gear 6 and second gear 7 by key connection on axle 2, little gear 5 is engaged with second gear 7, and second driving shaft 3 is placed in
The lower section of first power transmission shaft 2, second driving shaft 3 are transversely mounted in automotive frame 1 by bearing, are passed through on second driving shaft 3
Key connection has the 3rd gear 8, and the 3rd gear 8 engages with first gear 6, and the side of second driving shaft 3 is prolonged after passing through automotive frame 1
The outside of automotive frame 1 is extended, the epitaxial end of second driving shaft 3 has driving wheel 9 by key connection, is also equipped with automotive frame 1
Driven pulley 10, driven pulley 10 are arranged on automotive frame 1 by driven shaft 11.
After motor 4 starts, the output shaft of motor 4 drives little gear 5 to rotate, and little gear 5 drives 7 turns of second gear
Dynamic, because first gear 6, second gear 7 are connected by key with the first power transmission shaft 2, the first power transmission shaft 2 follows second gear 7
Synchronous axial system, and then first gear 6 follows the synchronous axial system of the first power transmission shaft 2, first gear 6 drives the 3rd gear engaged
8 rotate, and second driving shaft 3 follows the synchronous axial system of the 3rd gear 8, follows rotation with the drive shaft of the key connection of second driving shaft 3, be
The operation stability of the whole mechanism of holding, the side relative with the driving wheel 9 arrangement driven pulley 10 on automotive frame 1, actively
Wheel 9 and the synchronous axial system of driven pulley 10, realize the walking of whole device.
The bottom of automotive frame 1 is equipped with two auxiliary wheels 12, and two auxiliary wheels 12 are used for the walking for aiding in whole device, protected
Demonstrate,prove the stability of operation.
The bottom of automotive frame 1 is also equipped with dust collecting installation 32, during robot ambulation, dust collecting installation
32 work, complete floor cleaning work.
The top of automotive frame 1 is provided with camera 13 and manipulator 14, and camera 13 is used for Data Collection, according to shooting
The images of first 13 collection, after handling the view data of collection, manipulator 14 can work.
The inside of automotive frame 1 is built-in with central data processor, and central data processor is passed signal by transponder
Transponder is given, data information transfer is carried out remote control to mobile terminal of mobile telephone by wireless signal, realizes intelligence by transponder
The function of energy household.
As shown in figure 5, dust collecting installation 32 includes dust accommodating case 15, dust disposable box 33 and collected installed in dust
Collecting drum 16 in box 33, the bottom of dust disposable box 33 are communicated with dust collecting pipe 17, the bottom opening of dust collecting pipe 17,
Dust disposable box 33 is connected by pipeline 18 with dust accommodating case 15, during robot is run, the shape of dust accommodating case 15
Into negative pressure, robot is sucked the dust on ground by the opening of the bottom of dust collecting pipe 17, ash when ground is passed through
Collecting drum 16 in dirt disposable box 33 rotates, and further improves cleaning efficiency.
Auxiliary wheel 12 is connected by key with lateral shaft 19, and lateral shaft 19 is arranged in chassis by bearing, the top of chassis
Vertical axis 20 is fixed with, vertical axis 20 is arranged in automotive frame 1 by bearing.Auxiliary wheel 12 both can lateral rotation, can erect again
To rotation, universal rotational is realized, facilitates robot to be changed direction during traveling.
Wherein, as preferable, camera 13 is arranged on automotive frame 1 by camera stand 21.
As shown in fig. 6, manipulator 14 includes pedestal 22, jacking leading screw 23 is housed on pedestal 22, jacks the top of leading screw 23
It is connected with movable block 24, movable block 24 is connected with machinery folder 25, jacks the up and down motion of the flexible drive movable block 24 of leading screw 23,
Movable block 24 moves upwards, and machinery folder 25 clamps, and movable block 24 moves downward, and machinery folder 25 unclamps.
Machinery folder 25 includes the clamping plate 26 being arranged symmetrically, and the middle part indent of clamping plate 26 is simultaneously hinged on pedestal 22, clamping plate 26
Top arc chuck 27 is housed, the bottom and one end of connecting rod 28 of clamping plate 26 are hinged, the other end of connecting rod 28 and movable block 24
It is hinged, two formation scissor structures of clamping plates 26, two arc chucks 27 in scissor structure form bare terminal end.
The top layout of automotive frame 1 has nozzle of fire extinguisher 29, and nozzle of fire extinguisher 29 is put out a fire for family expenses small range.
The top layout of automotive frame 1 has pouring mechanism 30, and pouring mechanism 30 can intelligently pour.
Sleeve 31 is also equipped between 3rd gear 8 and automotive frame 1, operationally, the operation of the 3rd gear 8 can be ensured
Stability.
In order to extend the service life of vertical axis 20, vertical axis 20 is arranged in automotive frame 1 by deep groove ball bearing.
The present invention carries camera 13, can complete image capture function, and open dust according to the image absorbed
Collection device 32, pouring mechanism 30, nozzle of fire extinguisher 29 or manipulator 14, it is vdiverse in function, it disclosure satisfy that Modern Smart Home
Demand.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., all should be wrapped within the scope of the present invention.
Claims (10)
1. domestic multipurpose robot, it is characterised in that including automotive frame（1）, the first power transmission shaft（2）And second driving shaft
（3）, the automotive frame（1）It is interior that motor is connected with by bolt（4）, motor（4）Output shaft on connected by key
It is connected to little gear（5）；
First power transmission shaft（2）It is placed in little gear（5）Lower section, the first power transmission shaft（2）Automotive frame is transversely mounted on by bearing
（1）It is interior, the first power transmission shaft（2）It is upper to have first gear by key connection（6）And second gear（7）, little gear（5）With second gear
（7）Engagement；
Second driving shaft（3）It is placed in the first power transmission shaft（2）Lower section, second driving shaft（3）It is transversely mounted on by bearing motor-driven
Vehicle frame（1）It is interior, second driving shaft（3）It is upper to have the 3rd gear by key connection（8）, the 3rd gear（8）With first gear（6）Nibble
Close, second driving shaft（3）Side pass through automotive frame（1）After extend to automotive frame（1）Outside, second driving shaft（3）
Epitaxial end have driving wheel by key connection（9）；
Automotive frame（1）On be also equipped with driven pulley（10）, driven pulley（10）Pass through driven shaft（11）Installed in automotive frame（1）
On；
Automotive frame（1）Bottom two auxiliary wheels are housed（12）；
Automotive frame（1）Bottom be also equipped with dust collecting installation（32）；
Automotive frame（1）Top camera is installed（13）And manipulator（14）.
2. domestic multipurpose robot according to claim 1, it is characterised in that the dust collecting installation（32）Including
Dust accommodating case（15）, dust disposable box（33）With installed in dust disposable box（33）Interior collecting drum（16）, dust disposable box
（33）Bottom be communicated with dust collecting pipe（17）, dust collecting pipe（17）Bottom opening, dust disposable box（33）Pass through pipe
Road（18）With dust accommodating case（15）Connection.
3. domestic multipurpose robot according to claim 2, it is characterised in that the auxiliary wheel（12）Pass through key and horizontal stroke
To axle（19）Connection, lateral shaft（19）It is arranged on by bearing in chassis, vertical axis is fixed with the top of chassis（20）, vertical axis
（20）Automotive frame is arranged on by bearing（1）It is interior.
4. domestic multipurpose robot according to claim 3, it is characterised in that the camera（13）Pass through camera stand
（21）Installed in automotive frame（1）.
5. domestic multipurpose robot according to claim 4, it is characterised in that the manipulator（14）Including pedestal
（22）, pedestal（22）It is upper that jacking leading screw is housed（23）, jack leading screw（23）Top and movable block（24）Connection, movable block（24）
Pressed from both sides with machinery（25）Connection.
6. domestic multipurpose robot according to claim 5, it is characterised in that the machinery folder（25）Including symmetrical cloth
The clamping plate put（26）, clamping plate（26）Middle part indent and be hinged on pedestal（22）On, clamping plate（26）Top arc chuck is housed
（27）, clamping plate（26）Bottom and connecting rod（28）One end be hinged, connecting rod（28）The other end and movable block（24）It is be hinged.
7. domestic multipurpose robot according to claim 6, it is characterised in that the automotive frame（1）Top cloth
It is equipped with nozzle of fire extinguisher（29）.
8. domestic multipurpose robot according to claim 7, it is characterised in that the automotive frame（1）Top cloth
It is equipped with pouring mechanism（30）.
9. domestic multipurpose robot according to claim 8, it is characterised in that the 3rd gear（8）With motor vehicle
Frame（1）Between be also equipped with sleeve（31）.
10. domestic multipurpose robot according to claim 9, it is characterised in that the vertical axis（20）Pass through zanjon
Ball bearing is arranged on automotive frame（1）It is interior.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710800976.0A CN107336250A (en) | 2017-09-07 | 2017-09-07 | Domestic multipurpose robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710800976.0A CN107336250A (en) | 2017-09-07 | 2017-09-07 | Domestic multipurpose robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107336250A true CN107336250A (en) | 2017-11-10 |
Family
ID=60215813
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710800976.0A Pending CN107336250A (en) | 2017-09-07 | 2017-09-07 | Domestic multipurpose robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107336250A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107788917A (en) * | 2017-12-01 | 2018-03-13 | 潘美娣 | One kind monitoring sweeping robot |
| CN107854059A (en) * | 2017-12-01 | 2018-03-30 | 潘美娣 | One kind fire extinguishing monitoring sweeping robot |
| CN109889580A (en) * | 2019-01-25 | 2019-06-14 | 金文亚 | A kind of orbit movable Intelligent life method of servicing and its system based on cloud computing |
| CN110368616A (en) * | 2019-06-25 | 2019-10-25 | 泉州洛江元康工业设计有限公司 | A kind of mobile fire-fighting equipment in construction site |
| CN110434866A (en) * | 2019-08-02 | 2019-11-12 | 吕梁学院 | A kind of intelligent nursing device and its control method |
| CN111150335A (en) * | 2020-01-20 | 2020-05-15 | 昆明理工大学 | Household cleaning robot |
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| KR20010039350A (en) * | 1999-10-30 | 2001-05-15 | 윤덕용 | Football robot apparatus |
| US20100312390A1 (en) * | 2007-05-14 | 2010-12-09 | Robosoft | Domestic robot assistant having a rolling chassis |
| JP2014002501A (en) * | 2012-06-18 | 2014-01-09 | Hochiki Corp | Alarm system |
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| CN105829034A (en) * | 2013-12-27 | 2016-08-03 | Thk株式会社 | Chuck |
| CN206026923U (en) * | 2016-06-27 | 2017-03-22 | 刘磊 | Intelligence fire control inspection firefighting robot |
| US20170135544A1 (en) * | 2015-11-16 | 2017-05-18 | Samsung Electronics Co., Ltd. | Drum for cleaner and cleaner having the same |
| CN106737550A (en) * | 2016-12-22 | 2017-05-31 | 绍兴恒元机械制造有限公司 | A kind of Simple robot of handling machinery part |
| CN207172089U (en) * | 2017-09-07 | 2018-04-03 | 张一帆 | A kind of domestic multipurpose robot |
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| US5350033A (en) * | 1993-04-26 | 1994-09-27 | Kraft Brett W | Robotic inspection vehicle |
| KR20010039350A (en) * | 1999-10-30 | 2001-05-15 | 윤덕용 | Football robot apparatus |
| US20100312390A1 (en) * | 2007-05-14 | 2010-12-09 | Robosoft | Domestic robot assistant having a rolling chassis |
| JP2014002501A (en) * | 2012-06-18 | 2014-01-09 | Hochiki Corp | Alarm system |
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| CN206026923U (en) * | 2016-06-27 | 2017-03-22 | 刘磊 | Intelligence fire control inspection firefighting robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107788917A (en) * | 2017-12-01 | 2018-03-13 | 潘美娣 | One kind monitoring sweeping robot |
| CN107854059A (en) * | 2017-12-01 | 2018-03-30 | 潘美娣 | One kind fire extinguishing monitoring sweeping robot |
| CN109889580A (en) * | 2019-01-25 | 2019-06-14 | 金文亚 | A kind of orbit movable Intelligent life method of servicing and its system based on cloud computing |
| CN109889580B (en) * | 2019-01-25 | 2021-11-26 | 北京无限自在文化传媒股份有限公司 | Rail-moving type intelligent life service method and system based on cloud computing |
| CN110368616A (en) * | 2019-06-25 | 2019-10-25 | 泉州洛江元康工业设计有限公司 | A kind of mobile fire-fighting equipment in construction site |
| CN110368616B (en) * | 2019-06-25 | 2021-03-19 | 安徽锦拓建筑工程有限公司 | Building site removes fire-fighting equipment |
| CN110434866A (en) * | 2019-08-02 | 2019-11-12 | 吕梁学院 | A kind of intelligent nursing device and its control method |
| CN111150335A (en) * | 2020-01-20 | 2020-05-15 | 昆明理工大学 | Household cleaning robot |
| CN111150335B (en) * | 2020-01-20 | 2021-06-18 | 昆明理工大学 | Household cleaning robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171110 |