CN107928536A - Spider-shaped glass outer wall clears up robot - Google Patents
Spider-shaped glass outer wall clears up robot Download PDFInfo
- Publication number
- CN107928536A CN107928536A CN201711475014.9A CN201711475014A CN107928536A CN 107928536 A CN107928536 A CN 107928536A CN 201711475014 A CN201711475014 A CN 201711475014A CN 107928536 A CN107928536 A CN 107928536A
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- China
- Prior art keywords
- robot
- rack
- spider
- glass outer
- sucker
- 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
- 239000011521 glass Substances 0.000 title claims abstract description 31
- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 230000033001 locomotion Effects 0.000 claims abstract description 24
- 238000004140 cleaning Methods 0.000 claims abstract description 19
- 241000252254 Catostomidae Species 0.000 claims description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 10
- 238000010521 absorption reaction Methods 0.000 claims description 5
- 238000000605 extraction Methods 0.000 claims description 4
- 239000004744 fabric Substances 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 238000003466 welding Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 230000001568 sexual effect Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- 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
- 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
-
- 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
- Cleaning In General (AREA)
- Cleaning By Liquid Or Steam (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of spider-shaped glass outer wall to clear up robot, including robot shells, control device, motion, water-flowing trough and wiper mechanism, robot shells are equipped with the horizontal and vertical bar through shell, article carrying platform is equipped with robot shells, article carrying platform is equipped with motor, single chip computer device and sensor, motor, sensor connection single chip computer device；Motion includes toggle, rack and pinion mechanism and sucker, the inside end of toggle and rack and pinion mechanism is mounted on sucker, robot is realized by the reciprocating motion of toggle and moved up and down, and left and right translation is realized by rack and pinion mechanism；Robot shells both ends are arranged with wiper mechanism.Exterior wall cleaning robot has stronger obstacle performance, and certain obstacle can be voluntarily crossed in the case of no auxiliary, and can realize that trackless is cleared up, and to reduce its cost, and can be universally used in the glass outer wall of different buildings.
Description
Technical field
The present invention relates to a kind of mechanical device for being used to clear up glass outer wall, and in particular to a kind of spider-shaped glass outer wall is clear
Manage robot.
Background technology
With the growth of population, high buildings and large mansions emerge rapidly, this also brings heavy cleaning.High building is basic at present
Using traditional cleaning way：One people, one rope type, that is, clean worker and be sitting on the suspension seat by lifting rope traction, using in hand
The burnishers such as rag complete cleaning.This poorly efficient, high risk sexual cleaning way cannot increasingly meet the needs of social.
With the improvement of people ' s living standards, social harmonious development indices are improved, and modern age is integrated, mechanization, automation
Development people be more desirable to a kind of special purpose robot and replace manually efficiently completing glass cleaning task.Outside the high building being currently known
Why wall cleaning robot is not promoted, and is primarily due to that its is of high cost, it is universal and can avoidance performance it is not high.
The content of the invention
Danger is produced in order to avoid the operation of worker's altitude high temperature, reduces labor intensity, the applicability of intensifier.This
Invention provides a kind of spider-shaped glass outer wall cleaning robot.Exterior wall cleaning robot has stronger obstacle performance, can be
Certain obstacle is voluntarily crossed in the case of no auxiliary, and can realize that trackless is cleared up, to reduce its cost, and can be universally used in difference
The glass outer wall of building.
Technical solution provided by the invention is：
Spider-shaped glass outer wall clears up robot, including robot shells, control device, motion, sensor, water flowing
Groove and wiper mechanism, the robot shells are equipped with the horizontal and vertical bar through shell, described to be set in robot shells
There is article carrying platform, the article carrying platform is equipped with motor and single chip computer device, the motor, sensor connection single chip computer device；
The motion includes toggle, rack and pinion mechanism and sucker, the toggle and rack-and-pinion machine
The inside end of structure is mounted on sucker, and robot is realized by the reciprocating motion of toggle and moved up and down, and passes through tooth
Take turns rackwork and realize left and right translation；Water-flowing trough is equipped with the robot shells center, the water-flowing trough has connection machine
The limbers of people's inner surface of outer cover, the water-flowing trough can connect water pipe and provide cleaning water；The robot shells both ends are symmetrical
Equipped with wiper mechanism.
The wiper mechanism is included in symmetrical two curved bars of robot upper and lower end, two straight-bars and rotates pole, connects
Extension bar and spring, the straight-bar are connected in connecting rod with curved bar, and can be rotated around with the phase contact of connecting rod, and with spring about
Beam, the spring rear end connect the first motor, and the rotation pole is arranged on curved bar end and is fixed with cleaning cloth, and robot is placed
When vertical metope, plane where curved bar is vertical with metope, and is adjacent to metope glass.
Left and right is respectively provided with two symmetrical toggles in robot shells, is altogether four toggles,
The toggle connects the second motor, toggle end connecting sucker；In the robot shells
Portion is equipped with two rack and pinion mechanisms, and gear is arranged on inside robot shells, and the gear moves up under motor drive in rack
It is dynamic, rack end connecting sucker；The sucker is realized absorption glass wall using extraction and release gas and is packed up.
Further, there are two toothed racks, a root long rack, a short tooth bar, two toothed rack ends are connected, in rack-and-pinion
Four suckers are equipped with mechanism altogether, respectively positioned at the end of long rack, short tooth bar；The 3rd electricity of gear connection on the long rack
Gear on machine, the short tooth article connects the 4th motor.
Further, there is the sliding slot and the rod piece through sliding block that sliding block, sliding block are run, institute on four toggles
The end for stating crank connecting link connects a sucker respectively, altogether equipped with four suckers.
Sensor is equipped with horizontal and vertical four bar ends through robot shells.
Further, the sensor is laser sensor.
Further, the single chip computer device connects terminal control unit by wireless transmission/reception device.
Further, fan is installed in the middle part of the robot shells, can anti-beam wind.
Compared with prior art, the beneficial effects of the invention are as follows：
The spider-shaped glass outer wall cleaning robot of the present invention produces pressure absorption by pumping the air of sucker inner surface
In on glass surface；Realized and moved up and down by the reciprocating motion of toggle, realize that left and right is flat by rack and pinion mechanism
Move.The equal placement sensor of shell four direction, judges ambient conditions by sensor, changes opposite movement.Wiper mechanism is
Two bars greatly strengthen the ability that may span across glass whippletree by spring constraint, then connects water pipe and realize first to spray and wipe afterwards, can be with
Guarantee cleans up.
The present invention can avoidance ability it is strong, versatility is high, and advantage of lower cost, can avoid the operation of worker's altitude high temperature and produce
Danger, reduces labor intensity.
Brief description of the drawings
Fig. 1：The structure diagram of the spider-shaped glass outer wall cleaning robot of the present invention.
Fig. 2：The forward sight structure chart of motion.
Fig. 3：The face upwarding assumption diagram of motion.
Fig. 4：The rearview structure chart of motion.
Fig. 5：The three of wiper mechanism regard structure chart.
Fig. 6：The structure diagram of wiper mechanism.
Fig. 7：The three of shell regard structure chart.
Fig. 8：The overlooking structure figure of shell.
In figure：1- shells, 2- article carrying platforms, 3- rod pieces, 4- toggles, 5- rack and pinion mechanisms, 6- suckers, 7-
Water-flowing trough, 8- limbers, 9- curved bars, 10- straight-bars, 11- rotation poles, 12- connecting rods, 13- springs, 14- long racks, 15- are short
Rack, 16- sliding blocks, 17- sliding slots, 18- sensors, 19- fans, 20- bars.
Embodiment
With reference to specific embodiment, the invention will be further described.
Spider-shaped glass outer wall clear up robot, including robot shells 1, control device, motion, sensor 18,
Water-flowing trough 7 and wiper mechanism, the robot shells 1 are equipped with the horizontal and vertical bar 20 through shell, described in fitness machine
Article carrying platform 2 is equipped with above structure, the article carrying platform 2 is equipped with motor and single chip computer device, and the motor, sensor 18 connect
Single chip computer device；The motion includes toggle 4, rack and pinion mechanism 5 and sucker 6, the crank connecting link machine
The inside end of structure 4 and rack and pinion mechanism 5 is mounted on sucker 6, and robot is real by the reciprocating motion of toggle 4
Now move up and down, left and right translation is realized by rack and pinion mechanism 5；Water-flowing trough 7, institute are equipped with 1 center of robot shells
Stating water-flowing trough 7 has the limbers 8 of connection 1 inner surface of robot shells, and it is Clean- that the water-flowing trough 7 can connect water pipe offer
Water；1 both ends of robot shells are arranged with wiper mechanism.
The wiper mechanism is included in 9, two straight-bars 10 of symmetrical two curved bars of robot upper and lower end and rotates pole
11st, connecting rod 12 and spring 13, the straight-bar 10 and curved bar 9 be connected in connecting rod 12, and can be connected around with connecting rod 12
Point rotates, and is constrained with spring 13, and 13 rear end of spring connects the first motor, and wiper mechanism has symmetrical above and below two, because
This is two the first motors；The rotation pole 11 is arranged on 9 end of curved bar and is fixed with cleaning cloth, and robot is positioned over vertical wall
During face, 9 place plane of curved bar is vertical with metope, and is adjacent to metope glass.
Left and right is respectively provided with two symmetrical toggles 4 in robot shells 1, is altogether four toggles
4, the toggle 4 connects the second motor, shares four the second motors；4 end of the toggle connection is inhaled
Disk 6；Two rack and pinion mechanisms 5 are equipped with the middle part of robot shells 1, gear is arranged on inside robot shells 1, the tooth
Wheel moves under motor drive on rack, rack end connecting sucker 6；The sucker 6 is using extraction and release gas
Realize absorption glass wall and pack up.
Further, there are two toothed racks, a short tooth bar 15 of root long rack 14, one, two toothed rack ends are connected, in gear
Four suckers 6 are equipped with rackwork 5 altogether, respectively positioned at the end of long rack 14, short tooth bar 15；Tooth on the long rack 14
Gear on the 3rd motor of wheel connection, the short tooth article 15 connects the 4th motor.
Further, there is sliding slot 17 that sliding block 16, sliding block 16 are run and through sliding block 16 on four toggles 4
Rod piece 3, the end of the rod piece 3 connects a sucker 6 respectively, altogether equipped with four suckers 6.
Sensor 18 is equipped with horizontal and vertical four 20 ends of bar through robot shells 1.Further, the biography
Sensor 18 is laser sensor.
The single chip computer device connects terminal control unit by wireless transmission/reception device.
Fan is installed at the middle part of robot shells 1, can anti-beam wind.
In the present invention, wiper mechanism is connected in motion upper/lower terminal, and being allowed to front and rear can clean.As shown in Fig. 2, tooth
Four suckers 6 on rackwork 5 are taken turns loaded on long rack 14, the end of short tooth bar 15, can be left with the long rack 14 of bar, short tooth bar 15
Right translation, two toothed rack length are different, and running into obstacle when can translate its left and right has a capability to pass through；Toggle 4
On four suckers 6 be loaded on 3 both ends of rod piece, can be with 3 upper and lower translation of rod piece, when 4 top shoe 16 of crank connecting link is moved to peak
When sucker 6 adsorb, four on rack and pinion mechanism 5 sucker 6 rises, and crank connecting link 4 rotates again, then band mobile robot it is upward
Movement, then sliding block 16 relatively moves to the minimum point of sliding slot 17, and the sucker 6 on idler gear rackwork 5 adsorbs at this time, up and down
The sucker 6 of both sides rod piece 3 is packed up, and toggle 4 drives upper and lower sucker 6 to slide to peak again, so repeatedly, works as top
Sensor 18 detects that front stops without glass, upward direction movement, and the sucker 6 of upper and lower both sides rod piece 3 adsorbs, the center tooth gear teeth
Sucker 6 in bar mechanism 5 is packed up, and rack-and-pinion rotates, and the sucker 6 on idler gear rackwork 5 moves right, and reaches specified
Position, the sucker 6 on idler gear rackwork 5 adsorb, and the sucker 6 of upper and lower rod piece 3 is packed up, and rack-and-pinion rotates backward, and reaches
To former relative position, move downward beginning (i.e. motor is opposite with steering during movement upwards), when lower section sensor 18 detect away from
Distance is less than a certain range from the ground, and repetition moves right, and rear movement upwards, so repeatedly, sensor 18 detects arrival most
Right end then repeating motion to the left.Motion process remains that at least two suckers 6 are firmly adsorbed in metope.
Water-flowing trough 7 is equipped among the chassis of robot shells 1 in Fig. 4, is connected with the limbers 8 of Fig. 2, connecting water pipe can carry
For cleaning water, sucker 6 is realized absorption using extraction and release gas and is packed up.Fig. 5 is wiper mechanism appearance, straight-bar 10 and song
Bar 9 can be rotated around it with being connected in connecting rod 12, and be constrained with spring 13, rotated pole 11 and fixed with cleaning cloth, in machine
Driven and rotated by the motor of side during operation, the length and intensity of spring 13 are controlled, when making machine being disposed vertically, only by gravity
Effect, curved bar 9 is substantially perpendicular to the ground, and can be close to metope, so as to strengthen its cleaning capacity and obstacle climbing ability.Fig. 7,8 are machine
Device people shell 1, it is streamlined, and a fan 19 is installed in top, has preferable wind loading rating, 3 port of the rod piece installation on four sides
Sensor 18, can be laser sensor, show present position by ranging.
The above, is only presently preferred embodiments of the present invention, not makees limitation in any form to the present invention, any ripe
Professional and technical personnel is known, it is without departing from the scope of the present invention, real to more than according to the technical spirit of the present invention
Apply any simple modification, equivalent substitution that example made and improve etc., still fall within technical solution of the present invention protection domain it
It is interior.
Claims (9)
1. spider-shaped glass outer wall clears up robot, it is characterised in that：Including robot shells, control device, motion, biography
Sensor, water-flowing trough and wiper mechanism, the robot shells are equipped with the horizontal and vertical bar through shell, described in robot
Shell is equipped with article carrying platform, and the article carrying platform is equipped with motor and single chip computer device, the motor, sensor connection monolithic
Machine device；The motion includes toggle, rack and pinion mechanism and sucker, the toggle and gear
The inside end of rackwork is mounted on sucker, and robot is realized by the reciprocating motion of toggle and moved up and down,
Left and right translation is realized by rack and pinion mechanism；Water-flowing trough is equipped with the robot shells center, the water-flowing trough, which has, to be connected
The limbers of welding robot inner surface of outer cover, the water-flowing trough can connect water pipe and provide cleaning water；The robot shells two
End is arranged with wiper mechanism.
2. spider-shaped glass outer wall according to claim 1 clears up robot, it is characterised in that：The wiper mechanism includes
In symmetrical two curved bars of robot upper and lower end, two straight-bars and pole, connecting rod and spring are rotated, the straight-bar and song
Bar is connected in connecting rod, and can be rotated around with the phase contact of connecting rod, and with spring constraint, the spring rear end connection first
Motor, the rotation pole is arranged on curved bar end and is fixed with cleaning cloth, flat where curved bar when robot is positioned over vertical metope
Face is vertical with metope, and is adjacent to metope glass.
3. spider-shaped glass outer wall according to claim 1 clears up robot, it is characterised in that：It is left in robot shells
The right side is respectively provided with two symmetrical toggles, is altogether four toggles, the toggle connection second
Motor, toggle end connecting sucker；Two rack and pinion mechanisms, tooth are equipped with the middle part of the robot shells
Wheel is arranged on inside robot shells, and the gear moves under motor drive on rack, rack end connecting sucker；Institute
Sucker is stated to realize absorption glass wall using extraction and release gas and pack up.
4. spider-shaped glass outer wall according to claim 3 clears up robot, it is characterised in that：There are two toothed racks, one
Long rack, a short tooth bar, two toothed rack ends are connected, and are equipped with four suckers altogether on rack and pinion mechanism, respectively positioned at length
The end of rack, short tooth bar；The 4th electricity of gear connection on the 3rd motor of gear connection, the short tooth article on the long rack
Machine.
5. spider-shaped glass outer wall according to claim 3 clears up robot, it is characterised in that：Four toggles
The upper sliding slot run with sliding block, sliding block and the rod piece through sliding block, the end of the crank connecting link connect a sucker respectively,
Four suckers are equipped with altogether.
6. spider-shaped glass outer wall according to claim 1 clears up robot, it is characterised in that：Passed through horizontal and vertical
Four bar ends of robot shells are equipped with sensor.
7. spider-shaped glass outer wall according to claim 4 clears up robot, it is characterised in that：The sensor is laser
Sensor.
8. spider-shaped glass outer wall according to claim 1 clears up robot, it is characterised in that：The single chip computer device leads to
Cross wireless transmission/reception device connection terminal control unit.
9. spider-shaped glass outer wall according to claim 1 clears up robot, it is characterised in that：In the robot shells
Middle part is provided with fan, can anti-beam wind.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711475014.9A CN107928536A (en) | 2017-12-29 | 2017-12-29 | Spider-shaped glass outer wall clears up robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711475014.9A CN107928536A (en) | 2017-12-29 | 2017-12-29 | Spider-shaped glass outer wall clears up robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107928536A true CN107928536A (en) | 2018-04-20 |
Family
ID=61936979
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711475014.9A Pending CN107928536A (en) | 2017-12-29 | 2017-12-29 | Spider-shaped glass outer wall clears up robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107928536A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109008763A (en) * | 2018-07-12 | 2018-12-18 | 上海医修哥网络科技股份有限公司 | A kind of outdoor window wiping robot and its obstacle-detouring method for crossing limbic disorder |
| CN109717785A (en) * | 2019-01-25 | 2019-05-07 | 湖北工程学院 | A kind of high building curtain wall cleaning robot |
| CN111067405A (en) * | 2020-01-21 | 2020-04-28 | 金陵科技学院 | Steering and turning device matched with sucker crawling robot |
| CN112620282A (en) * | 2021-01-19 | 2021-04-09 | 彭鑫 | Outer glass cleaning device for building high-rise building |
| CN112641367A (en) * | 2020-12-21 | 2021-04-13 | 美晟通科技(苏州)有限公司 | Lifting auxiliary mechanism for glass curtain wall cleaning robot |
| CN112790688A (en) * | 2021-02-06 | 2021-05-14 | 河海大学 | High-altitude glass cleaning six-foot wall-climbing robot |
| CN113520205A (en) * | 2021-07-19 | 2021-10-22 | 广州理工学院 | Glass curtain wall cleaning robot |
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|---|---|---|---|---|
| JPH06165740A (en) * | 1992-11-30 | 1994-06-14 | Sanwa Tekki Corp | Glass washing device for building |
| CN202681848U (en) * | 2012-04-18 | 2013-01-23 | 燕山大学 | Wall surface cleaning robot based on vacuum absorption principle |
| CN103448826A (en) * | 2013-09-09 | 2013-12-18 | 徐州工业职业技术学院 | Two-foot type wall climbing robot |
| CN203676981U (en) * | 2013-12-04 | 2014-07-02 | 昆明理工大学 | Glass cleaning device |
| CN105496291A (en) * | 2016-01-25 | 2016-04-20 | 金烜伊 | Automatic high-altitude glass cleaning robot |
| CN205411097U (en) * | 2015-12-21 | 2016-08-03 | 天津理工大学 | Cleaning machines people scrambles perpendicularly |
| CN107310650A (en) * | 2016-04-26 | 2017-11-03 | 广西大学 | The dual-purpose Detecting Robot pole-climbing mechanism of wall is climbed in a kind of pole-climbing |
| CN208876369U (en) * | 2017-12-29 | 2019-05-21 | 南京工程学院 | Spider-shaped glass outer wall clears up robot |
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2017
- 2017-12-29 CN CN201711475014.9A patent/CN107928536A/en active Pending
Patent Citations (8)
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| JPH06165740A (en) * | 1992-11-30 | 1994-06-14 | Sanwa Tekki Corp | Glass washing device for building |
| CN202681848U (en) * | 2012-04-18 | 2013-01-23 | 燕山大学 | Wall surface cleaning robot based on vacuum absorption principle |
| CN103448826A (en) * | 2013-09-09 | 2013-12-18 | 徐州工业职业技术学院 | Two-foot type wall climbing robot |
| CN203676981U (en) * | 2013-12-04 | 2014-07-02 | 昆明理工大学 | Glass cleaning device |
| CN205411097U (en) * | 2015-12-21 | 2016-08-03 | 天津理工大学 | Cleaning machines people scrambles perpendicularly |
| CN105496291A (en) * | 2016-01-25 | 2016-04-20 | 金烜伊 | Automatic high-altitude glass cleaning robot |
| CN107310650A (en) * | 2016-04-26 | 2017-11-03 | 广西大学 | The dual-purpose Detecting Robot pole-climbing mechanism of wall is climbed in a kind of pole-climbing |
| CN208876369U (en) * | 2017-12-29 | 2019-05-21 | 南京工程学院 | Spider-shaped glass outer wall clears up robot |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109008763A (en) * | 2018-07-12 | 2018-12-18 | 上海医修哥网络科技股份有限公司 | A kind of outdoor window wiping robot and its obstacle-detouring method for crossing limbic disorder |
| CN109717785A (en) * | 2019-01-25 | 2019-05-07 | 湖北工程学院 | A kind of high building curtain wall cleaning robot |
| CN109717785B (en) * | 2019-01-25 | 2020-12-29 | 湖北工程学院 | High-rise curtain wall cleaning robot |
| CN111067405A (en) * | 2020-01-21 | 2020-04-28 | 金陵科技学院 | Steering and turning device matched with sucker crawling robot |
| CN112641367A (en) * | 2020-12-21 | 2021-04-13 | 美晟通科技(苏州)有限公司 | Lifting auxiliary mechanism for glass curtain wall cleaning robot |
| CN112620282A (en) * | 2021-01-19 | 2021-04-09 | 彭鑫 | Outer glass cleaning device for building high-rise building |
| CN112790688A (en) * | 2021-02-06 | 2021-05-14 | 河海大学 | High-altitude glass cleaning six-foot wall-climbing robot |
| CN112790688B (en) * | 2021-02-06 | 2021-11-23 | 河海大学 | High-altitude glass cleaning six-foot wall-climbing robot |
| CN113520205A (en) * | 2021-07-19 | 2021-10-22 | 广州理工学院 | Glass curtain wall cleaning robot |
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Application publication date: 20180420 |
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| RJ01 | Rejection of invention patent application after publication |