CN109833004A - A kind of intelligence environmental sanitation cleaning device dust collection power automatic transfer equipment and its control system - Google Patents
A kind of intelligence environmental sanitation cleaning device dust collection power automatic transfer equipment and its control system Download PDFInfo
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- CN109833004A CN109833004A CN201910231097.XA CN201910231097A CN109833004A CN 109833004 A CN109833004 A CN 109833004A CN 201910231097 A CN201910231097 A CN 201910231097A CN 109833004 A CN109833004 A CN 109833004A
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Abstract
The invention discloses a kind of intelligent environmental sanitation cleaning device dust collection power automatic transfer equipments, it is related to intelligent environmental sanitation cleaning device correlative technology field, including Intelligent cleaning apparatus body and power conversion mechanism, power conversion mechanism is fixedly mounted on the outer surface of Intelligent cleaning apparatus body, power conversion mechanism is internally provided with mounting plate, circular trough is offered in the middle part of mounting plate, is fixedly installed with servo motor in the middle part of mounting plate.The invention also discloses a kind of control systems of intelligent environmental sanitation cleaning device dust collection power automatic transfer equipment, including central processing unit, intelligent sensing module, signal receiving module, signal acquisition module, dust magnitude comparison module, power ratio module, power conversion module, execution module, high-power operation module, small-power operation module and dust extractor.Power required for the present invention is adjusted by rotation converts rapid and convenient, greatly reduces the loss of electric energy, more economical practical, intelligent higher.
Description
Technical field
The present invention relates to intelligent environmental sanitation cleaning device correlative technology field, in particular to a kind of intelligent environmental sanitation cleaning device is inhaled
Dirt power automatic transfer equipment and its control system.
Background technique
There is dust suction to clean, mop floor with wiping, the multiple functions such as timer reservation, disinfection and sterilization for Intelligent cleaning equipment, increasingly
It by the favor of family, has a vast market foreground, sweeping robot, also known as sweeps machine, intelligent dust suction, robot suction automatically
Dirt device etc. is one kind of controlling intelligent household appliances, can rely on certain artificial intelligence, complete floor fettler in the room automatically
Make.General use brush is swept and vacuum mode, ground sundries is first received the rubbish storage box into itself, so that it is clear to complete ground
The function of reason, sweeping robot most sold early in European & American Market, with the improvement of domestic living standards, is stepped into
State.
In Chinese invention patent application number: disclosing a kind of Intelligent cleaning equipment dust collection power in CN201210090091.3
Automatic transfer equipment, which includes detection module, main control module and power mould
Block advances the technological progress of Intelligent cleaning equipment, but the power that existing Intelligent cleaning equipment dust suction cleans is immutable, function
Rate converts inadequate rapid and convenient, intelligent lower, not economical and practical enough.
It is therefore proposed that a kind of intelligence environmental sanitation cleaning device dust collection power automatic transfer equipment and its control system solve
It is necessary to state problem.
Summary of the invention
(1) the technical issues of solving
In view of the deficiencies of the prior art, the present invention provides a kind of intelligent environmental sanitation cleaning device dust collection power automatic conversions to fill
It sets and its control system, solves that the power that existing cleaning device dust suction cleans is immutable, and power converts inadequate rapid and convenient,
Intelligent lower and not economical and practical enough problem.
(2) technical solution
In order to achieve the above object, the present invention is achieved by the following technical programs:
A kind of intelligence environmental sanitation cleaning device dust collection power automatic transfer equipment, including Intelligent cleaning apparatus body and power turn
It changes planes structure, the power conversion mechanism is fixedly mounted on the outer surface of Intelligent cleaning apparatus body, the power conversion mechanism
It is internally provided with mounting plate, circular trough is offered in the middle part of the mounting plate, is fixedly installed with servo in the middle part of the mounting plate
Motor, the output end of the servo motor are socketed with insulation sleeve, and the outer surface of the insulation sleeve, which is fixedly connected with, leads handle, described to lead
The two sides of handle are fixedly installed with connector；
It is fixedly installed with protective plate on the left of the circular trough, conductor rail, institute are fixedly installed on the right side of the circular trough
It states and leads the one end of handle far from insulation sleeve and be slidably connected with conductor rail, it is living that the inside of the protective plate offers first be arranged symmetrically
Dynamic chamber, first movable chamber are set as two, and the inside of two first movable chambers is fixedly installed with high-power connect respectively
Seat and small-power joint chair, electromagnet is fixedly installed on the left of the high-power joint chair, and the electromagnet absorption is connected with iron plate；
It is fixedly installed with the clamp being arranged symmetrically on the left of the electromagnet, is fixedly connected on the left of the iron plate symmetrical
The spring of arrangement, the left side central portion of the iron plate are fixedly connected with metallic rod, side wall of first movable chamber close to metallic rod
Guide groove is offered, the metallic rod is fixedly connected with connecting rod, the left side central portion of the protective plate far from one end outer surface of iron plate
The second movable chamber being arranged symmetrically is offered, the inside of second movable chamber is fixedly installed with conductor, fixes on the conductor
Limited post is installed, is fixedly connected with power conductor on the left of the conductor.
Optionally, the edge of the mounting plate offers mounting hole；
Live wire is fixedly connected in the middle part of the outer surface of the conductor rail.
Optionally, the connector is set as two, the connector semicircular in shape shape.
Optionally, the high-power joint chair is identical with the structure of small-power joint chair, and the high-power joint chair and small-power connect
Seat is equipped with connector.
Optionally, the clamp and iron plate are clamped；
The spring and the inner wall of the first movable chamber are fixedly connected；
The metallic rod is slidably connected with guide groove.
Optionally, the L-shaped shape of the conductor；
The power conductor runs through the inside of mounting plate；
The one end and limited post grafting of the connecting rod close to conductor.
A kind of control system of intelligence environmental sanitation cleaning device dust collection power automatic transfer equipment, including central processing unit, intelligence
It can sensing module, signal receiving module, signal acquisition module, dust magnitude comparison module, power ratio module, power modulus of conversion
Block, execution module, high-power operation module, small-power operation module and dust extractor, the output end of the intelligent sensing module
It is electrically connected the input terminal of signal receiving module, the input of the output end electrical connection signal acquisition module of the signal receiving module
End, the input terminal of the output end electrical connection central processing unit of the signal acquisition module, the dust magnitude comparison module is in
The two-way electrical connection of central processor, the output end of the input terminal electrical connection central processing unit of the power ratio module, the power
The input terminal of the output end electrical connection power conversion module of module is matched, the output end of the power conversion module, which is electrically connected, to be executed
The input terminal of module, the output end of the execution module is electrically connected high-power operation module and small-power runs the defeated of module
Enter end, the output end that the high-power operation module and small-power run module is electrically connected the input terminal of dust extractor.
Optionally, the intelligent sensing module is made of dust numerous values detection module and the small magnitude detection module of dust.
Optionally, the execution module includes motor drive module, electromagnet connects module and power conductor connects electric module.
(3) beneficial effect
The present invention provides a kind of intelligent environmental sanitation cleaning device dust collection power automatic transfer equipment and its control systems, have
Below the utility model has the advantages that
(1), the present invention is by being arranged servo motor, insulation sleeve, leading handle, connector and conductor rail, convenient for passing through rotation adjustment
Required power, when connector is docked with high-power joint chair, cleaning device is in high-power operation, when connector and small-power connect
Cleaning device is in small-power operation when seat docking, converts rapid and convenient.
(2), the present invention by setting dust magnitude comparison module, power ratio module, power conversion module and executes mould
Block realizes the function of intelligentized control method watt level, greatly reduces the loss of electric energy, more economical practical.
Detailed description of the invention
Fig. 1 is Intelligent cleaning apparatus body structural schematic diagram of the invention；
Fig. 2 is power conversion mechanism appearance diagram of the invention；
Fig. 3 is power conversion mechanism schematic cross-sectional view of the invention；
Fig. 4 is enlarged diagram at A in Fig. 3 of the invention；
Fig. 5 is enlarged diagram at B in Fig. 3 of the invention；
Fig. 6 is system diagram of the invention；
Fig. 7 is intelligent sensing module frame chart of the invention；
Fig. 8 is execution module block diagram of the invention.
In figure: 1, Intelligent cleaning apparatus body；2, power conversion mechanism；3, mounting plate；4, circular trough；5, mounting hole；6,
Servo motor；7, insulation sleeve；8, handle is led；9, connector；10, protective plate；11, conductor rail；12, live wire；13, the first activity
Chamber；14, high-power joint chair；15, small-power joint chair；16, electromagnet；17, iron plate；18, clamp；19, spring；20, guide groove；21,
Metallic rod；22, connecting rod；23, the second movable chamber；24, conductor；25, limited post；26, power conductor；27, central processing unit；28,
Intelligent sensing module；29, signal receiving module；30, signal acquisition module；31, dust magnitude comparison module；32, power ratio
Module；33, power conversion module；34, execution module；35, high-power operation module；36, small-power runs module；37, dust suction
Module；38, dust numerous values detection module；39, the small magnitude detection module of dust；40, motor drive module；41, electromagnet connects
Logical module；42, power conductor connects electric module.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In the present invention unless specifically defined or limited otherwise, term " setting ", " installation ", " connected ", " connection ",
Terms such as " fixations " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection；It can be mechanical connect
It connects；It can be directly connected, it can also be indirectly connected through an intermediary.For the ordinary skill in the art, may be used
To understand the concrete meaning of above-mentioned term in the present invention as the case may be.
In addition, term " first ", " second " etc. are used for description purposes only, it is not understood to indicate or imply relatively important
Property or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Person implicitly includes one or more of the features.
According to as shown in figures 1-8, the present invention provides a kind of technical solutions:
A kind of intelligence environmental sanitation cleaning device dust collection power automatic transfer equipment, including Intelligent cleaning apparatus body 1 and power
Switching mechanism 2, power conversion mechanism 2 are fixedly mounted on the outer surface of Intelligent cleaning apparatus body 1, power conversion mechanism 2 it is interior
Portion is provided with mounting plate 3, and the middle part of mounting plate 3 offers circular trough 4, and the middle part of mounting plate 3 is fixedly installed with servo motor 6,
The output end of servo motor 6 is socketed with insulation sleeve 7, and the outer surface of insulation sleeve 7, which is fixedly connected with, leads handle 8, and the two sides for leading handle 8 are solid
Dingan County is equipped with connector 9；
The left side of circular trough 4 is fixedly installed with protective plate 10, and the right side of circular trough 4 is fixedly installed with conductor rail 11, leads handle 8
One end far from insulation sleeve 7 is slidably connected with conductor rail 11, and the top for leading handle 8 is fixedly installed with guide wheel mounting base, guide wheel installation
The internal activity of seat is equipped with metal guide wheel, and metal guide wheel is slidably connected with conductor rail 11, is connected, is greatly reduced using rolling
Coefficient of friction, so that leading, the rotation of handle 8 is more smooth, and the inside of protective plate 10 offers the first movable chamber 13 being arranged symmetrically, the
One movable chamber 13 is set as two, and the inside of two the first movable chambers 13 is fixedly installed with high-power joint chair 14 and small-power respectively
Joint chair 15, the left side of high-power joint chair 14 are fixedly installed with electromagnet 16, and the absorption of electromagnet 16 is connected with iron plate 17；
The left side of electromagnet 16 is fixedly installed with the clamp 18 being arranged symmetrically, and the left side of iron plate 17 is fixedly connected with symmetrical cloth
The spring 19 set, the left side central portion of iron plate 17 are fixedly connected with metallic rod 21, side wall of first movable chamber 13 close to metallic rod 21
Offer guide groove 20, metallic rod 21 is fixedly connected with connecting rod 22 far from one end outer surface of iron plate 17, in the left side of protective plate 10
Portion offers the second movable chamber 23 being arranged symmetrically, and the inside of the second movable chamber 23 is fixedly installed with conductor 24, consolidates on conductor 24
Dingan County is equipped with limited post 25, and the left side of conductor 24 is fixedly connected with power conductor 26.
As a kind of optional technical solution of the invention:
The edge of mounting plate 3 offers mounting hole 5, is easy to use bolt installation；
Live wire 12 is fixedly connected in the middle part of the outer surface of conductor rail 11.
As a kind of optional technical solution of the invention:
Connector 9 is set as two, 9 semicircular in shape shape of connector.
As a kind of optional technical solution of the invention:
High-power joint chair 14 is identical with the structure of small-power joint chair 15, high-power joint chair 14 and small-power joint chair 15 with connect
First 9 are equipped with, and by setting servo motor 6, insulation sleeve 7, lead handle 8, connector 9 and conductor rail 11, convenient for passing through rotation adjustment
Required power, when connector 9 is docked with high-power joint chair 14, cleaning device is in high-power operation, when connector 9 and small function
Cleaning device is in small-power operation when rate joint chair 15 docks, and converts rapid and convenient.
As a kind of optional technical solution of the invention:
Clamp 18 and iron plate 17 are clamped；
Spring 19 is fixedly connected with the inner wall of the first movable chamber 13；
Metallic rod 21 is slidably connected with guide groove 20.
As a kind of optional technical solution of the invention:
The L-shaped shape of conductor 24；
Power conductor 26 runs through the inside of mounting plate 3；
Connecting rod 22 close to conductor 24 one end and 25 grafting of limited post, by setting electromagnet 16, iron plate 17, clamp 18,
Spring 19, metallic rod 21, connecting rod 22, conductor 24 and limited post 25 ensure that the smoothness for being powered and connecting, when connector 9 and power
When joint chair connects, because being had magnetism by electricity, adsorpting iron plate 17 docks electromagnet 16, while iron plate 17 is driven by metallic rod 21 and connected
Bar 22 is mobile, so that the limited post 25 on connecting rod 22 and conductor 24 is socketed, completes power conversion connection.
A kind of control system of intelligence environmental sanitation cleaning device dust collection power automatic transfer equipment, including central processing unit 27,
Intelligent sensing module 28, signal receiving module 29, signal acquisition module 30, dust magnitude comparison module 31, power ratio module
32, power conversion module 33, execution module 34, high-power operation module 35, small-power operation module 36 and dust extractor 37, intelligence
The input terminal of the output end electrical connection signal receiving module 29 of energy sensing module 28, the output end electrical connection of signal receiving module 29
The input terminal of signal acquisition module 30, the input terminal of the output end electrical connection central processing unit 27 of signal acquisition module 30, dust
Quantity value comparison module 31 and the two-way electrical connection of central processing unit 27, the wherein model of central processing unit 27
TMS320F28335PGFA, the output end of the input terminal electrical connection central processing unit 27 of power ratio module 32, power ratio mould
The input terminal of the output end electrical connection power conversion module 33 of block 32, the output end of power conversion module 33 are electrically connected execution module
34 input terminal, the output end of execution module 34 is electrically connected high-power operation module 35 and small-power runs the defeated of module 36
Enter end, the output end that high-power operation module 35 and small-power run module 36 is electrically connected the input terminal of dust extractor 37.
As a kind of optional technical solution of the invention:
Intelligent sensing module 28 is made of dust numerous values detection module 38 and the small magnitude detection module 39 of dust.
As a kind of optional technical solution of the invention:
Execution module 34 includes motor drive module 40, electromagnet connects module 41 and power conductor connects electric module 42.
In summary: in a situation of use where, intelligent sensing module 28 passes through dust numerous values detection module 38 and dust
Small magnitude detection module 39 detect floor-dust number, data are then passed sequentially through into signal receiving module 29 and signal acquisition
Module 30 is transferred to central processing unit 27, and dust magnitude comparison module 31 is compared data, then passes through order
Reach power ratio module 32 under central processing unit 27, power ratio module 32 matches corresponding power life by amount of dust data
It enables, and intelligent adjusting is carried out using execution module 34 by power conversion module 33, control 6 positive and negative rotation of servo motor, servo
The rotation of handle 8 is led in the drive of motor 6, and when connector 9 is docked with high-power joint chair 14, cleaning device is in high-power operation, when connector 9
Cleaning device is in small-power operation when docking with small-power joint chair 15, rapid and convenient is converted, when connector 9 is connect with power joint chair
When, electromagnet 16 is because being had magnetism by electricity, and adsorpting iron plate 17 docks, while iron plate 17 drives connecting rod 22 to move by metallic rod 21
It is dynamic, so that the limited post 25 on connecting rod 22 and conductor 24 is socketed, power conversion connection is completed, by the way that dust quantity value comparison mould is arranged
Block 31, power ratio module 32, power conversion module 33 and execution module 34, realize the function of intelligentized control method watt level
Can, the loss of electric energy is greatly reduced, it is more economical practical.
It should be noted that in the present invention unless specifically defined or limited otherwise, fisrt feature is in second feature
It can be that the first and second features directly contact or the first and second features are by intermediary mediate contact "up" or "down".
Moreover, fisrt feature can be above the second feature " above ", " above " and " above " fisrt feature right above second feature or tiltedly
Top, or first feature horizontal height is merely representative of higher than second feature.Fisrt feature second feature " under ", " lower section " and
" following " can be fisrt feature and be directly under or diagonally below the second feature, or be merely representative of first feature horizontal height less than
Two features.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features,
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (9)
1. a kind of intelligence environmental sanitation cleaning device dust collection power automatic transfer equipment, including Intelligent cleaning apparatus body (1) and power
Switching mechanism (2), it is characterised in that: the power conversion mechanism (2) is fixedly mounted on the appearance of Intelligent cleaning apparatus body (1)
Face, the power conversion mechanism (2) are internally provided with mounting plate (3), offer circular trough in the middle part of the mounting plate (3)
(4), it is fixedly installed with servo motor (6) in the middle part of the mounting plate (3), the output end of the servo motor (6) is socketed with absolutely
Edge set (7), the outer surface of the insulation sleeve (7), which is fixedly connected with, leads handle (8), and the two sides for leading handle (8) are fixedly installed with
Connector (9)；
It is fixedly installed with protective plate (10) on the left of the circular trough (4), is fixedly installed with conduction on the right side of the circular trough (4)
Rail (11), lead handle (8) are slidably connected far from the one end of insulation sleeve (7) with conductor rail (11), the protective plate (10) it is interior
Portion offers the first movable chamber (13) being arranged symmetrically, and first movable chamber (13) is set as two, and two described first are lived
The inside of dynamic chamber (13) is fixedly installed with high-power joint chair (14) and small-power joint chair (15), the high-power joint chair (14) respectively
Left side be fixedly installed with electromagnet (16), the electromagnet (16) absorption is connected with iron plate (17)；
The clamp (18) being arranged symmetrically is fixedly installed on the left of the electromagnet (16), the left side of the iron plate (17) is fixed to be connected
It is connected to the spring (19) being arranged symmetrically, the left side central portion of the iron plate (17) is fixedly connected with metallic rod (21), and described first is living
The side wall of dynamic chamber (13) close to metallic rod (21) offers guide groove (20), outside one end of the metallic rod (21) separate iron plate (17)
Surface is fixedly connected with connecting rod (22), and the left side central portion of the protective plate (10) offers the second movable chamber being arranged symmetrically
(23), the inside of second movable chamber (23) is fixedly installed with conductor (24), is fixedly installed with limit on the conductor (24)
Column (25) is fixedly connected with power conductor (26) on the left of the conductor (24).
2. a kind of intelligent environmental sanitation cleaning device dust collection power automatic transfer equipment according to claim 1, it is characterised in that:
The edge of the mounting plate (3) offers mounting hole (5)；
Live wire (12) are fixedly connected in the middle part of the outer surface of the conductor rail (11).
3. a kind of intelligent environmental sanitation cleaning device dust collection power automatic transfer equipment according to claim 1, it is characterised in that:
The connector (9) is set as two, connector (9) the semicircular in shape shape.
4. a kind of intelligent environmental sanitation cleaning device dust collection power automatic transfer equipment according to claim 1, it is characterised in that:
The high-power joint chair (14) is identical with the structure of small-power joint chair (15), and the high-power joint chair (14) and small-power connect
Seat (15) is equipped with connector (9).
5. a kind of intelligent environmental sanitation cleaning device dust collection power automatic transfer equipment according to claim 1, it is characterised in that:
The clamp (18) and iron plate (17) are clamped；
The spring (19) is fixedly connected with the inner wall of the first movable chamber (13)；
The metallic rod (21) is slidably connected with guide groove (20).
6. a kind of intelligent environmental sanitation cleaning device dust collection power automatic transfer equipment according to claim 1, it is characterised in that:
The L-shaped shape of the conductor (24)；
The power conductor (26) runs through the inside of mounting plate (3)；
The one end and limited post (25) grafting of the connecting rod (22) close to conductor (24).
7. a kind of control system of intelligence environmental sanitation cleaning device dust collection power automatic transfer equipment, it is characterised in that: including center
Processor (27), intelligent sensing module (28), signal receiving module (29), signal acquisition module (30), dust quantity value comparison mould
Block (31), power ratio module (32), power conversion module (33), execution module (34), high-power operation module (35), small function
Rate runs module (36) and dust extractor (37), and the output end of the intelligent sensing module (28) is electrically connected signal receiving module
(29) input terminal, the input terminal of output end electrical connection signal acquisition module (30) of the signal receiving module (29) are described
The input terminal of output end electrical connection central processing unit (27) of signal acquisition module (30), the dust magnitude comparison module (31)
Central processing unit (27) are electrically connected with the input terminal of central processing unit (27) two-way electrical connection, the power ratio module (32)
Output end, the input terminal of output end electrical connection power conversion module (33) of the power ratio module (32), the power turn
The input terminal of output end electrical connection execution module (34) of block (33) is changed the mold, the output end of the execution module (34) is electrically connected respectively
Meet the input terminal of high-power operation module (35) and small-power operation module (36), high-power operation module (35) He little Gong
The output end of rate operation module (36) is electrically connected the input terminal of dust extractor (37).
8. a kind of control system of intelligent environmental sanitation cleaning device dust collection power automatic transfer equipment according to claim 7,
It is characterized by:
The intelligent sensing module (28) is made of dust numerous values detection module (38) and the small magnitude detection module (39) of dust.
9. a kind of control system of intelligent environmental sanitation cleaning device dust collection power automatic transfer equipment according to claim 7,
It is characterized by:
The execution module (34) includes motor drive module (40), electromagnet connects module (41) and power conductor connects electric module
(42)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910231097.XA CN109833004B (en) | 2019-03-26 | 2019-03-26 | Intelligent automatic dust absorption power conversion device for environmental sanitation cleaning equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910231097.XA CN109833004B (en) | 2019-03-26 | 2019-03-26 | Intelligent automatic dust absorption power conversion device for environmental sanitation cleaning equipment |
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| Publication Number | Publication Date |
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| CN109833004A true CN109833004A (en) | 2019-06-04 |
| CN109833004B CN109833004B (en) | 2021-03-30 |
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ID=66886270
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910231097.XA Active CN109833004B (en) | 2019-03-26 | 2019-03-26 | Intelligent automatic dust absorption power conversion device for environmental sanitation cleaning equipment |
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| Publication number | Publication date |
|---|---|
| CN109833004B (en) | 2021-03-30 |
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