CN109758057A - A kind of passive vacuum robot - Google Patents
A kind of passive vacuum robot Download PDFInfo
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- CN109758057A CN109758057A CN201811601801.8A CN201811601801A CN109758057A CN 109758057 A CN109758057 A CN 109758057A CN 201811601801 A CN201811601801 A CN 201811601801A CN 109758057 A CN109758057 A CN 109758057A
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Abstract
A kind of passive vacuum robot, including rack, central rack protrusion, rack front and rear sides open up two circular through holes respectively, two circular through holes are located at rack left and right ends, circular through hole positioned at left and right ends is located on same axis, rack left and right ends are respectively equipped with main shaft, the rear and front end of main shaft is located in the circular through hole of front and rear sides, upper rack is set there are two driving motor, the output shaft of two driving motors is contrary, fixing piece is fixedly mounted respectively at left and right sides of upper rack, limit base, fixing piece one end is fixedly connected with rack top surface, limit base bottom surface is fixedly connected with rack top surface, it is bolted between the fixing piece other end and limit base top surface.To the present invention in a manner of a kind of vacuum suction of no vacuum power source of application and caterpillar climbing robot, backward shift moving cam mechanism is utilized to realize the flexible of cylinder rod.
Description
Technical field
The invention belongs to climbing robot field, specifically a kind of passive vacuum robot.
Background technique
Increasing with city middle-high building object, the demand of high-rise building wall surface upkeep operation is also more and more.
Current this kind of work mainly takes high-altitude hanging basket by cleaning worker to complete.There is only certain danger for this limit operation
Property, and working efficiency is lower, therefore is badly in need of a kind of robot substitution manual operation of efficient quick.
Summary of the invention
The present invention provides a kind of passive vacuum robot, to solve defect in the prior art.
The present invention is achieved by the following technical programs:
A kind of passive vacuum robot, including rack, central rack protrusion, it is logical that rack front and rear sides open up two circles respectively
Hole, two circular through holes are located at rack left and right ends, and the circular through hole positioned at left and right ends is located on same axis, rack
Left and right ends are respectively equipped with main shaft, and the rear and front end of main shaft is located in the circular through hole of front and rear sides, and upper rack is equipped with
Two driving motors, the output shaft of two driving motors is contrary, be fixedly mounted at left and right sides of upper rack respectively fixing piece,
Limit base, fixing piece one end are fixedly connected with rack top surface, and limit base bottom surface is fixedly connected with rack top surface, the fixing piece other end
It is bolted between limit base top surface, two driving motors are located between fixing piece, limit base, each driving electricity
Machine output shaft is respectively mounted driving gear, is fixedly mounted driven gear in the middle part of two main shafts, driven gear and corresponding active
It is connected between gear by the first drag chain, driving wheel is installed in every main shaft rear and front end respectively, and rack front and rear sides are fixed respectively
Installation side plate, side plate are located on the inside of driving wheel, and driving wheel length is longer, and several equally distributed teeth are opened up outside driving wheel,
It is connected between the driving wheel of the left and right sides by the second drag chain, it is solid that the second drag chain exterior circumferential installs several equally distributed cylinders
Determine part, convex block is fixedly mounted in the middle part of cylinder fixing piece bottom surface, limit plate, convex block is fixedly mounted in cylinder fixing piece front and rear sides respectively
There are gap between limit plate, convex block can cooperate in the gap on the second drag chain of insertion, before limit plate is located at the second drag chain
Both ends afterwards, convex block, limit plate top left and right ends open up hole respectively, the hole on convex block, limit plate and the second drag chain interface holes it
Between be bolted, cylinder fixing piece top surface opens up placing groove, cylinder is equipped in placing groove, placing groove upper end two sides are along logical
It crosses and is bolted, be suction nozzle on the outside of cylinder, cylinder inside is cylinder rod, and cylinder intake mouth installs sucker, cylinder inside cylinder
Boom end installs rolling bearing, and bottom of the frame opens up rectangular channel, and rectangular channel is located at central rack and is located at rack boss, square
The inverse cam mechanism of mountain font is equipped with inside shape slot, inverse cam mechanism top is located in rectangular channel, and rack protrusion is in inverse cam
Mechanism, front and rear sides, top open up through-hole respectively, pass through longitudinal axis connection, inverse cam mechanism lower part rear and front end point between through-hole
Rack front and rear sides and it Wei Yu not be located on the inside of driving wheel, inverse cam mechanism lower part rear and front end opens up cam tracks slot respectively,
Cam tracks slot is respectively equipped with limit chimb in both sides up and down, and rolling bearing can cooperate in cam tracks slot.
A kind of passive vacuum robot as described above, the placing groove inside rear and front end open up vertical slot respectively,
Vertical plate is installed inside vertical slot, the width of vertical plate is less than the width of vertical slot, and vertical plate can vertically slot move left and right,
Vertical plate is located at the installation of one end on the inside of vertical slot limited block, and limited block is always positioned in vertical slot, placing groove rear and front end point
Transverse groove is not opened up, communicate inside transverse groove and vertical slot and is located in the middle part of vertical slot, and fixed block is fixedly mounted outside vertical plate
One end, the other end of fixed block passes through transverse groove and is located at outside.
A kind of passive vacuum robot as described above, the cylinder top open up air inlet, and air inlet is located at cylinder
Middle part.
A kind of passive vacuum robot as described above, the side plate are net-shaped structure.
A kind of passive vacuum robot as described above, the bottom of the frame install telescopic rod.
A kind of passive vacuum robot as described above, support frame, support frame are installed in the bottom of the frame quadrangle respectively
One end and bottom of the frame are articulated and connected, and support frame can turn down and be located at bottom of the frame.
The invention has the advantages that in a manner of a kind of vacuum suction of no vacuum power source of application and caterpillar to the present invention
Climbing robot realizes the flexible of cylinder rod using backward shift moving cam mechanism.When realizing locomotive function, make upper rack or so
The driving motor of two sides starts, and is able to drive driving gear rotation, the driving motor direction of rotation of the left and right sides is identical, two masters
Driven gear is fixedly mounted in the middle part of axis, is connected between driven gear and corresponding driving gear by the first drag chain, every
Driving wheel is installed in main shaft rear and front end respectively, and driving gear can drive driven gear rotation by the first drag chain, to drive
Driving wheel rotates, and is connected between the driving wheel of the left and right sides by the second drag chain, and the installation of the second drag chain exterior circumferential is several uniformly
The cylinder of distribution, cylinder are connect by cylinder fixing piece with the second drag chain, and bottom of the frame installs inverse cam mechanism, inverse cam mechanism
Lower part rear and front end opens up cam tracks slot respectively, installs sucker on the outside of cylinder on suction nozzle, and cylinder inside installs rolling bearing,
When driving wheel rotates, rolling bearing can enter in cam tracks slot, cam is led with rotation along cam tracks slot end
Both sides are respectively equipped with limit chimb to track slot up and down, and rolling bearing can be located in cam tracks slot, and cam tracks slot is inverse cam
Structure can be realized flexible movement to cylinder, under the driving of driving, by drag chain drive each absorbent module successively into
Capable circulation (section of closely stopping → plunger ascent stage → section of far stopping → plunger descending branch → closely stop adsorbed and be detached from wall surface
Only section), complete the absorption motion process that robot rectilinear direction is advanced, retreated.First stroke: section of closely stopping.Plunger is far being inhaled
Attached face is moved with linear guide.Second stroke: cylinder rod ascent stage.When cylinder rod moves to the cylinder rod ascent stage, cylinder rod
The rolling bearing of end will enter in the guide rail using the design of inverse cam structure, until the cylinder throw of lever reaches maximum value, at this time
Reach maximum adsorption power.Third trip: section of far stopping.The cylinder throw of lever is maintained at maximum value, all to move on adsorption plane
Absorbent module plays suction-operated.Fourth stroke: cylinder rod descending branch.Guide rail starts to be bent, and cylinder rod is slowly carried out with guide rail
Drawback movement, adsorption capacity are gradually reduced, and are gradually reduced to zero, are and then again introduced into section of closely stopping.By drag chain drive cylinder into
The above shuttling movement of row, reaches the linear movement target of robot.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is structural schematic diagram of the invention；Fig. 2 is the top view of Fig. 1；Fig. 3 is the rearview of Fig. 2；Fig. 4 is the I of Fig. 1
Partial enlarged view.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
A kind of passive vacuum robot, as shown, including rack 1,1 middle part protrusion of rack, 1 front and rear sides of rack difference
Two circular through holes 2 are opened up, two circular through holes 2 are located at 1 left and right ends of rack, the circular through hole 2 positioned at left and right ends
On same axis, 1 left and right ends of rack are respectively equipped with main shaft 3, and the rear and front end of main shaft 3 is located at the circle of front and rear sides
In shape through-hole 2,1 top of rack is set there are two driving motor 4, and the output shaft of two driving motors 4 is contrary, 1 top of rack
The left and right sides is fixedly mounted fixing piece 10 respectively, and fixing piece 10 is arcuate structure, limit base 11,10 one end of fixing piece and rack 1
Top surface is fixedly connected, and 11 bottom surface of limit base is fixedly connected with 1 top surface of rack, between 11 top surface of 10 other end of fixing piece and limit base
It is bolted, two driving motors 4 are located between fixing piece 10, limit base 11, and each 4 output shaft of driving motor is equal
Driving gear 5 is installed, two main shafts, 3 middle part is fixedly mounted driven gear 6, driven gear 6 and corresponding driving gear 5 it
Between connected by the first drag chain 7, driving wheel 8 is installed in every 3 rear and front end of main shaft respectively, 1 front and rear sides of rack fixed peace respectively
Side plate 9 is filled, side plate 9 is located at 8 inside of driving wheel, and 8 length of driving wheel is longer, and several equally distributed teeth are opened up outside driving wheel 8
Tooth is connected by the second drag chain 15 between the driving wheel 8 of the left and right sides, and the installation of 15 exterior circumferential of the second drag chain is several to be uniformly distributed
Cylinder fixing piece 12, convex block 13 is fixedly mounted in the middle part of 12 bottom surface of cylinder fixing piece, 12 front and rear sides of cylinder fixing piece are solid respectively
Dingan County fills limit plate 14, and there are gap between convex block 13 and limit plate 14, convex block 13 can cooperate on the second drag chain 15 of insertion
In gap, limit plate 14 is located at 15 rear and front end of the second drag chain, and convex block 13,14 top left and right ends of limit plate open up hole respectively,
It is bolted between 15 interface holes of convex block 13, the hole on limit plate 14 and the second drag chain, 12 top surface of cylinder fixing piece opens up
Placing groove 16, is equipped with cylinder 17 in placing groove 16,16 upper end two sides of placing groove along being bolted, on the outside of cylinder 17 for into
Gas nozzle is cylinder rod on the inside of cylinder 17, and 17 suction nozzle of cylinder installs sucker 21, and 21 lower part of sucker is equipped with connecting tube, connecting tube gas
The connection of 17 suction nozzle of cylinder, 17 inside cylinder boom end of cylinder install rolling bearing 22, and 1 bottom of rack opens up rectangular channel 29, rectangle
Slot 29 is located at 1 middle part of rack and is located at 1 boss of rack, the inverse cam mechanism 23 of mountain font is equipped with inside rectangular channel 29, instead
23 top of cam mechanism is located in rectangular channel 29, and 1 protrusion of rack opens up logical respectively in 23 top front and rear sides of inverse cam mechanism
Hole, by longitudinal axis connection between through-hole, 23 lower part rear and front end of inverse cam mechanism is located at 1 front and rear sides of rack and is located at
8 inside of driving wheel, 23 lower part rear and front end of inverse cam mechanism opens up cam tracks slot 24, about 24 both sides of cam tracks slot respectively
It is respectively equipped with limit chimb 30, rolling bearing 22 can cooperate in cam tracks slot 24.To the present invention to apply a kind of nothing
The vacuum suction mode of vacuum power source and caterpillar climbing robot realize stretching for cylinder rod using backward shift moving cam mechanism
Contracting.When realizing locomotive function, start the driving motor 4 at left and right sides of 1 top of rack, be able to drive the rotation of driving gear 5,
4 direction of rotation of driving motor of the left and right sides is identical, and two main shafts, 3 middle part is fixedly mounted driven gear 6, driven gear 6 with
It is connected between corresponding driving gear 5 by the first drag chain 7, driving wheel 8 is installed in every 3 rear and front end of main shaft respectively, actively
Gear 5 can drive driven gear 6 to rotate by the first drag chain 7, so that driving wheel 8 is driven to rotate, the driving wheel 8 of the left and right sides
Between connected by the second drag chain 15,15 exterior circumferential of the second drag chain installs several equally distributed cylinders 17, and cylinder 17 passes through
Cylinder fixing piece 12 is connect with the second drag chain 15, and inverse cam mechanism 23,23 lower part of inverse cam mechanism front and back two are installed in 1 bottom of rack
End opens up cam tracks slot 24 respectively, and sucker 21 is installed on 17 outside suction nozzle of cylinder, installs rolling bearing 22 on the inside of cylinder 17,
When driving wheel 8 rotates, rolling bearing 22 can enter cam tracks slot 24 along 24 end of cam tracks slot with rotation
Interior, about 24 both sides of cam tracks slot are respectively equipped with limit chimb 30, and rolling bearing 22 can be located in cam tracks slot 24, convex
Wheel guide-track groove 24 is inverse cam structure to which cylinder 17 can be realized flexible movement, under the driving of driving 8, passes through drag chain band
Each absorbent module is moved successively to carry out the circulation adsorbed and be detached from wall surface (section of closely stopping → plunger ascent stage → is far stopped
Section → plunger descending branch → section of closely stopping), complete the absorption motion process that robot rectilinear direction is advanced, retreated.First stroke:
Nearly section of stopping.Plunger is moved in remote adsorption plane with linear guide.Second stroke: cylinder rod ascent stage.When cylinder rod moves to gas
When the cylinder rod ascent stage, the rolling bearing of cylinder rod end will enter in the guide rail designed using inverse cam structure 23, until cylinder
The throw of lever reaches maximum value, reaches maximum adsorption power at this time.Third trip: section of far stopping.The cylinder throw of lever is maintained at maximum value,
All absorbent modules moved on adsorption plane play suction-operated.Fourth stroke: cylinder rod descending branch.Guide rail starts to be bent,
Cylinder rod slowly carries out drawback movement with guide rail, and adsorption capacity is gradually reduced, and is gradually reduced to zero, is and then again introduced into and closely stops
Section.It drives cylinder to carry out the above shuttling movement by drag chain, reaches the linear movement target of robot.
Specifically, cylinder 17 is easy to produce movement, described in the present embodiment since long-time using bolt is easy to loosen
16 inside rear and front end of placing groove opens up vertical slot 25 respectively, installs vertical plate 18, the width of vertical plate 18 inside vertical slot 25
Less than the width of vertical slot 25, vertical plate 18 can vertically slot 25 be moved left and right, and vertical plate 18 is located at 25 inside of vertical slot
Limited block is installed in one end, and limited block is always positioned in vertical slot 25, and 16 rear and front end of placing groove opens up transverse groove 19 respectively, laterally
25 middle part of vertical slot is communicated and is located inside slot 19 and vertical slot 25, and one end of fixed block 20 is fixedly mounted outside vertical plate 18,
The other end of fixed block 20 passes through transverse groove 19 and is located at outside.Vertical plate 18 has the function of limit, can inwardly push fixation
Block 20 makes vertical plate 18 be located at the rear and front end of cylinder 17, can be avoided the back-and-forth motion of cylinder 17, makes the installation of cylinder 17 more
Securely.
Specifically, equipment needs the sucker 21 that will be adsorbed on wall to remove during the motion, cylinder 17 is in backhaul
Journey needs to generate bigger power, and 17 top of cylinder described in the present embodiment opens up air inlet 26, and air inlet 26 is located in cylinder 17
Portion.17 top of cylinder opens up air inlet 26, and when cylinder 17 is in return stroke, air inlet is crossed at the piston seal end in cylinder 17
26, so that the absorption of sucker 21 and wall is failed, 17 backhaul dynamics of cylinder reduces, and keeps equipment more flexible.
Further, wall is climbed not and is a simple job, the work of the weight equipment of itself, described in the present embodiment
Side plate 9 be net-shaped structure.The netted structure of side plate 9 can not only save material, additionally it is possible to which the weight for mitigating equipment makes to set
For the stronger of absorption.
Further, equipment use for a long time is easy to appear failure, and telescopic rod 27, which can lift equipment, facilitates maintenance,
1 bottom of rack described in the present embodiment is installed by telescopic rod 27.When equipment failure needs repairing, telescopic rod 27 can be by equipment
It lifts and facilitates maintenance.
Further, when equipment does not work, 21 upper time of sucker and ground face contact, service failure are reduced the service life,
1 bottom four corners of rack described in the present embodiment install support frame 28 respectively, and 28 one end of support frame and 1 bottom of rack are articulated and connected,
Support frame 28, which can turn down, is located at 1 bottom of rack.Equipment when not in use, can be lifted, then by telescopic rod 27
The fold of support frame 28 is made into its other end and ground face contact, makes sucker 21 far from ground, there is protective effect raising to make sucker
Use the service life.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (6)
1. a kind of passive vacuum robot, it is characterised in that: it is raised in the middle part of rack (1) including rack (1), two before and after rack (1)
Side opens up two circular through holes (2) respectively, and two circular through holes (2) are located at rack (1) left and right ends, is located at left and right ends
Circular through hole (2) be located on same axis, rack (1) left and right ends are respectively equipped with main shaft (3), the rear and front end of main shaft (3)
It is located in the circular through holes (2) of front and rear sides, rack (1) top sets that there are two driving motor (4), two driving motors
(4) output shaft is contrary, and fixing piece (10), limit base (11) are fixedly mounted at left and right sides of rack (1) top respectively, fixed
Part (10) one end is fixedly connected with rack (1) top surface, and limit base (11) bottom surface is fixedly connected with rack (1) top surface, fixing piece
(10) be bolted between the other end and limit base (11) top surface, two driving motors (4) be located at fixing piece (10),
Between limit base (11), each driving motor (4) output shaft is respectively mounted driving gear (5), fixed peace in the middle part of two main shafts (3)
It fills driven gear (6), is connected between driven gear (6) and corresponding driving gear (5) by the first drag chain (7), every master
Axis (3) rear and front end is installed driving wheel (8) respectively, and rack (1) front and rear sides are fixedly mounted side plate (9) respectively, and side plate (9) is located at
On the inside of driving wheel (8), driving wheel (8) length is longer, opens up several equally distributed teeth, the left and right sides outside driving wheel (8)
Driving wheel (8) between connected by the second drag chain (15), the second drag chain (15) exterior circumferential installs several equally distributed gas
Convex block (13) are fixedly mounted in cylinder fixing piece (12), cylinder fixing piece (12) bottom surface middle part, cylinder fixing piece (12) front and rear sides point
Not Gu Dinganzhuan limit plate (14), there are gap between convex block (13) and limit plate (14), convex block (13) can cooperate insertion
In gap on two drag chains (15), limit plate (14) is located at the second drag chain (15) rear and front end, on convex block (13), limit plate (14)
Portion left and right ends open up hole respectively, convex block (13), the hole on limit plate (14) and pass through spiral shell between the second drag chain (15) interface holes
It tethers and connects, cylinder fixing piece (12) top surface opens up placing groove (16), cylinder (17) is equipped in placing groove (16), on placing groove (16)
End two sides are suction nozzle on the outside of cylinder (17) along being bolted, and are cylinder rod, cylinder (17) air inlet on the inside of cylinder (17)
Mouth installs sucker (21), and cylinder boom end installation rolling bearing (22) on the inside of cylinder (17), rack (1) bottom opens up rectangular channel
(29), rectangular channel (29) is located in the middle part of rack (1) and is located at rack (1) boss, is equipped with mountain font inside rectangular channel (29)
Inverse cam mechanism (23), inverse cam mechanism (23) top is located in rectangular channel (29), and rack (1) protrusion is in inverse cam mechanism
(23) top front and rear sides open up through-hole respectively, pass through longitudinal axis connection, inverse cam mechanism (23) lower part front and back two between through-hole
End is located at rack (1) front and rear sides and is located on the inside of driving wheel (8), and inverse cam mechanism (23) lower part rear and front end is opened respectively
If cam tracks slot (24), both sides are respectively equipped with limit chimb (30) to cam tracks slot (24) up and down, and rolling bearing (22) can
Cooperation is located in cam tracks slot (24).
2. a kind of passive vacuum robot according to claim 1, it is characterised in that: before described placing groove (16) inside
Both ends open up vertical slot (25) respectively afterwards, install vertical plate (18) inside vertical slot (25), and the width of vertical plate (18) is less than perpendicular
To the width of slot (25), vertical plate (18) can vertically slot (25) be moved left and right, and vertical plate (18) is located in vertical slot (25)
Limited block is installed in one end of side, and limited block is always positioned in vertical slot (25), and placing groove (16) rear and front end opens up transverse direction respectively
It communicates and is located in the middle part of vertical slot (25) inside slot (19), transverse groove (19) and vertical slot (25), it is fixed outside vertical plate (18)
The one end of fixed block (20) is installed, the other end of fixed block (20) passes through transverse groove (19) and is located at outside.
3. a kind of passive vacuum robot according to claim 1, it is characterised in that: described cylinder (17) top opens up
Air inlet (26), air inlet (26) are located in the middle part of cylinder (17).
4. a kind of passive vacuum robot according to claim 1, it is characterised in that: the side plate (9) is net-shaped
Structure.
5. a kind of passive vacuum robot according to claim 1, it is characterised in that: rack (1) the bottom installation
Telescopic rod (27).
6. a kind of passive vacuum robot according to claim 1, it is characterised in that: described rack (1) bottom four corners
Support frame (28) are installed respectively, support frame (28) one end and rack (1) bottom are articulated and connected, and support frame (28), which can turn down, makes it
Positioned at rack (1) bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811601801.8A CN109758057A (en) | 2018-12-26 | 2018-12-26 | A kind of passive vacuum robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811601801.8A CN109758057A (en) | 2018-12-26 | 2018-12-26 | A kind of passive vacuum robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109758057A true CN109758057A (en) | 2019-05-17 |
Family
ID=66450860
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811601801.8A Pending CN109758057A (en) | 2018-12-26 | 2018-12-26 | A kind of passive vacuum robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109758057A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110236443A (en) * | 2019-07-26 | 2019-09-17 | 衢州超越环保科技有限公司 | A kind of unmanned cleaner for high-rise glass |
| CN111497962A (en) * | 2020-04-30 | 2020-08-07 | 江苏省苏科建设技术发展有限公司 | Self-adsorption type climbing mechanism for high-altitude building |
| CN112429103A (en) * | 2020-12-10 | 2021-03-02 | 北方工业大学 | Compound passive climbing of absorbent crawler-type constructs |
-
2018
- 2018-12-26 CN CN201811601801.8A patent/CN109758057A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110236443A (en) * | 2019-07-26 | 2019-09-17 | 衢州超越环保科技有限公司 | A kind of unmanned cleaner for high-rise glass |
| CN110236443B (en) * | 2019-07-26 | 2020-12-08 | 浙江邻航科技有限公司 | A unmanned cleaning machine for high-rise glass |
| CN111497962A (en) * | 2020-04-30 | 2020-08-07 | 江苏省苏科建设技术发展有限公司 | Self-adsorption type climbing mechanism for high-altitude building |
| CN112429103A (en) * | 2020-12-10 | 2021-03-02 | 北方工业大学 | Compound passive climbing of absorbent crawler-type constructs |
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| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190517 |
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| WD01 | Invention patent application deemed withdrawn after publication |