CN108371520A - Inclined-plane sweeping robot and purging system - Google Patents
Inclined-plane sweeping robot and purging system Download PDFInfo
- Publication number
- CN108371520A CN108371520A CN201810308261.8A CN201810308261A CN108371520A CN 108371520 A CN108371520 A CN 108371520A CN 201810308261 A CN201810308261 A CN 201810308261A CN 108371520 A CN108371520 A CN 108371520A
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- Prior art keywords
- module
- sweeping robot
- cleaning
- stand
- plane sweeping
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- 238000010408 sweeping Methods 0.000 title claims abstract description 50
- 238000010926 purge Methods 0.000 title claims abstract description 9
- 238000004140 cleaning Methods 0.000 claims abstract description 47
- 230000001360 synchronised effect Effects 0.000 claims abstract description 21
- 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 14
- 238000005096 rolling process Methods 0.000 claims description 14
- 241001417527 Pempheridae Species 0.000 claims description 13
- 238000009434 installation Methods 0.000 claims description 13
- 125000003003 spiro group Chemical group 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 description 9
- 230000000712 assembly Effects 0.000 description 6
- 238000000429 assembly Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000009194 climbing Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of inclined-plane sweeping robot and purging system, which includes stand module, the walking module being connect respectively with the stand module and cleans module, and the cleaning module is for cleaning；Wherein, the walking module includes synchronous crawler belt, driving wheel and the driven wheel being sequentially connected with the driving wheel, and the driving wheel and the driven wheel are rotatablely connected with the stand module；The driving wheel and the driven wheel are arranged in a one-to-one correspondence with the both ends of the length direction of the synchronous crawler belt, for driving the crawler belt to be moved along direction initialization, the inclined-plane sweeping machine artificially non-adsorbed formula, can obstacle detouring and efficient.
Description
Technical field
The present invention relates to robotic technology fields, more particularly, to a kind of inclined-plane sweeping robot and purging system.
Background technology
With the photovoltaic panel operating mode of the artificial inclined wall for being inconvenient to clean, such as workshop glass roof, photovoltaic plant
Increase, inclined-plane automation cleaning equipment design increasingly paid close attention to.The existing wall type cleaning of climbing for adapting to above-mentioned operating mode is set
The basis of standby walking is mostly vacuum suction, such cleaning equipment is often complicated, control is difficult, power consumption is excessive, cruising ability
Difference；And the sweeping robot of commercialization can lead to not work under the operating mode of inclined wall due to skidding on the market.
Invention content
The purpose of the present invention is to provide a kind of inclined-plane sweeping robot, which can be with non-adsorbed side
Formula carries out cleaning and can obstacle detouring.
The present invention provides a kind of inclined-plane sweeping robot, the inclined-plane sweeping robot include stand module, respectively with it is described
The walking module and cleaning module of stand module connection, the cleaning module is for cleaning；Wherein,
The walking module includes synchronous crawler belt, driving wheel and the driven wheel being sequentially connected with the driving wheel, the drive
Driving wheel and the driven wheel are rotatablely connected with the stand module；
The driving wheel and the driven wheel are arranged in a one-to-one correspondence with the both ends of the length direction of the synchronous crawler belt, are used for
The crawler belt is driven to be moved along direction initialization.
As a further improvement of the above technical scheme, the side on the synchronous crawler belt for being contacted with face to be cleaned is set
It is equipped with friction rubber.
As a further improvement of the above technical scheme, the cleaning module can relative to the height of the stand module
It adjusts.
As a further improvement of the above technical scheme, the cleaning module includes rolling bearing units, shaft and brush sweeper；
Wherein,
The bearing of the rolling bearing units is socketed in the shaft, and the brush sweeper, which is wrapped up in, to be located in the shaft；
The pedestal of the rolling bearing units is detachably connected with the stand module.
As a further improvement of the above technical scheme, the stand module include profile rack and with the profile rack
The connector of connection；Wherein,
The driving wheel and the driven wheel are rotatablely connected with the profile rack；
The pedestal of the rolling bearing units is detachably connected with the connector.
As a further improvement of the above technical scheme, further include that component is turned up；
It is described be turned up component include through the connector thickness straight trough mouth, along the straight trough mouth length direction successively
The multiple bolt apertures and spiro connecting piece and locking member being arranged on the pedestal；
The spiro connecting piece is connect after the straight trough mouth and any bolt apertures with the locking member, so that the company
Fitting and the pedestal be detachably connected and relative to the pedestal height it is adjustable.
As a further improvement of the above technical scheme, the cleaning module further includes cleaning decelerating motor；
Including two cleaning modules, two cleaning modules are set along the length direction interval of the stand module
It sets, and two two cleaning decelerating motors for cleaning module are oppositely arranged along the diagonal line of the stand module, with
Keep the steering of two two shafts for cleaning module opposite.
As a further improvement of the above technical scheme, further include power supply and control module, and be arranged in the rack
Case above module；
It is formed with installation space between the stand module and the case；
Power supply and part control unit in the power supply and control module are encapsulated in the upper installation space.
As a further improvement of the above technical scheme, further include power supply and control module, and be arranged in the rack
Chassis below module；
Lower installation space is formed between the stand module and the chassis；
Part control unit in the power supply and control module is encapsulated in the lower installation space.
Inclined-plane sweeping robot provided by the invention include stand module, the walking module being connect respectively with stand module and
Module is cleaned, cleans module for cleaning；Wherein, walking module includes synchronous crawler belt, driving wheel and is sequentially connected with driving wheel
Driven wheel, driving wheel and driven wheel be rotatablely connected with stand module, the length of driving wheel and the driven wheel and synchronous crawler belt
The both ends in degree direction are arranged in a one-to-one correspondence, for driving crawler belt to be moved along direction initialization.
Compared with prior art, first, inclined-plane sweeping robot provided by the invention can carry out walking operations on inclined-plane,
And not needing the forms such as vacuum makes sweeping robot be adsorbed on working face to prevent from gliding, the structure of the robot and control are simple
Single, small power consumption；Second, the crawler travel mode of inclined-plane sweeping robot provided by the invention compared with running on wheels mode, is gone
When walking and the contact area of working face is big, and frictional force is big, can be cleaned in the larger working face in inclination angle, while obstacle climbing ability is more
It is good.
Another object of the present invention, which also resides in, provides a kind of purging system, which includes that inclined-plane as described above is clear
Sweep robot.
The advantageous effect of purging system provided by the invention compared with the prior art is same as inclined-plane provided by the invention and cleans
The advantageous effect of robot compared with the prior art, details are not described herein again.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, other drawings may also be obtained based on these drawings.
Fig. 1 is the overall schematic of inclined-plane sweeping robot provided in an embodiment of the present invention；
Fig. 2 is the vertical view of Fig. 1；
Fig. 3 is the upward view of Fig. 1；
Fig. 4 is the first cleaning path schematic diagram of inclined-plane sweeping robot provided in an embodiment of the present invention；
Fig. 5 is the second cleaning path schematic diagram of inclined-plane sweeping robot provided in an embodiment of the present invention；
Fig. 6 is that the third of inclined-plane sweeping robot provided in an embodiment of the present invention cleans path schematic diagram.
Reference numeral：
1- stand module；2- walking modules；3- cleans module；4- power supplys and control module；1-1- profile racks；1-2- is drawn
Hand；1-3- connectors；2-1- drive wheel assemblies；2-2- synchronizes crawler belt；2-3- driven wheel assemblys；2-4- assists wheel assembly；3-1-
Clean decelerating motor；3-2- rolling bearing units；3-3- brush sweepers；4-1- DC power supplies；4-2- master switch；4-3- edge detections pass
Sensor.
Specific implementation mode
Technical scheme of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
The every other embodiment that personnel are obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term "center", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for the description present invention and simplify description, do not indicate or imply the indicated device or element must have a particular orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for description purposes only, and is not understood to indicate or imply relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
Can also be electrical connection to be mechanical connection；It can be directly connected, can also indirectly connected through an intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Fig. 1 is the overall schematic of inclined-plane sweeping robot provided in an embodiment of the present invention；Fig. 2 is the vertical view of Fig. 1；Figure
3 be the upward view of Fig. 1.
Shown in Fig. 3, the inclined-plane sweeping robot after the embodiment of the present invention provides includes stand module 1, walking
Module 2 cleans module 3, power supply and control module 4.
Wherein, stand module 1 includes profile rack 1-1, knob 1-2, for connecting the connector 1-3 for cleaning module.Its
In, fixing bases of the profile rack 1-1 as walking module 2, cleaning module 3, power supply and control module 4 and case；Knob
1-2 is fixed by bolt and T-nut with profile rack 1-1, and effect is easy for user and easily fetches the sweeping machine
People；Connector 1-3 for connecting cleaning module is detachably connected by bolt and profile rack 1-1.
Wherein, walking module includes drive wheel assemblies 2-1, synchronous crawler belt 2-2, driven wheel assembly 2-3, auxiliary wheel assembly 2-
4 and tensioning wheel assembly, wheel assembly 2-4 is between drive wheel assemblies 2-1 and driven wheel assembly 2-3 for auxiliary.Wherein, drive wheel group
Part includes driving wheel, and it includes auxiliary wheel that driven wheel assembly, which includes driven wheel, auxiliary wheel assembly, driving wheel, auxiliary wheel, driven wheel according to
Secondary drive connection, driving wheel, driven wheel and auxiliary wheel are rotatablely connected with profile rack, for driving synchronous crawler belt along setting side
To movement.
Wherein, the upper sides contacted with face to be cleaned synchronous crawler belt 2-2 are provided with custom materials, and in the present embodiment, this is determined
Prepared material is preferably friction rubber, which is speciality rubber, and has larger friction coefficient, to increase synchronous crawler belt
With the frictional force between face to be cleaned.Driving wheel in drive wheel assemblies 2-1 is with the driven wheel in driven wheel assembly 2-3 along synchronous
The both ends interval of the length direction of crawler belt 2-2 is arranged, also, driving wheel and driven wheel and the both ends one of synchronous crawler belt 2-2 are a pair of
It should be arranged, synchronous crawler belt 2-2 is tightened automatically by the elastic force that the flexible deformation of the inner rubber of tensioning wheel assembly generates, and is not necessarily to
It adjusts manually.
Wherein, the drive shaft in drive wheel assemblies 2-1 is connected with the output shaft of decelerating motor by shaft coupling and can be same
Step rotation is moved with this by driving wheel crawler belt 2-2 synchronous with driven wheel drive.
In the present embodiment, inclined-plane sweeping robot includes two walking modules, and two walking modules are along profile rack
Width direction is arranged with respect to parallel interval, also that is, being arranged symmetrically about profile rack central point.
Wherein, it includes cleaning decelerating motor 3-1, rolling bearing units 3-2, shaft and brush sweeper 3-3 to clean module 3.Wherein,
The output shaft for cleaning decelerating motor 3-1 is fixedly connected by shaft coupling with shaft and can be rotated synchronously；Rolling bearing units 3-2 sockets
In shaft, brush sweeper 3-3, which is wrapped up in, to be located in shaft, after cleaning decelerating motor 3-1 startups, drives shaft along certainly by shaft coupling
Body center rotating, shaft synchronous drive brush sweeper 3-3 rotations clean face to be cleaned.
In the present embodiment, rolling bearing units 3-2 and connector 1-3 are detachably connected, also, rolling bearing units 3-2 is relative to even
The height of fitting 1-3 is adjustable, and then so that cleaning module is adjustable with respect to the height of stand module.
Sweeping robot provided in this embodiment further includes that component is turned up, which includes through-connections 1-3 thick
The straight trough mouth of degree is arranged in multiple bolt apertures on pedestal and spiro connecting piece and locking member successively along the length direction of straight trough mouth；
Spiro connecting piece is connect after straight trough mouth and any bolt apertures with locking member so that connector and pedestal be detachably connected and relative to
Pedestal height is adjustable.
In the present embodiment, it further includes cleaning decelerating motor 3-1 to clean module 3, which includes two cleaning modules 3,
Two clean module 3 and are arranged along the length direction interval of stand module 1, and two cleaning decelerating motors of two cleaning modules 3
3-1 is oppositely arranged along the diagonal line of stand module 1, so that the steering of two shafts of two cleaning modules 3 is opposite.
In the present embodiment, sweeping robot further includes the case being arranged above stand module, the case and stand module
Profile rack connection, also, upper installation space is formed between the case and profile rack.
In the present embodiment, sweeping robot further includes the chassis being arranged below stand module, the chassis and stand module
Profile rack connection, also, lower installation space is formed between the chassis and profile rack.
Wherein, power supply and control module include DC power supply, master switch, edge detecting sensor.Wherein, DC power supply seals
After dress above the upper cover plate of profile rack, in other words, upper setting of the DC power supply between upper cover plate and case is empty
Between, the power supply of electricity has been consumed convenient for quick-replaceable with this, has shortened the non-productive work time；Master switch is mounted on profile rack
Cross above line cover board, in other words, upper installation space of the master switch between line cover board and case, wherein on case with always open
It closes corresponding position and is provided with pressing hole, the press surface of master switch is located in the pressing hole or exceeds the pressing hole, pressed by this
Pressure surface, user can directly press master switch, to control its switch.
Wherein, edge detecting sensor is fixed on by mounting plate on profile rack, is located at the outside of two walking modules
With the front end of robot.Power supply and control module further include wireless routing, controller, driver, navigation sensor, no circuit
By, controller, driver, navigation sensor be installed in above-mentioned lower installation space, by chassis, walking module mounting plate,
Profile rack, the upper cover plate of profile rack and mistake line cover board etc. are sealed in the inside of inclined-plane sweeping robot.
The operation principle of the inclined-plane sweeping robot is：The basis of inclined-plane sweeping robot movement is walking decelerating motor band
Dynamic driving wheel rotation, two belt wheel motion modes of driving wheel and driven wheel of the same side are made by the gearing of synchronous crawler belt
Unanimously, during transmission, synchronous crawler belt, which is attached on working face, to be moved；When inclined-plane, sweeping robot needs linear motion,
The walking decelerating motor constant speed counter motion of the left and right sides, inclined-plane can be switched by changing simultaneously the steering of two walking decelerating motors
Sweeping robot movement is forward or backward；When inclined-plane, sweeping robot needs divertical motion, the walking of the left and right sides is slowed down
Motor constant speed moves in the same direction, and changing simultaneously the steerings of two walking decelerating motors, can to switch the movement of inclined-plane sweeping robot be suitable
Hour hands are rotated or are rotated counterclockwise.
It is had skidded when inclined-plane sweeping robot moves along a straight line, when left and right sides synchronization caterpillar drive speed is different,
The navigation sensor of robot is identified, and controller carries out automatic compensation control；When inclined-plane sweeping robot moves closely to work
When making face edge, edge detecting sensor is identified, and controller automatically controls change tiltedly by driver, walking decelerating motor
The movement of face sweeping robot.
The basis that inclined-plane sweeping robot cleans is the friction of the brush sweeper and working face of revolution at a high speed.Clean module and
Stand module is spirally connected by the pedestal of rolling bearing units and the straight trough mouth of connector to realize that height is adjustable so that brush sweeper and work
It is suitable to make face exposure level.The bristle of each brush sweeper is one end left-hand screw other end right-hand screw, forms double rotational directions and cleans
Hairbrush.Compared with the brush sweeper of single rotation direction, dust can be gathered to centre rather than be sent out to side this kind of double rotational directions brush sweeper
It dissipates, swept working face will not be polluted.
Fig. 4 is the first cleaning path schematic diagram of inclined-plane sweeping robot provided in an embodiment of the present invention；Fig. 5 is the present invention
The second of the inclined-plane sweeping robot that embodiment provides cleans path schematic diagram；Fig. 6 is that inclined-plane provided in an embodiment of the present invention is clear
The third for sweeping robot cleans path schematic diagram.
With reference to shown in fig. 4 to fig. 6, which can be operated with remote control, can also automatic mode walking
Clean, Fig. 4,5,6 be automatic mode under cleaning path, can on the working face at larger angle of inclination cleaning work, have it is good
Good obstacle detouring effect, kinetic stability are high；Electric control module uses mechanical seal insulation blocking, waterproof and dustproof.
The another object of the embodiment of the present invention, which also resides in, provides a kind of purging system, which includes as described above
Inclined-plane sweeping robot.
The advantageous effect of purging system provided in an embodiment of the present invention compared with the prior art, is same as the embodiment of the present invention and carries
The advantageous effect of the inclined-plane sweeping robot of confession compared with the prior art, details are not described herein again.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：Its according to
So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into
Row equivalent replacement；And these modifications or replacements, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of inclined-plane sweeping robot, which is characterized in that the walking being connect including stand module, respectively with the stand module
Module and cleaning module, the cleaning module is for cleaning；Wherein,
The walking module includes synchronous crawler belt, driving wheel and the driven wheel being sequentially connected with the driving wheel, the driving wheel
It is rotatablely connected with the stand module with the driven wheel；
The driving wheel and the driven wheel are arranged in a one-to-one correspondence with the both ends of the length direction of the synchronous crawler belt, for driving
The crawler belt is moved along direction initialization.
2. inclined-plane sweeping robot according to claim 1, which is characterized in that on the synchronous crawler belt for it is to be cleaned
The side of face contact is provided with friction rubber.
3. inclined-plane sweeping robot according to claim 1, which is characterized in that the cleaning module is relative to the rack
The height of module is adjustable.
4. inclined-plane sweeping robot according to claim 3, which is characterized in that the cleaning module include rolling bearing units,
Shaft and brush sweeper；Wherein,
The bearing of the rolling bearing units is socketed in the shaft, and the brush sweeper, which is wrapped up in, to be located in the shaft；
The pedestal of the rolling bearing units is detachably connected with the stand module.
5. inclined-plane sweeping robot according to claim 4, which is characterized in that the stand module include profile rack and
The connector being connect with the profile rack；Wherein,
The driving wheel and the driven wheel are rotatablely connected with the profile rack；
The pedestal of the rolling bearing units is detachably connected with the connector.
6. inclined-plane sweeping robot according to claim 5, which is characterized in that further include that component is turned up；
The component of being turned up includes arranging successively through the straight trough mouth of the connector thickness, along the length direction of the straight trough mouth
Multiple bolt apertures and spiro connecting piece on the pedestal and locking member；
The spiro connecting piece is connect after the straight trough mouth and any bolt apertures with the locking member, so that the connector
It is detachably connected with the pedestal and adjustable relative to pedestal height.
7. inclined-plane sweeping robot according to claim 4, which is characterized in that the cleaning module further includes cleaning to slow down
Motor；
Including two cleaning modules, two modules that clean are arranged along the length direction interval of the stand module, and
Two two cleaning decelerating motors for cleaning module are oppositely arranged along the diagonal line of the stand module, so that two
The steering of two shafts for cleaning module is opposite.
8. inclined-plane sweeping robot according to claim 1, which is characterized in that further include power supply and control module, and
Case above the stand module is set；
It is formed with installation space between the stand module and the case；
Power supply and part control unit in the power supply and control module are encapsulated in the upper installation space.
9. inclined-plane sweeping robot according to claim 1, which is characterized in that further include power supply and control module, and
Chassis below the stand module is set；
Lower installation space is formed between the stand module and the chassis；
Part control unit in the power supply and control module is encapsulated in the lower installation space.
10. a kind of purging system, which is characterized in that including inclined-plane sweeping robot as claimed in any one of claims 1-9 wherein.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810308261.8A CN108371520A (en) | 2018-04-08 | 2018-04-08 | Inclined-plane sweeping robot and purging system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810308261.8A CN108371520A (en) | 2018-04-08 | 2018-04-08 | Inclined-plane sweeping robot and purging system |
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| Publication Number | Publication Date |
|---|---|
| CN108371520A true CN108371520A (en) | 2018-08-07 |
Family
ID=63032153
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810308261.8A Pending CN108371520A (en) | 2018-04-08 | 2018-04-08 | Inclined-plane sweeping robot and purging system |
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| CN206518536U (en) * | 2017-07-20 | 2017-09-26 | 常州航天岳达精密机械有限公司 | Jetting machine |
| CN208463957U (en) * | 2018-04-08 | 2019-02-05 | 中科新松有限公司 | Inclined-plane sweeping robot and purging system |
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